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 -1.95

The most relevant actors are: A unknown object with ID 10 is 8.7 meters away at (-6.3, -6.0). A unknown object with ID 11 is 15.2 meters away at (-12.2, 9.1). A vehicle with ID 16 is 16.0 meters away at (-8.1, 13.8). A unknown object with ID 18 is 16.6 meters away at (-13.0, 10.4). A unknown object with ID 19 is 17.2 meters away at (-12.9, 11.4). A unknown object with ID 20 is 23.6 meters away at (-8.2, 22.1). A unknown object with ID 21 is 24.9 meters away at (-7.2, 23.8). A unknown object with ID 13 is 25.3 meters away at (-4.7, 24.9). A pedestrian with ID 22 is 26.5 meters away at (-9.9, -24.6). A cyclist with ID 1 is 26.9 meters away at (-10.4, -24.8).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 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 unknown object with ID 18 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 pedestrian with ID 22 is traveling at a (x, y) velocity of [-2.6415675 -1.1608878] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [-2.9524117 -1.4213618] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-6.33428   -5.9865704], 8.715625762939453 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 -1.95

The most relevant actors are: A unknown object with ID 10 is 8.7 meters away at (-6.3, -5.9). A unknown object with ID 11 is 15.3 meters away at (-12.2, 9.2). A vehicle with ID 16 is 16.0 meters away at (-8.1, 13.8). A unknown object with ID 18 is 16.6 meters away at (-13.0, 10.4). A unknown object with ID 19 is 17.2 meters away at (-12.9, 11.5). A unknown object with ID 20 is 23.7 meters away at (-8.1, 22.2). A unknown object with ID 21 is 24.9 meters away at (-7.2, 23.9). A unknown object with ID 13 is 25.4 meters away at (-4.7, 24.9). A pedestrian with ID 22 is 31.2 meters away at (-16.5, -26.4). A pedestrian with ID 29 is 42.8 meters away at (-30.7, -29.9).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 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 unknown object with ID 18 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 pedestrian with ID 22 is traveling at a (x, y) velocity of [-3.1354015  -0.51670283] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.4419858  -0.21123807] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-6.3162365 -5.9483776], 8.676292419433594 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -1.3) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 64 is 3.9 meters away at (1.2, -3.7). A vehicle with ID 67 is 4.5 meters away at (-4.2, -1.7). A vehicle with ID 66 is 8.1 meters away at (-3.7, 7.2). A vehicle with ID 82 is 11.7 meters away at (11.7, -0.9). A vehicle with ID 20 is 14.5 meters away at (-13.8, 4.5). A unknown object with ID 70 is 14.6 meters away at (-13.6, -5.4). A vehicle with ID 68 is 14.7 meters away at (-11.0, 9.7). A unknown object with ID 72 is 15.1 meters away at (-13.6, -6.5). A unknown object with ID 71 is 15.2 meters away at (-13.7, -6.5). A vehicle with ID 65 is 15.5 meters away at (15.5, 0.9).

The vehicle with ID 64 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 82 is traveling at a (x, y) velocity of [-7.8589716  2.553741 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 4.6222887 -1.623488 ] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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 (2.3, -0.8) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 64 is 5.1 meters away at (-4.8, -1.6). A vehicle with ID 65 is 9.8 meters away at (9.3, 3.0). A vehicle with ID 67 is 10.4 meters away at (-10.4, 0.5). A vehicle with ID 77 is 12.7 meters away at (11.9, -4.5). A vehicle with ID 20 is 12.7 meters away at (-12.1, 3.9). A vehicle with ID 66 is 13.6 meters away at (-9.8, 9.4). A vehicle with ID 82 is 14.4 meters away at (-12.5, 7.3). A unknown object with ID 70 is 20.0 meters away at (-19.8, -3.2). A vehicle with ID 68 is 20.9 meters away at (-17.1, 12.0). A vehicle with ID 81 is 22.8 meters away at (4.6, -22.3).

