The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 8.2) m/s. Its current heading (yaw) is 1.02

The most relevant actors are: A vehicle with ID 56 is 3.4 meters away at (-2.8, 1.8). A vehicle with ID 95 is 8.6 meters away at (8.6, 0.2). A vehicle with ID 81 is 10.6 meters away at (10.5, -1.4). A pedestrian with ID 22 is 13.0 meters away at (10.8, 7.2). A vehicle with ID 59 is 13.1 meters away at (12.8, -2.7). A vehicle with ID 30 is 15.5 meters away at (14.9, -4.1). A vehicle with ID 23 is 16.3 meters away at (10.6, 12.4). A unknown object with ID 91 is 17.9 meters away at (-2.0, 17.8). A unknown object with ID 42 is 18.1 meters away at (-1.9, 18.0). A unknown object with ID 36 is 18.2 meters away at (-1.2, 18.1).

The vehicle with ID 56 is traveling at a (x, y) velocity of [-5.1590185 -8.032136 ] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.5708169 0.7868802] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -2.1) m/s. Its current heading (yaw) is -1.45

The most relevant actors are: A pedestrian with ID 55 is 5.9 meters away at (-4.4, -3.9). A pedestrian with ID 56 is 6.6 meters away at (-4.9, -4.4). A vehicle with ID 66 is 15.1 meters away at (-13.7, 6.5). A vehicle with ID 76 is 16.7 meters away at (-4.3, 16.1). A vehicle with ID 60 is 18.8 meters away at (-18.7, -1.1). A cyclist with ID 63 is 19.3 meters away at (-3.2, -19.0). A vehicle with ID 54 is 19.5 meters away at (-11.7, -15.5). A cyclist with ID 82 is 19.6 meters away at (0.8, 19.5). A vehicle with ID 64 is 21.5 meters away at (-2.9, -21.3). A vehicle with ID 71 is 24.7 meters away at (-6.0, 23.9).

The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 0.01136487 -0.00423839] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.06237819  0.03254464] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-0.5004356 -1.1338515] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ -4.3993926 -12.555236 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 63 is traveling at a (x, y) velocity of [0.04032636 0.00895204] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ -3.989406 -13.840185] m/s.The cyclist with ID 82 is traveling at a (x, y) velocity of [ -5.5558047 -13.077487 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-1.7298529 -4.281835 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -2.4) m/s. Its current heading (yaw) is -1.29

The most relevant actors are: A pedestrian with ID 55 is 5.1 meters away at (-5.1, 0.3). A pedestrian with ID 56 is 5.8 meters away at (-5.8, -0.0). A cyclist with ID 82 is 9.4 meters away at (-9.1, -2.4). A vehicle with ID 76 is 14.2 meters away at (-13.4, -4.8). A cyclist with ID 63 is 15.2 meters away at (-4.0, -14.6). A vehicle with ID 64 is 17.4 meters away at (-3.8, -16.9). A vehicle with ID 66 is 17.9 meters away at (-14.9, 10.0). A vehicle with ID 60 is 19.8 meters away at (-19.6, 3.3). A vehicle with ID 69 is 20.7 meters away at (-3.6, -20.4). A vehicle with ID 70 is 23.6 meters away at (-4.2, -23.3).

The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.02397692 0.00035159] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.0097388  0.01302644] m/s.The cyclist with ID 82 is traveling at a (x, y) velocity of [ -4.000049 -12.919116] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ -3.734471 -12.617546] m/s.The cyclist with ID 63 is traveling at a (x, y) velocity of [0.0126234  0.02862643] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -3.3) m/s. Its current heading (yaw) is -0.98

The most relevant actors are: A pedestrian with ID 55 is 10.0 meters away at (-7.8, 6.2). A pedestrian with ID 56 is 10.3 meters away at (-8.5, 5.8). A cyclist with ID 63 is 10.9 meters away at (-6.7, -8.7). A vehicle with ID 64 is 12.8 meters away at (-6.2, -11.2). A vehicle with ID 69 is 15.9 meters away at (-6.4, -14.6). A vehicle with ID 34 is 16.9 meters away at (-8.0, 14.9). A vehicle with ID 72 is 18.3 meters away at (1.3, -18.3). A vehicle with ID 70 is 18.7 meters away at (-6.8, -17.4). A vehicle with ID 62 is 22.4 meters away at (-1.8, 22.3). A vehicle with ID 66 is 23.7 meters away at (-17.6, 15.8).

The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.01382488  0.01053258] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.01012821 0.01237285] m/s.The cyclist with ID 63 is traveling at a (x, y) velocity of [0.01915895 0.00098434] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ -5.080712 -13.683136] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-2.441115 -7.408125] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [-7.8148623  6.191571 ], 9.9703369140625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -3.3) m/s. Its current heading (yaw) is -0.66

The most relevant actors are: A vehicle with ID 72 is 12.4 meters away at (-5.1, -11.3). A cyclist with ID 63 is 13.1 meters away at (-13.0, -1.7). A vehicle with ID 64 is 13.2 meters away at (-12.4, -4.3). A vehicle with ID 69 is 14.8 meters away at (-12.8, -7.6). A vehicle with ID 7 is 16.2 meters away at (-4.3, -15.6). A vehicle with ID 70 is 16.8 meters away at (-13.1, -10.5). A vehicle with ID 11 is 17.4 meters away at (-16.5, -5.6). A vehicle with ID 62 is 18.4 meters away at (-10.1, 15.4). A vehicle with ID 61 is 18.9 meters away at (-6.8, -17.6). A vehicle with ID 38 is 19.3 meters away at (-14.2, -13.1).

The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 63 is traveling at a (x, y) velocity of [ 0.00285243 -0.01282502] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 0.9598588 -6.4898896] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A pedestrian with ID 7 is 9.7 meters away at (4.8, 8.5). A vehicle with ID 10 is 11.3 meters away at (8.3, -7.6). A vehicle with ID 6 is 12.0 meters away at (-5.7, 10.6). A pedestrian with ID 12 is 13.7 meters away at (13.4, -3.1). A pedestrian with ID 19 is 14.1 meters away at (-13.9, -2.3). A vehicle with ID 14 is 14.7 meters away at (-1.5, 14.7). A vehicle with ID 17 is 18.8 meters away at (2.0, 18.6). A unknown object with ID 8 is 20.9 meters away at (-0.2, -20.9). A vehicle with ID 22 is 23.4 meters away at (-6.1, -22.6). A vehicle with ID 20 is 23.7 meters away at (17.8, -15.6).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.00112616 -0.00236341] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.3660648  1.186327 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.85591376  2.6255171 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.00127664 -0.00132566] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.0408553  -0.65803313] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.0850449  1.7748461] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [4.8012156 8.48449  ], 9.748756408691406 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 10 is 8.5 meters away at (6.3, -5.8). A pedestrian with ID 7 is 9.8 meters away at (4.8, 8.5). A pedestrian with ID 12 is 13.7 meters away at (13.4, -3.1). A vehicle with ID 14 is 14.8 meters away at (-1.5, 14.7). A pedestrian with ID 19 is 16.4 meters away at (-16.1, -3.2). A vehicle with ID 6 is 17.4 meters away at (-4.6, 16.7). A vehicle with ID 20 is 18.6 meters away at (14.0, -12.3). A vehicle with ID 17 is 18.7 meters away at (2.0, 18.6). A unknown object with ID 8 is 20.9 meters away at (-0.2, -20.9). A vehicle with ID 22 is 23.5 meters away at (-6.1, -22.6).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.74925137  0.67610943] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.00252752 -0.00129602] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00069561 -0.00157516] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.0543115 -0.5227244] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [2.0726514 3.4842844] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.6145442  1.355044 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 10 is 7.1 meters away at (5.2, -4.8). A pedestrian with ID 7 is 9.8 meters away at (4.8, 8.5). A pedestrian with ID 12 is 13.7 meters away at (13.4, -3.1). A vehicle with ID 14 is 14.8 meters away at (-1.5, 14.7). A vehicle with ID 20 is 15.0 meters away at (11.3, -10.0). A vehicle with ID 17 is 18.6 meters away at (1.9, 18.5). A pedestrian with ID 19 is 18.6 meters away at (-18.1, -4.2). A unknown object with ID 8 is 20.9 meters away at (-0.2, -20.9). A vehicle with ID 22 is 23.5 meters away at (-6.1, -22.7). A vehicle with ID 6 is 25.1 meters away at (2.3, 25.0).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.00309746  0.00260981] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.00347335 0.00110674] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.84294677  0.75271416] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.90935403 -0.5198353 ] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [4.4476776 4.964771 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 10 is 7.0 meters away at (5.2, -4.8). A pedestrian with ID 7 is 9.7 meters away at (4.8, 8.5). A pedestrian with ID 12 is 13.7 meters away at (13.4, -3.0). A vehicle with ID 20 is 14.2 meters away at (10.6, -9.4). A vehicle with ID 14 is 14.8 meters away at (-1.5, 14.7). A vehicle with ID 17 is 18.6 meters away at (1.9, 18.5). A pedestrian with ID 19 is 20.6 meters away at (-19.8, -5.6). A unknown object with ID 8 is 20.9 meters away at (-0.2, -20.9). A vehicle with ID 22 is 23.5 meters away at (-6.1, -22.6). A vehicle with ID 23 is 28.0 meters away at (23.5, -15.2).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.00475437 -0.00265017] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-3.1076052e-05  1.4800098e-03] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.877368  -0.7676393] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -1.1) m/s. Its current heading (yaw) is -2.44