The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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 77 is traveling at a (x, y) velocity of [ 0.83995754 -0.29782283] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 3.4447477 -1.2535821] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-9.622442   3.2702503] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -0.5) m/s. Its current heading (yaw) is -0.37

The most relevant actors are: A vehicle with ID 65 is 7.3 meters away at (6.0, 4.2). A vehicle with ID 64 is 8.2 meters away at (-8.2, -0.4). A vehicle with ID 20 is 11.2 meters away at (-10.6, 3.4). A vehicle with ID 77 is 12.5 meters away at (11.7, -4.4). A vehicle with ID 67 is 14.0 meters away at (-13.8, 1.8). A vehicle with ID 66 is 16.9 meters away at (-13.1, 10.6). A vehicle with ID 81 is 21.2 meters away at (1.2, -21.2). A vehicle with ID 69 is 22.5 meters away at (4.9, -21.9). A unknown object with ID 70 is 23.3 meters away at (-23.1, -2.9). A vehicle with ID 68 is 24.3 meters away at (-20.4, 13.1).

The vehicle with ID 65 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 20 is traveling at a (x, y) velocity of [ 1.3820463 -0.5016029] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [ 2.4662745  -0.54749006] 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 81 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 unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 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 (2.7, -1.0) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A vehicle with ID 65 is 6.0 meters away at (1.9, 5.7). A vehicle with ID 64 is 12.5 meters away at (-12.4, 1.2). A vehicle with ID 20 is 13.4 meters away at (-12.7, 4.2). A vehicle with ID 77 is 13.7 meters away at (13.3, -3.2). A vehicle with ID 67 is 18.3 meters away at (-18.0, 3.3). A vehicle with ID 81 is 19.9 meters away at (-3.0, -19.6). A vehicle with ID 69 is 20.4 meters away at (0.8, -20.4). A vehicle with ID 66 is 21.2 meters away at (-17.3, 12.2). A unknown object with ID 70 is 27.3 meters away at (-27.3, -0.4). A unknown object with ID 41 is 27.5 meters away at (-27.5, -1.3).

The vehicle with ID 65 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 20 is traveling at a (x, y) velocity of [ 1.4448802 -0.5279672] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [3.177568 0.847964] m/s.The vehicle with ID 67 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 vehicle with ID 69 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 unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 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 (5.8, 3.6) m/s. Its current heading (yaw) is 0.55

The most relevant actors are: A pedestrian with ID 56 is 6.5 meters away at (1.2, -6.4). A pedestrian with ID 58 is 7.0 meters away at (3.4, -6.2). A pedestrian with ID 57 is 7.4 meters away at (1.6, -7.2). A vehicle with ID 9 is 9.7 meters away at (-9.6, 1.1). A vehicle with ID 12 is 10.7 meters away at (-9.3, -5.3). A vehicle with ID 18 is 11.5 meters away at (5.4, 10.2). A pedestrian with ID 67 is 13.0 meters away at (12.8, 2.4). A pedestrian with ID 25 is 16.3 meters away at (16.0, 3.2). A pedestrian with ID 64 is 16.6 meters away at (16.4, 2.6). A pedestrian with ID 68 is 18.9 meters away at (18.6, 3.6).

The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.9650727  0.56069076] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [1.1971351  0.44482565] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [1.2152731  0.49439323] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [6.1218014 5.098356 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [3.8339863 4.773914 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [8.502578  5.1249824] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.1384919  -0.68276817] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [1.0372576 0.9103609] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [1.0692246  0.87935793] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.15073273 0.11644918] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, 3.8) m/s. Its current heading (yaw) is 0.57

The most relevant actors are: A pedestrian with ID 67 is 5.6 meters away at (-0.7, -5.6). A pedestrian with ID 25 is 6.4 meters away at (5.9, -2.6). A pedestrian with ID 64 is 7.0 meters away at (6.2, -3.2). A pedestrian with ID 68 is 7.7 meters away at (6.7, -3.8). A vehicle with ID 9 is 8.4 meters away at (-7.8, 3.0). A vehicle with ID 12 is 11.6 meters away at (-11.1, -3.6). A pedestrian with ID 23 is 13.0 meters away at (12.8, 1.8). A pedestrian with ID 24 is 13.3 meters away at (13.3, 1.1). A pedestrian with ID 22 is 14.7 meters away at (14.5, 2.4). A pedestrian with ID 58 is 14.8 meters away at (-6.4, -13.3).