The most relevant actors are: A vehicle with ID 16 is 5.6 meters away at (-1.7, -5.3). A vehicle with ID 17 is 16.7 meters away at (14.0, 9.1). A pedestrian with ID 8 is 17.8 meters away at (-1.7, -17.7). A vehicle with ID 20 is 21.3 meters away at (3.4, -21.0). A vehicle with ID 12 is 25.0 meters away at (-3.8, -24.7). A vehicle with ID 25 is 32.1 meters away at (12.4, -29.6). A vehicle with ID 33 is 34.0 meters away at (-19.0, -28.2). A vehicle with ID 28 is 38.0 meters away at (-24.5, -29.0). A vehicle with ID 30 is 41.1 meters away at (33.8, 23.3). A vehicle with ID 35 is 41.4 meters away at (-24.3, -33.6).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-3.7385552 -3.0493915] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.102031   0.22771966] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.7593395  3.967556 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.88593   1.4420332] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-4.0601544  2.67969  ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-5.3544602 -4.0887303] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0.20907602 0.25456583] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.0) m/s. Its current heading (yaw) is -2.47

The most relevant actors are: A vehicle with ID 16 is 4.3 meters away at (-0.5, -4.3). A vehicle with ID 17 is 10.0 meters away at (8.9, 4.7). A vehicle with ID 20 is 10.2 meters away at (4.8, -9.0). A vehicle with ID 15 is 20.9 meters away at (17.7, 11.0). A vehicle with ID 25 is 22.3 meters away at (3.7, -22.0). A vehicle with ID 30 is 30.0 meters away at (24.3, 17.5). A pedestrian with ID 26 is 30.7 meters away at (-9.0, -29.4). A vehicle with ID 33 is 32.4 meters away at (-17.8, -27.1). A vehicle with ID 28 is 36.5 meters away at (-23.3, -28.0). A vehicle with ID 35 is 39.4 meters away at (-22.8, -32.1).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.3239865 -2.0058727] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [2.6121411 6.3955007] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.4782295 -2.8972132] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-5.323586   3.6242018] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-5.641277 -3.08175 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.3053521 -0.6620063] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.47

The most relevant actors are: A vehicle with ID 16 is 4.3 meters away at (-0.5, -4.3). A vehicle with ID 17 is 7.5 meters away at (6.9, 2.9). A vehicle with ID 15 is 14.5 meters away at (12.7, 6.9). A vehicle with ID 20 is 15.2 meters away at (14.8, 3.8). A vehicle with ID 30 is 18.2 meters away at (13.9, 11.7). A vehicle with ID 19 is 19.4 meters away at (-8.5, -17.5). A vehicle with ID 33 is 32.3 meters away at (-17.7, -27.1). A vehicle with ID 36 is 32.7 meters away at (26.9, 18.6). A pedestrian with ID 26 is 32.9 meters away at (-11.4, -30.8). A vehicle with ID 28 is 36.5 meters away at (-23.3, -28.1).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.9034722 -0.7809465] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [6.986638 6.475232] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-4.565146  -2.9152393] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.5006347  -0.01409393] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-4.710326 -3.562442] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.121941   -0.71011764] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.47

The most relevant actors are: A vehicle with ID 16 is 4.3 meters away at (-0.5, -4.3). A vehicle with ID 17 is 7.4 meters away at (6.8, 2.9). A vehicle with ID 30 is 10.0 meters away at (7.3, 6.9). A vehicle with ID 15 is 14.0 meters away at (12.3, 6.7). A vehicle with ID 36 is 23.3 meters away at (19.5, 12.8). A vehicle with ID 19 is 26.8 meters away at (-16.9, -20.8). A vehicle with ID 33 is 32.4 meters away at (-17.7, -27.1). A vehicle with ID 20 is 35.2 meters away at (30.7, 17.2). A pedestrian with ID 26 is 36.0 meters away at (-13.6, -33.3). A vehicle with ID 35 is 39.0 meters away at (-22.5, -31.8).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-2.0231984 -1.6171094] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.2132375 -1.7506835] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-2.4731348 -2.2186375] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [8.99294  7.020181] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.97651994 -1.1395912 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.2) m/s. Its current heading (yaw) is -0.20

The most relevant actors are: A pedestrian with ID 1 is 5.9 meters away at (-1.3, 5.8). A vehicle with ID 10 is 6.2 meters away at (3.0, -5.4). A pedestrian with ID 12 is 47.6 meters away at (-45.9, -12.6). A pedestrian with ID 13 is 48.2 meters away at (-46.4, -13.2). A vehicle with ID 6 is 59.8 meters away at (57.6, -16.1).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.1718613 0.270075 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [6.556856  1.3903586] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.9311247   0.69463193] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.8767781  0.6996523] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.1793828  5.8399205] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -0.5) m/s. Its current heading (yaw) is -0.57

The most relevant actors are: A pedestrian with ID 1 is 7.1 meters away at (-0.4, 7.1). A vehicle with ID 10 is 14.5 meters away at (14.3, -2.1). A unknown object with ID 3 is 37.6 meters away at (36.9, 7.0). A pedestrian with ID 13 is 51.3 meters away at (-50.1, -11.2).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.1274648  0.17491038] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [6.3025713 1.31595  ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.2645789   0.41497305] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.8) m/s. Its current heading (yaw) is -0.75

The most relevant actors are: A pedestrian with ID 1 is 8.3 meters away at (0.5, 8.3). A vehicle with ID 10 is 24.9 meters away at (24.9, 1.4). A vehicle with ID 11 is 34.9 meters away at (34.6, -5.1). A unknown object with ID 3 is 36.4 meters away at (35.5, 8.1). A vehicle with ID 5 is 55.3 meters away at (54.0, 12.1).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.2365756  0.10763488] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [5.6253395 1.0198337] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.661709 -1.11222 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-0.27773923 11.711427  ] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [0.5151272 8.31517  ], 8.331110954284668 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -0.7) m/s. Its current heading (yaw) is -0.45

The most relevant actors are: A pedestrian with ID 1 is 10.2 meters away at (0.9, 10.1). A vehicle with ID 11 is 19.7 meters away at (18.7, -6.1). A vehicle with ID 10 is 33.6 meters away at (33.3, 4.5). A vehicle with ID 4 is 33.7 meters away at (33.4, 4.5). A unknown object with ID 3 is 34.8 meters away at (33.4, 9.5).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.339777   0.20420378] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.6730976 -1.1405013] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [4.9358993 0.6228711] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [4.327226  0.6589317] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.1) m/s. Its current heading (yaw) is -2.23

The most relevant actors are: A vehicle with ID 17 is 9.8 meters away at (9.6, -2.1). A vehicle with ID 19 is 11.1 meters away at (11.0, 1.1). A vehicle with ID 20 is 12.3 meters away at (10.9, 5.6). A vehicle with ID 21 is 13.7 meters away at (3.7, 13.2). A vehicle with ID 22 is 14.8 meters away at (12.5, 7.9). A vehicle with ID 27 is 21.8 meters away at (17.4, 13.1). A vehicle with ID 36 is 23.0 meters away at (9.9, 20.8). A vehicle with ID 28 is 26.4 meters away at (20.2, 16.9). A vehicle with ID 30 is 27.6 meters away at (12.9, 24.4). A vehicle with ID 10 is 29.5 meters away at (3.4, 29.3).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -3.5) m/s. Its current heading (yaw) is -1.92

The most relevant actors are: A vehicle with ID 17 is 13.2 meters away at (12.7, 3.3). A vehicle with ID 19 is 15.6 meters away at (14.1, 6.6). A vehicle with ID 20 is 18.0 meters away at (14.1, 11.2). A vehicle with ID 21 is 20.0 meters away at (6.9, 18.8). A vehicle with ID 22 is 20.7 meters away at (15.7, 13.5). A unknown object with ID 5 is 21.7 meters away at (-0.8, 21.7). A vehicle with ID 27 is 27.8 meters away at (20.5, 18.7). A vehicle with ID 36 is 29.4 meters away at (13.1, 26.3). A vehicle with ID 28 is 32.5 meters away at (23.4, 22.6). A vehicle with ID 30 is 34.0 meters away at (16.1, 30.0).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -4.0) m/s. Its current heading (yaw) is -1.62

The most relevant actors are: A vehicle with ID 17 is 17.9 meters away at (14.1, 11.0). A vehicle with ID 19 is 21.0 meters away at (15.4, 14.3). A vehicle with ID 20 is 24.4 meters away at (15.5, 18.9). A vehicle with ID 22 is 27.3 meters away at (17.1, 21.2). A vehicle with ID 21 is 27.7 meters away at (8.2, 26.4). A unknown object with ID 5 is 29.4 meters away at (0.5, 29.3). A vehicle with ID 27 is 34.4 meters away at (22.0, 26.4). A vehicle with ID 36 is 37.0 meters away at (14.5, 34.0). A vehicle with ID 30 is 41.5 meters away at (17.5, 37.6). A vehicle with ID 11 is 43.2 meters away at (8.0, 42.4).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -3.5) m/s. Its current heading (yaw) is -1.36

The most relevant actors are: A vehicle with ID 17 is 23.1 meters away at (13.7, 18.6). A vehicle with ID 20 is 30.3 meters away at (15.0, 26.3). A vehicle with ID 21 is 34.9 meters away at (7.7, 34.0). A unknown object with ID 5 is 36.9 meters away at (-0.0, 36.9). A vehicle with ID 36 is 43.9 meters away at (14.0, 41.6). A vehicle with ID 30 is 48.3 meters away at (17.0, 45.2). A vehicle with ID 10 is 50.7 meters away at (7.5, 50.1). A pedestrian with ID 1 is 52.2 meters away at (17.0, -49.3). A vehicle with ID 2 is 53.3 meters away at (27.6, -45.7). A vehicle with ID 3 is 55.6 meters away at (23.0, -50.6).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.53134334 0.44945958] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.9) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 6 is 9.1 meters away at (6.7, -6.1). A pedestrian with ID 46 is 11.6 meters away at (1.3, -11.5). A pedestrian with ID 7 is 18.8 meters away at (-17.9, 5.7). A vehicle with ID 51 is 22.7 meters away at (17.2, -14.8). A vehicle with ID 55 is 34.7 meters away at (-27.0, 21.8). A unknown object with ID 24 is 37.5 meters away at (-37.4, 3.2). A pedestrian with ID 37 is 38.5 meters away at (-29.6, -24.7). A unknown object with ID 52 is 40.2 meters away at (-39.3, -8.8). A unknown object with ID 33 is 42.7 meters away at (-41.1, -11.5). A unknown object with ID 14 is 43.7 meters away at (-41.5, -13.6).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.3583921  1.1788787] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.2694751 -1.0944893] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.113287   0.6456237] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.8351693  2.3916018] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-2.1646714  1.9172809] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.289504   -0.24432296] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 2.9) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 6 is 12.0 meters away at (9.0, -7.9). A pedestrian with ID 7 is 15.5 meters away at (-15.1, 3.2). A pedestrian with ID 46 is 19.3 meters away at (8.2, -17.5). A vehicle with ID 51 is 23.5 meters away at (18.0, -15.1). A unknown object with ID 24 is 32.4 meters away at (-32.3, -0.9). A vehicle with ID 55 is 34.2 meters away at (-26.5, 21.5). A unknown object with ID 52 is 36.6 meters away at (-34.2, -12.9). A unknown object with ID 36 is 38.5 meters away at (-35.5, -14.9). A vehicle with ID 44 is 39.0 meters away at (-27.4, 27.8). A pedestrian with ID 1 is 39.1 meters away at (-26.6, 28.6).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.669769   1.4579343] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.9417125   0.67515725] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.9276592 -0.8963652] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-1.6493502  1.471283 ] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-2.4622502  1.9183213] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.1558397   0.32407475] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 3.2) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A pedestrian with ID 7 is 10.0 meters away at (-10.0, -0.9). A vehicle with ID 6 is 17.4 meters away at (13.1, -11.4). A vehicle with ID 51 is 29.0 meters away at (22.2, -18.6). A vehicle with ID 44 is 29.7 meters away at (-20.2, 21.8). A pedestrian with ID 46 is 30.6 meters away at (17.6, -25.0). A pedestrian with ID 1 is 31.4 meters away at (-20.7, 23.6). A unknown object with ID 52 is 33.1 meters away at (-27.1, -18.9). A vehicle with ID 55 is 33.3 meters away at (-26.4, 20.4). A unknown object with ID 36 is 35.3 meters away at (-28.5, -20.9). A vehicle with ID 45 is 36.4 meters away at (-25.8, 25.7).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.8914184  1.0525819] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.1779188  1.0584066] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-1.1482555  1.0368148] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.2377894 -0.715143 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.4628763  0.6288809] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-4.598166  2.991564] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 3.3) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A pedestrian with ID 7 is 7.0 meters away at (-4.4, -5.4). A vehicle with ID 44 is 19.7 meters away at (-12.5, 15.2). A pedestrian with ID 1 is 22.2 meters away at (-14.0, 17.2). A vehicle with ID 6 is 22.9 meters away at (17.3, -15.0). A vehicle with ID 45 is 26.2 meters away at (-18.0, 19.1). A unknown object with ID 52 is 32.2 meters away at (-19.4, -25.6). A vehicle with ID 25 is 34.8 meters away at (-31.4, -15.0). A vehicle with ID 51 is 35.6 meters away at (27.2, -23.0). A pedestrian with ID 49 is 36.4 meters away at (-23.0, 28.2). A vehicle with ID 12 is 37.1 meters away at (-27.7, 24.7).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.0884056  1.1176311] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.33434278 -0.21546325] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.9265766  2.5136147] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.023644   1.8399067] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.889952  -0.8088223] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-1.1362048   0.85616213] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 1.8) m/s. Its current heading (yaw) is 1.16

The most relevant actors are: A vehicle with ID 3 is 70.4 meters away at (41.3, -57.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.3) m/s. Its current heading (yaw) is 0.93

The most relevant actors are: A vehicle with ID 3 is 71.4 meters away at (40.1, -59.2).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.6) m/s. Its current heading (yaw) is 0.93

The most relevant actors are: A cyclist with ID 1 is 55.0 meters away at (23.2, -49.9). A vehicle with ID 3 is 71.3 meters away at (40.3, -58.9).

The cyclist with ID 1 is traveling at a (x, y) velocity of [5.1280785 5.680115 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 3.1) m/s. Its current heading (yaw) is 1.30

The most relevant actors are: A cyclist with ID 1 is 45.4 meters away at (22.4, -39.5). A vehicle with ID 3 is 73.7 meters away at (38.3, -62.9).

The cyclist with ID 1 is traveling at a (x, y) velocity of [-2.1336482  7.552482 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.3) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 74 is 6.5 meters away at (3.2, 5.7). A vehicle with ID 77 is 7.8 meters away at (-2.2, 7.5). A vehicle with ID 76 is 10.3 meters away at (-10.3, -0.3). A pedestrian with ID 81 is 10.8 meters away at (6.7, 8.4). A pedestrian with ID 82 is 10.9 meters away at (7.8, 7.7). A pedestrian with ID 83 is 11.4 meters away at (6.9, 9.2). A vehicle with ID 86 is 12.9 meters away at (-8.7, 9.6). A vehicle with ID 80 is 16.4 meters away at (-16.3, 1.7). A pedestrian with ID 84 is 19.3 meters away at (-13.5, 13.8). A pedestrian with ID 85 is 20.0 meters away at (-14.4, 13.8).

The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.3291988  -0.32639313] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 1.3381193  -0.35329866] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 1.2981299  -0.37564462] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [ 0.01203367 -0.00662651] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.00489767 -0.00767561] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.30

The most relevant actors are: A vehicle with ID 74 is 6.4 meters away at (2.7, 5.9). A vehicle with ID 77 is 8.1 meters away at (-2.7, 7.6). A vehicle with ID 76 is 10.9 meters away at (-10.9, -0.1). A pedestrian with ID 81 is 11.5 meters away at (8.6, 7.7). A pedestrian with ID 82 is 12.2 meters away at (9.8, 7.2). A pedestrian with ID 83 is 12.3 meters away at (8.8, 8.5). A vehicle with ID 86 is 13.4 meters away at (-9.2, 9.8). A vehicle with ID 80 is 17.0 meters away at (-16.8, 1.9). A pedestrian with ID 84 is 19.8 meters away at (-14.0, 14.0). A vehicle with ID 79 is 20.0 meters away at (2.1, -19.9).

The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.2338601  -0.34156436] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 1.2755377  -0.21174483] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 1.3006426  -0.35686934] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.0043467   0.01114837] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -1.4) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A vehicle with ID 74 is 7.2 meters away at (-1.1, 7.1). A vehicle with ID 77 is 10.9 meters away at (-6.4, 8.9). A pedestrian with ID 81 is 11.1 meters away at (7.2, 8.4). A pedestrian with ID 83 is 11.9 meters away at (7.5, 9.3). A pedestrian with ID 82 is 11.9 meters away at (8.6, 8.3). A vehicle with ID 76 is 14.6 meters away at (-14.6, 1.2). A vehicle with ID 86 is 17.0 meters away at (-12.9, 11.0). A vehicle with ID 79 is 18.7 meters away at (-1.6, -18.6). A vehicle with ID 6 is 19.5 meters away at (11.4, -15.7). A vehicle with ID 80 is 20.8 meters away at (-20.5, 3.1).

The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.1301464 -0.1964562] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 1.1512091  -0.20570453] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 1.1783413  -0.15802044] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.73067886 0.7468141 ] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.2) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A pedestrian with ID 82 is 11.7 meters away at (0.7, 11.7). A pedestrian with ID 81 is 11.7 meters away at (-0.6, 11.7). A vehicle with ID 6 is 11.8 meters away at (1.7, -11.7). A pedestrian with ID 83 is 12.5 meters away at (-0.5, 12.5). A vehicle with ID 74 is 15.5 meters away at (-11.5, 10.5). A vehicle with ID 78 is 18.6 meters away at (12.4, 13.9). A vehicle with ID 79 is 19.4 meters away at (-12.0, -15.2). A pedestrian with ID 90 is 20.7 meters away at (8.7, 18.8). A vehicle with ID 77 is 20.9 meters away at (-16.9, 12.3). A vehicle with ID 93 is 23.1 meters away at (-4.9, -22.6).

The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 1.371566  -0.0906864] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.3263664  -0.11294679] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.35343477 0.21920133] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 1.3193773  -0.11054444] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.8427971 0.7415996] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -2.4) m/s. Its current heading (yaw) is -1.53

The most relevant actors are: A pedestrian with ID 59 is 5.8 meters away at (-5.7, 1.1). A pedestrian with ID 61 is 7.0 meters away at (6.4, -2.7). A vehicle with ID 22 is 7.0 meters away at (-3.1, -6.3). A pedestrian with ID 68 is 7.1 meters away at (6.2, -3.5). A vehicle with ID 20 is 12.2 meters away at (-4.9, -11.2). A pedestrian with ID 16 is 12.9 meters away at (2.1, -12.8). A vehicle with ID 21 is 17.8 meters away at (-6.8, -16.5). A pedestrian with ID 66 is 26.5 meters away at (-11.3, -24.0). A pedestrian with ID 65 is 26.6 meters away at (-12.0, -23.7). A vehicle with ID 56 is 33.9 meters away at (0.8, -33.9).

The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.50399864 1.0146434 ] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.31753716 1.1742163 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.34177658 1.1882746 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.40852198 -1.1431571 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.45604753 1.2285054 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.47014248 1.1626961 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[20.554878 26.68356 ]
 [18.226341 24.267118]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -2.9) m/s. Its current heading (yaw) is -1.67

The most relevant actors are: A vehicle with ID 22 is 3.3 meters away at (-3.1, -1.3). A vehicle with ID 20 is 7.8 meters away at (-4.8, -6.1). A pedestrian with ID 68 is 7.8 meters away at (6.8, 3.8). A pedestrian with ID 61 is 8.5 meters away at (7.2, 4.5). A pedestrian with ID 59 is 9.5 meters away at (-4.9, 8.1). A pedestrian with ID 16 is 10.2 meters away at (1.5, -10.1). A vehicle with ID 21 is 13.2 meters away at (-6.6, -11.4). A pedestrian with ID 66 is 19.8 meters away at (-10.5, -16.8). A pedestrian with ID 65 is 20.1 meters away at (-11.2, -16.6). A vehicle with ID 32 is 21.7 meters away at (2.4, -21.6).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.3988503 1.0505947] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.37733403 1.1156034 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.4055896 1.0418419] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.31989595 -1.1586225 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.4168319 1.0532243] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.43227336 1.0419698 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -3.9) m/s. Its current heading (yaw) is -1.87

The most relevant actors are: A vehicle with ID 20 is 3.2 meters away at (-3.2, 0.3). A vehicle with ID 22 is 5.3 meters away at (-1.5, 5.1). A pedestrian with ID 16 is 6.3 meters away at (2.2, -5.9). A vehicle with ID 21 is 6.9 meters away at (-5.0, -4.7). A pedestrian with ID 66 is 11.4 meters away at (-8.0, -8.1). A pedestrian with ID 65 is 11.9 meters away at (-8.9, -7.9). A pedestrian with ID 35 is 15.2 meters away at (-12.3, -8.9). A pedestrian with ID 68 is 15.7 meters away at (9.3, 12.6). A pedestrian with ID 61 is 16.4 meters away at (9.5, 13.4). A pedestrian with ID 49 is 17.5 meters away at (-3.1, 17.2).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.4343973 -1.2636086] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.3571776  0.93773705] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.3719243 0.934172 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.7073443 1.0718495] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.343153  1.0885814] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.35066736 1.1171728 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.3618697 1.0134134] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -5.1) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A vehicle with ID 21 is 4.4 meters away at (-2.0, 3.9). A pedestrian with ID 16 is 4.5 meters away at (4.4, 0.6). A pedestrian with ID 66 is 5.2 meters away at (-4.4, 2.7). A pedestrian with ID 65 is 6.0 meters away at (-5.2, 3.0). A pedestrian with ID 35 is 8.7 meters away at (-8.4, 2.4). A vehicle with ID 20 is 9.1 meters away at (-0.2, 9.1). A unknown object with ID 34 is 9.2 meters away at (-8.8, -2.7). A vehicle with ID 12 is 9.8 meters away at (7.5, -6.4). A unknown object with ID 40 is 9.9 meters away at (-9.2, -3.7). A unknown object with ID 47 is 10.4 meters away at (-9.3, -4.6).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.46944875 -1.2276803 ] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.21133208 0.8995968 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.19860788 0.79764223] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.25677747 1.0205587 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.7) m/s. Its current heading (yaw) is -2.00

The most relevant actors are: A unknown object with ID 10 is 4.5 meters away at (-4.2, 1.6). A unknown object with ID 7 is 35.2 meters away at (12.7, 32.9).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-4.2156796  1.6071975], 4.511655807495117 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.7) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A unknown object with ID 10 is 4.5 meters away at (-4.0, 2.1). A unknown object with ID 7 is 35.7 meters away at (13.0, 33.3).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-3.9600797  2.0500617], 4.459258079528809 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -2.2) m/s. Its current heading (yaw) is -2.49

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 1.1) m/s. Its current heading (yaw) is 2.93

The most relevant actors are: A unknown object with ID 4 is 9.9 meters away at (6.8, 7.2). A pedestrian with ID 5 is 45.2 meters away at (38.5, -23.6). A pedestrian with ID 8 is 47.8 meters away at (40.9, -24.9).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.07360735 -0.8294318 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.16607204 -0.93043387] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [6.814789 7.153344], 9.879861831665039 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 1.3) m/s. Its current heading (yaw) is 0.55

The most relevant actors are: A unknown object with ID 19 is 6.9 meters away at (-4.4, -5.3). A vehicle with ID 21 is 8.1 meters away at (1.7, 7.9). A unknown object with ID 22 is 8.8 meters away at (6.7, -5.7). A unknown object with ID 25 is 13.4 meters away at (3.1, -13.1). A pedestrian with ID 24 is 13.8 meters away at (-0.4, 13.8). A pedestrian with ID 26 is 16.0 meters away at (8.2, 13.8). A unknown object with ID 23 is 17.4 meters away at (-11.1, -13.4). A unknown object with ID 30 is 22.5 meters away at (-3.9, -22.1). A unknown object with ID 28 is 27.2 meters away at (-17.3, -21.0). A vehicle with ID 36 is 28.5 meters away at (-16.4, -23.3).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.2205687  -0.09451967] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-2.0727077   0.16614594] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 1.5) m/s. Its current heading (yaw) is 0.76

The most relevant actors are: A vehicle with ID 21 is 5.5 meters away at (-2.2, 5.1). A unknown object with ID 22 is 9.1 meters away at (2.8, -8.7). A pedestrian with ID 26 is 10.9 meters away at (0.7, 10.9). A pedestrian with ID 24 is 11.3 meters away at (-5.9, 9.7). A unknown object with ID 19 is 11.8 meters away at (-8.4, -8.2). A unknown object with ID 25 is 16.1 meters away at (-0.9, -16.1). A unknown object with ID 23 is 22.3 meters away at (-15.2, -16.3). A unknown object with ID 30 is 26.3 meters away at (-8.0, -25.1). A unknown object with ID 32 is 26.3 meters away at (25.5, 6.5). A unknown object with ID 6 is 27.5 meters away at (26.6, 6.9).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.4873554  -0.26104704] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.47980377 -0.72639114] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.7) m/s. Its current heading (yaw) is 0.98

The most relevant actors are: A vehicle with ID 21 is 5.1 meters away at (-4.4, 2.5). A pedestrian with ID 26 is 9.3 meters away at (-4.3, 8.2). A pedestrian with ID 24 is 10.7 meters away at (-8.4, 6.7). A unknown object with ID 22 is 11.2 meters away at (0.6, -11.2). A unknown object with ID 19 is 15.1 meters away at (-10.6, -10.8). A unknown object with ID 25 is 18.9 meters away at (-3.1, -18.7). A vehicle with ID 40 is 19.3 meters away at (-14.7, -12.5). A unknown object with ID 23 is 25.7 meters away at (-17.4, -18.9). A unknown object with ID 30 is 29.5 meters away at (-10.2, -27.6). A pedestrian with ID 37 is 31.1 meters away at (31.0, 2.1).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.2430266   0.17729387] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01255764  0.01340108] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [3.5869334 4.1787267] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.5770224  -0.68866163] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.97

The most relevant actors are: A vehicle with ID 21 is 5.1 meters away at (-4.7, 2.0). A pedestrian with ID 26 is 10.5 meters away at (-7.2, 7.7). A pedestrian with ID 24 is 10.7 meters away at (-8.7, 6.2). A unknown object with ID 22 is 11.7 meters away at (0.3, -11.7). A vehicle with ID 40 is 12.2 meters away at (-9.2, -8.1). A unknown object with ID 19 is 15.7 meters away at (-10.9, -11.3). A unknown object with ID 25 is 19.4 meters away at (-3.4, -19.1). A unknown object with ID 4 is 20.4 meters away at (0.7, 20.4). A vehicle with ID 20 is 22.9 meters away at (-8.9, 21.2). A unknown object with ID 23 is 26.2 meters away at (-17.6, -19.4).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.2564257  -0.32925525] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.00893729 -0.0051895 ] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [1.8239585 0.9970611] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.42051   -0.6193915] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -1.8) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 13 is 16.6 meters away at (12.5, 10.9). A pedestrian with ID 12 is 19.7 meters away at (-10.7, 16.5). A vehicle with ID 14 is 38.5 meters away at (26.1, 28.3). A vehicle with ID 17 is 68.3 meters away at (39.8, 55.5).

The vehicle with ID 13 is traveling at a (x, y) velocity of [-3.0042799 -4.5768266] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.03547125 0.02529054] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -3.2) m/s. Its current heading (yaw) is -2.52

The most relevant actors are: A vehicle with ID 13 is 14.5 meters away at (12.7, 7.0). A pedestrian with ID 12 is 22.6 meters away at (-4.9, 22.1). A vehicle with ID 14 is 46.6 meters away at (31.9, 34.0). A unknown object with ID 10 is 66.5 meters away at (57.6, -33.2). A vehicle with ID 17 is 76.3 meters away at (45.6, 61.2).

The vehicle with ID 13 is traveling at a (x, y) velocity of [-2.0915992 -5.141572 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00980647 -0.00960132] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, -1.1) m/s. Its current heading (yaw) is -2.97

The most relevant actors are: A vehicle with ID 13 is 23.6 meters away at (23.6, 0.8). A pedestrian with ID 12 is 27.6 meters away at (6.3, 26.9). A vehicle with ID 14 is 58.0 meters away at (43.2, 38.7). A unknown object with ID 10 is 74.6 meters away at (68.9, -28.5).

The vehicle with ID 13 is traveling at a (x, y) velocity of [ 1.9004523 -5.5209866] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.00493139 -0.01154662] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 1.3) m/s. Its current heading (yaw) is 2.94

The most relevant actors are: A pedestrian with ID 12 is 32.7 meters away at (19.9, 26.0). A vehicle with ID 13 is 45.8 meters away at (44.8, -9.6). A unknown object with ID 4 is 46.8 meters away at (46.8, -1.7). A vehicle with ID 14 is 68.2 meters away at (56.7, 37.8).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.10055824 -0.15386441] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 5.763182  -4.4294586] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [19.88887  25.958218], 32.70162582397461 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.2) m/s. Its current heading (yaw) is -2.84

The most relevant actors are: A vehicle with ID 17 is 9.3 meters away at (8.6, -3.5). A vehicle with ID 14 is 16.3 meters away at (2.2, -16.1). A cyclist with ID 11 is 17.6 meters away at (-5.9, -16.6). A vehicle with ID 18 is 18.8 meters away at (3.7, 18.4). A vehicle with ID 15 is 18.8 meters away at (1.4, 18.8). A vehicle with ID 21 is 19.6 meters away at (6.0, 18.7). A vehicle with ID 24 is 20.3 meters away at (8.5, 18.4). A vehicle with ID 32 is 22.5 meters away at (13.4, 18.1). A vehicle with ID 40 is 23.5 meters away at (23.4, -2.3). A vehicle with ID 23 is 25.9 meters away at (-6.4, -25.1).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-2.5190551  6.6612535] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.86

The most relevant actors are: A cyclist with ID 11 is 8.4 meters away at (-7.4, -4.0). A vehicle with ID 17 is 9.5 meters away at (8.9, -3.5). A vehicle with ID 14 is 16.2 meters away at (2.5, -16.0). A vehicle with ID 18 is 18.8 meters away at (4.0, 18.4). A vehicle with ID 15 is 19.0 meters away at (1.7, 18.9). A vehicle with ID 21 is 19.7 meters away at (6.3, 18.7). A vehicle with ID 24 is 20.5 meters away at (8.8, 18.5). A vehicle with ID 32 is 22.6 meters away at (13.6, 18.1). A vehicle with ID 40 is 23.8 meters away at (23.7, -2.2). A vehicle with ID 23 is 25.8 meters away at (-6.1, -25.0).

The cyclist with ID 11 is traveling at a (x, y) velocity of [0.43797374 6.2058063 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.0) m/s. Its current heading (yaw) is -2.86

The most relevant actors are: A cyclist with ID 11 is 5.2 meters away at (0.4, 5.2). A vehicle with ID 17 is 9.7 meters away at (9.0, -3.4). A vehicle with ID 14 is 16.2 meters away at (2.6, -16.0). A vehicle with ID 15 is 18.9 meters away at (1.9, 18.8). A vehicle with ID 18 is 18.9 meters away at (4.2, 18.5). A vehicle with ID 21 is 19.8 meters away at (6.4, 18.7). A vehicle with ID 24 is 20.5 meters away at (8.9, 18.5). A vehicle with ID 32 is 22.8 meters away at (13.8, 18.1). A vehicle with ID 40 is 23.9 meters away at (23.8, -2.2). A vehicle with ID 23 is 25.7 meters away at (-5.9, -25.0).

The cyclist with ID 11 is traveling at a (x, y) velocity of [6.5493646 2.5453033] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -0.2) m/s. Its current heading (yaw) is -2.98

The most relevant actors are: A vehicle with ID 17 is 11.0 meters away at (10.6, -3.0). A vehicle with ID 14 is 16.2 meters away at (4.2, -15.6). A vehicle with ID 15 is 19.5 meters away at (3.3, 19.3). A vehicle with ID 18 is 19.6 meters away at (5.6, 18.8). A cyclist with ID 11 is 19.8 meters away at (18.4, 7.2). A vehicle with ID 21 is 20.7 meters away at (7.9, 19.2). A vehicle with ID 24 is 21.5 meters away at (10.4, 18.9). A vehicle with ID 32 is 24.0 meters away at (15.3, 18.5). A vehicle with ID 23 is 25.0 meters away at (-4.3, -24.6). A vehicle with ID 40 is 25.5 meters away at (25.4, -1.6).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [ 8.787199   -0.03051391] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, -7.2) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 13 is 23.6 meters away at (-16.5, -16.9). A vehicle with ID 9 is 54.1 meters away at (44.3, 31.1). A vehicle with ID 10 is 54.7 meters away at (44.7, 31.5).

The vehicle with ID 13 is traveling at a (x, y) velocity of [9.579473 7.345195] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [7.1223   6.012671] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [7.728977 6.527212] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, -7.1) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 13 is 23.1 meters away at (20.1, 11.3).

The vehicle with ID 13 is traveling at a (x, y) velocity of [8.781284  6.7224545] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.4, -7.3) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A pedestrian with ID 7 is 31.0 meters away at (29.2, 10.4). A vehicle with ID 2 is 33.2 meters away at (-24.4, -22.6). A vehicle with ID 6 is 63.5 meters away at (-48.8, -40.7). A vehicle with ID 13 is 67.3 meters away at (55.3, 38.4).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [10.682373  7.901459] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [10.594772   7.8636227] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [7.8074613 5.8903503] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.7, -7.5) m/s. Its current heading (yaw) is -2.49

The most relevant actors are: A vehicle with ID 6 is 13.5 meters away at (-8.6, -10.5). A vehicle with ID 2 is 17.3 meters away at (15.4, 7.8).

The vehicle with ID 6 is traveling at a (x, y) velocity of [10.228092   7.6675944] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [10.00198    7.9105315] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.3) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 63 is 6.1 meters away at (1.0, 6.1). A vehicle with ID 64 is 9.0 meters away at (-4.6, 7.7). A vehicle with ID 11 is 10.0 meters away at (-9.5, 3.2). A vehicle with ID 74 is 11.3 meters away at (11.3, -0.1). A vehicle with ID 70 is 15.3 meters away at (-15.2, 1.8). A vehicle with ID 73 is 18.0 meters away at (14.9, 10.2). A vehicle with ID 77 is 18.9 meters away at (-15.2, 11.2). A vehicle with ID 67 is 19.4 meters away at (-4.3, -18.9). A vehicle with ID 66 is 19.6 meters away at (-8.3, -17.7). A vehicle with ID 71 is 20.9 meters away at (2.2, -20.8).

The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 2.402268  -0.8239308] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-5.9443016  1.7594606] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.21895888 -0.5926515 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 74 is 5.6 meters away at (-3.5, 4.4). A vehicle with ID 63 is 6.2 meters away at (0.6, 6.2). A vehicle with ID 11 is 7.4 meters away at (-7.0, 2.3). A vehicle with ID 64 is 9.3 meters away at (-5.0, 7.8). A vehicle with ID 73 is 15.5 meters away at (13.3, 7.8). A vehicle with ID 70 is 15.6 meters away at (-15.5, 1.9). A vehicle with ID 77 is 19.2 meters away at (-15.5, 11.3). A vehicle with ID 67 is 19.6 meters away at (-4.7, -19.0). A vehicle with ID 66 is 19.6 meters away at (-8.6, -17.6). A vehicle with ID 71 is 20.8 meters away at (1.8, -20.8).

The vehicle with ID 74 is traveling at a (x, y) velocity of [-8.486428   2.5622494] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.6725446 -2.464419 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -0.5) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A vehicle with ID 63 is 6.5 meters away at (-0.4, 6.5). A vehicle with ID 73 is 7.4 meters away at (6.3, 3.9). A vehicle with ID 11 is 8.2 meters away at (-7.8, 2.6). A vehicle with ID 64 is 10.2 meters away at (-6.0, 8.2). A vehicle with ID 70 is 16.8 meters away at (-16.6, 2.3). A vehicle with ID 67 is 19.4 meters away at (-5.7, -18.6). A vehicle with ID 66 is 19.9 meters away at (-9.8, -17.3). A vehicle with ID 77 is 20.3 meters away at (-16.6, 11.7). A vehicle with ID 71 is 20.5 meters away at (0.7, -20.5). A vehicle with ID 50 is 21.5 meters away at (12.7, 17.3).

The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-4.032384  -1.1389462] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -1.3) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 63 is 9.8 meters away at (-5.5, 8.1). A vehicle with ID 73 is 10.0 meters away at (-7.9, 6.2). A vehicle with ID 11 is 12.3 meters away at (-11.7, 3.8). A vehicle with ID 64 is 14.9 meters away at (-11.2, 9.8). A vehicle with ID 71 is 19.4 meters away at (-4.4, -18.9). A vehicle with ID 50 is 20.4 meters away at (7.6, 19.0). A vehicle with ID 66 is 21.7 meters away at (-14.9, -15.7). A vehicle with ID 70 is 22.1 meters away at (-21.8, 4.0). A vehicle with ID 59 is 23.0 meters away at (20.9, -9.5). A vehicle with ID 76 is 24.8 meters away at (-6.0, -24.0).

The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-5.678132   1.3086305] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.3498375 -0.5430117] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -1.4) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A vehicle with ID 21 is 5.6 meters away at (5.3, -2.0). A vehicle with ID 26 is 6.1 meters away at (5.0, 3.4). A pedestrian with ID 18 is 6.4 meters away at (0.7, 6.4). A pedestrian with ID 19 is 6.8 meters away at (0.1, 6.8). A vehicle with ID 22 is 7.2 meters away at (2.5, -6.8). A vehicle with ID 24 is 8.2 meters away at (-4.2, -7.0). A vehicle with ID 25 is 11.2 meters away at (-0.2, -11.2). A vehicle with ID 27 is 13.7 meters away at (13.7, 0.3). A vehicle with ID 16 is 15.9 meters away at (-8.5, -13.4). A vehicle with ID 31 is 15.9 meters away at (-3.0, -15.6).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [4.3968434 7.445402 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.77701795 -1.2190868 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7657539 -1.23177  ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A pedestrian with ID 18 is 4.7 meters away at (-0.3, 4.7). A pedestrian with ID 19 is 5.2 meters away at (-0.9, 5.2). A vehicle with ID 21 is 5.9 meters away at (5.7, -1.3). A vehicle with ID 22 is 6.8 meters away at (2.9, -6.2). A vehicle with ID 24 is 7.4 meters away at (-3.8, -6.3). A vehicle with ID 25 is 10.5 meters away at (0.2, -10.5). A vehicle with ID 27 is 14.1 meters away at (14.1, 1.1). A vehicle with ID 31 is 15.2 meters away at (-2.5, -15.0). A vehicle with ID 23 is 15.8 meters away at (-8.5, -13.3). A pedestrian with ID 34 is 22.7 meters away at (-14.2, -17.7).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6948865 -1.0746202] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.6968596 -1.1258291] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.0942718  1.052989 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A pedestrian with ID 18 is 2.9 meters away at (-1.7, 2.4). A pedestrian with ID 19 is 3.7 meters away at (-2.3, 2.9). A vehicle with ID 21 is 5.9 meters away at (5.8, -1.3). A vehicle with ID 22 is 6.8 meters away at (2.9, -6.1). A vehicle with ID 24 is 7.6 meters away at (-3.9, -6.5). A vehicle with ID 25 is 10.4 meters away at (0.3, -10.4). A vehicle with ID 27 is 14.2 meters away at (14.1, 1.1). A vehicle with ID 31 is 15.1 meters away at (-2.5, -14.9). A vehicle with ID 23 is 16.0 meters away at (-8.6, -13.5). A pedestrian with ID 10 is 23.3 meters away at (-10.6, -20.8).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.7055373 -1.1706474] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.75420845 -1.202173  ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.19785656 -0.30114037] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.2631514  1.0343337] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A pedestrian with ID 18 is 3.1 meters away at (-3.1, 0.1). A pedestrian with ID 19 is 3.7 meters away at (-3.6, 0.6). A vehicle with ID 21 is 5.9 meters away at (5.8, -1.3). A vehicle with ID 22 is 6.8 meters away at (2.9, -6.1). A vehicle with ID 24 is 8.4 meters away at (-4.4, -7.2). A vehicle with ID 25 is 10.4 meters away at (0.3, -10.4). A vehicle with ID 27 is 14.2 meters away at (14.1, 1.2). A vehicle with ID 31 is 15.1 meters away at (-2.5, -14.9). A vehicle with ID 23 is 17.1 meters away at (-9.2, -14.4). A pedestrian with ID 10 is 22.8 meters away at (-13.3, -18.5).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.7421086 -1.1731081] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.71614504 -1.1557783 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.28795606 -0.4699163 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.2542667  -0.39769974] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0940163  1.0713338] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.6) m/s. Its current heading (yaw) is -2.25

The most relevant actors are: A vehicle with ID 9 is 13.3 meters away at (10.8, -7.7). A unknown object with ID 15 is 26.3 meters away at (23.0, 12.6). A unknown object with ID 17 is 28.4 meters away at (24.3, 14.6). A vehicle with ID 10 is 29.5 meters away at (12.0, -27.0). A unknown object with ID 18 is 30.1 meters away at (25.2, 16.5). A unknown object with ID 13 is 32.0 meters away at (26.7, 17.6). A unknown object with ID 19 is 44.1 meters away at (18.1, 40.2). A unknown object with ID 3 is 44.4 meters away at (17.4, 40.9). A unknown object with ID 20 is 45.0 meters away at (18.7, 41.0). A unknown object with ID 6 is 51.7 meters away at (-43.9, 27.4).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.413675 -5.630106] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 3.1059024 -5.9557924] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-12.3987465 -14.118336 ]
 [-12.231092  -13.932885 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.24

The most relevant actors are: A vehicle with ID 9 is 20.5 meters away at (9.4, -18.2). A unknown object with ID 15 is 26.5 meters away at (23.2, 12.9). A unknown object with ID 17 is 28.7 meters away at (24.6, 14.9). A unknown object with ID 18 is 30.4 meters away at (25.4, 16.6). A vehicle with ID 4 is 39.0 meters away at (-2.3, -38.9). A unknown object with ID 19 is 44.5 meters away at (18.4, 40.5). A unknown object with ID 3 is 44.7 meters away at (17.7, 41.0). A vehicle with ID 10 is 44.9 meters away at (22.9, -38.6). A unknown object with ID 20 is 45.4 meters away at (18.9, 41.3).

The vehicle with ID 9 is traveling at a (x, y) velocity of [ 0.1739714 -5.6226764] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-13.897984  12.586787] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 6.461314  -5.9284077] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-12.3987465 -14.118336 ]
 [-12.231092  -13.932885 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.24

The most relevant actors are: A unknown object with ID 15 is 26.6 meters away at (23.2, 12.9). A unknown object with ID 17 is 28.8 meters away at (24.6, 14.9). A unknown object with ID 18 is 30.4 meters away at (25.4, 16.7). A vehicle with ID 9 is 32.6 meters away at (14.4, -29.2). A vehicle with ID 4 is 32.9 meters away at (-29.8, -13.9). A unknown object with ID 19 is 44.5 meters away at (18.4, 40.5). A unknown object with ID 3 is 44.8 meters away at (17.7, 41.1). A unknown object with ID 20 is 45.5 meters away at (18.8, 41.4). A vehicle with ID 7 is 48.5 meters away at (11.5, -47.1).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 4.9309454 -5.6476064] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-13.408012  12.170983] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-6.843122   6.6191416] m/s.

There are active red lights at the following coordinates: [[-12.3987465 -14.118336 ]
 [-12.231092  -13.932885 ]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [23.248343 12.917858], 26.596174240112305 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.24

The most relevant actors are: A unknown object with ID 15 is 26.6 meters away at (23.3, 12.9). A unknown object with ID 17 is 28.8 meters away at (24.6, 14.9). A unknown object with ID 18 is 30.4 meters away at (25.5, 16.7). A vehicle with ID 7 is 37.0 meters away at (0.7, -37.0). A unknown object with ID 19 is 44.5 meters away at (18.4, 40.5). A unknown object with ID 3 is 44.8 meters away at (17.7, 41.1). A unknown object with ID 20 is 45.4 meters away at (18.8, 41.3). A vehicle with ID 9 is 49.6 meters away at (26.9, -41.7). A vehicle with ID 4 is 56.7 meters away at (-55.9, 9.6).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-3.1706815  3.0015845] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.129439  -6.8730693] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-12.575674  11.446956] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [23.25681  12.916125], 26.602733612060547 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 6.7) m/s. Its current heading (yaw) is 1.19

The most relevant actors are: A vehicle with ID 9 is 10.3 meters away at (3.2, -9.7). A vehicle with ID 28 is 10.4 meters away at (3.2, -9.9). A vehicle with ID 29 is 13.3 meters away at (5.6, -12.1). A pedestrian with ID 27 is 17.5 meters away at (-10.2, -14.2). A pedestrian with ID 33 is 22.0 meters away at (19.1, -10.9). A pedestrian with ID 34 is 22.6 meters away at (20.0, -10.6). A vehicle with ID 47 is 23.8 meters away at (15.7, 17.9). A vehicle with ID 31 is 32.0 meters away at (3.6, -31.8). A vehicle with ID 32 is 43.4 meters away at (24.2, -36.0). A unknown object with ID 36 is 48.9 meters away at (-42.9, -23.5).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00828949  0.01436598] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.02136119  0.02655682] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.04399534  0.01722618] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-2.5624003 -5.4627104] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [6.8226604 1.2059102] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 8.437661 -2.982263] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 6.9) m/s. Its current heading (yaw) is 1.18

The most relevant actors are: A vehicle with ID 47 is 7.4 meters away at (6.0, -4.4). A vehicle with ID 9 is 23.4 meters away at (-2.5, -23.2). A vehicle with ID 28 is 23.4 meters away at (-2.5, -23.3). A vehicle with ID 29 is 25.8 meters away at (-0.3, -25.8). A pedestrian with ID 34 is 27.9 meters away at (14.3, -23.9). A pedestrian with ID 27 is 32.0 meters away at (-15.9, -27.8). A pedestrian with ID 12 is 33.7 meters away at (0.6, -33.7). A pedestrian with ID 13 is 43.0 meters away at (33.1, 27.4). A vehicle with ID 15 is 48.4 meters away at (12.0, -46.9). A vehicle with ID 37 is 66.7 meters away at (-40.6, -52.9).

The vehicle with ID 47 is traveling at a (x, y) velocity of [-1.6099232 -3.4849231] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.03304395  0.02199714] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.01448577 -0.00017737] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00727119  0.00273181] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00884926  0.01080057] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 7.6920137 -2.066933 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 6.6) m/s. Its current heading (yaw) is 1.16

The most relevant actors are: A vehicle with ID 47 is 23.6 meters away at (-2.4, -23.5). A unknown object with ID 20 is 29.2 meters away at (-16.8, -23.9). A pedestrian with ID 22 is 29.7 meters away at (-17.0, -24.4). A pedestrian with ID 13 is 30.6 meters away at (27.3, 13.8). A vehicle with ID 9 is 37.7 meters away at (-8.5, -36.8). A vehicle with ID 28 is 37.8 meters away at (-8.4, -36.8). A pedestrian with ID 34 is 38.2 meters away at (8.5, -37.3). A vehicle with ID 6 is 41.5 meters away at (26.2, 32.2). A pedestrian with ID 27 is 46.7 meters away at (-21.8, -41.3). A unknown object with ID 26 is 77.9 meters away at (22.2, 74.7).

The vehicle with ID 47 is traveling at a (x, y) velocity of [-0.80819505 -1.7843765 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.01468328 -0.01283361] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00044534 0.01014189] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.0353903  -0.01205569] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.2516901 -5.190365 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.01421977  0.00603056] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 6.6) m/s. Its current heading (yaw) is 1.18

The most relevant actors are: A vehicle with ID 6 is 17.8 meters away at (16.1, 7.7). A unknown object with ID 19 is 26.9 meters away at (25.5, 8.6). A vehicle with ID 47 is 39.5 meters away at (-9.0, -38.4). A unknown object with ID 20 is 43.2 meters away at (-22.4, -37.0). A pedestrian with ID 34 is 50.4 meters away at (2.9, -50.3). A pedestrian with ID 14 is 50.8 meters away at (1.9, -50.8). A vehicle with ID 9 is 51.7 meters away at (-14.1, -49.8). A vehicle with ID 28 is 51.8 meters away at (-14.1, -49.8). A pedestrian with ID 27 is 60.9 meters away at (-27.4, -54.4).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.116257 -6.249306] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00488174 -0.01737783] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.02838697  0.01541612] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.00595434 -0.00964336] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -4.8) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A unknown object with ID 25 is 43.3 meters away at (-28.3, -32.8). A pedestrian with ID 23 is 49.1 meters away at (-35.4, -34.0). A pedestrian with ID 22 is 49.4 meters away at (-35.1, -34.8). A vehicle with ID 26 is 60.5 meters away at (-26.5, 54.4).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.9773479  -0.09632474] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 1.0570571  -0.15615001] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-28.261784 -32.815174], 43.30778503417969 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.5) m/s. Its current heading (yaw) is -1.96

The most relevant actors are: A unknown object with ID 16 is 23.7 meters away at (-0.5, -23.7). A unknown object with ID 14 is 25.8 meters away at (-0.9, -25.7). A unknown object with ID 25 is 32.8 meters away at (-24.0, -22.4). A pedestrian with ID 23 is 37.3 meters away at (-28.8, -23.7). A pedestrian with ID 22 is 38.0 meters away at (-28.7, -24.9). A vehicle with ID 13 is 42.0 meters away at (-19.3, 37.3). A vehicle with ID 26 is 68.4 meters away at (-22.2, 64.7).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.0793523  -0.31589013] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 1.1033844  -0.21575916] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ -0.4797697 -23.729988 ], 23.73483657836914 meters away.)