The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.02096722 0.01911625] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [1.0572436  0.93519175] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [1.0145409 0.9099213] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.40155587 0.37168103] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [7.926798 4.815114] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [6.4149323 4.5725393] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [1.1891476  0.77219796] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [1.2308475  0.79906577] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [1.2923781  0.73172235] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [1.18471    0.26408383] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, 3.7) m/s. Its current heading (yaw) is 0.55

The most relevant actors are: A pedestrian with ID 23 is 5.4 meters away at (3.3, -4.2). A pedestrian with ID 24 is 5.9 meters away at (3.5, -4.7). A pedestrian with ID 22 is 6.0 meters away at (4.9, -3.4). A vehicle with ID 9 is 6.3 meters away at (-2.9, 5.6). A pedestrian with ID 37 is 8.9 meters away at (6.6, -6.0). A vehicle with ID 12 is 9.3 meters away at (-9.1, -2.0). A pedestrian with ID 25 is 9.4 meters away at (-3.9, -8.6). A pedestrian with ID 64 is 9.9 meters away at (-3.5, -9.2). A pedestrian with ID 54 is 12.4 meters away at (12.4, -0.1). A pedestrian with ID 68 is 12.5 meters away at (-5.4, -11.2).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [1.2157688  0.95563257] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [1.2004207 0.9858779] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [1.2560897  0.83836484] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [8.772063  5.3669567] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.0086251  -0.01250418] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [7.7139864 4.9235425] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [1.0516646  0.65652883] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [1.0496763  0.69802177] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.02992444  0.03003606] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.02608175  0.02407726] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, 4.0) m/s. Its current heading (yaw) is 0.55

The most relevant actors are: A vehicle with ID 12 is 4.5 meters away at (-4.3, 1.4). A pedestrian with ID 15 is 6.5 meters away at (3.4, -5.5). A pedestrian with ID 40 is 7.1 meters away at (6.9, -1.6). A pedestrian with ID 54 is 7.8 meters away at (-0.3, -7.8). A vehicle with ID 9 is 9.5 meters away at (2.8, 9.1). A pedestrian with ID 55 is 10.5 meters away at (10.4, 1.6). A pedestrian with ID 49 is 10.6 meters away at (-3.8, -9.9). A pedestrian with ID 22 is 11.1 meters away at (-5.5, -9.6). A pedestrian with ID 23 is 12.6 meters away at (-7.3, -10.2). A pedestrian with ID 24 is 12.9 meters away at (-6.9, -10.9).

The vehicle with ID 12 is traveling at a (x, y) velocity of [9.850253 6.120176] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.01036602 -0.00046356] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-3.306655  -1.1606523] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.04366919 -0.01264474] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [9.642342  5.9482894] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.60503554 -0.6941762 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.00577689 0.01332626] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [1.3067664  0.81448233] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [1.1448032  0.83251935] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [1.1411916 0.7719136] m/s.

There are active red lights at the following coordinates: [[-15.193912    2.3438032]
 [-18.308125    0.6833838]]

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 0.2) m/s. Its current heading (yaw) is 3.10

The most relevant actors are: A vehicle with ID 57 is 5.5 meters away at (-4.3, -3.4). A vehicle with ID 58 is 14.9 meters away at (14.8, -1.3). A unknown object with ID 18 is 17.3 meters away at (-15.3, -8.0). A pedestrian with ID 33 is 20.1 meters away at (12.3, 15.8). A vehicle with ID 59 is 30.2 meters away at (29.5, -6.5). A vehicle with ID 60 is 45.4 meters away at (45.2, -5.1). A unknown object with ID 61 is 55.4 meters away at (-55.3, -2.6). A unknown object with ID 66 is 57.1 meters away at (-57.1, -1.3). A unknown object with ID 67 is 59.1 meters away at (-59.1, -0.7). A unknown object with ID 68 is 61.5 meters away at (-61.5, 0.3).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-6.205087   0.6380514] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.02670308 -0.02949714] m/s.The vehicle with ID 59 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 [-5.460905   0.8104291] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 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 (-5.5, -0.0) m/s. Its current heading (yaw) is -3.14

The most relevant actors are: A vehicle with ID 57 is 7.4 meters away at (6.4, -3.6). A vehicle with ID 58 is 14.2 meters away at (14.2, -0.4). A pedestrian with ID 33 is 27.9 meters away at (23.2, 15.5). A vehicle with ID 15 is 37.3 meters away at (-16.4, 33.5). A vehicle with ID 59 is 40.9 meters away at (40.3, -7.1). A unknown object with ID 61 is 44.5 meters away at (-44.4, -2.7). A vehicle with ID 60 is 45.5 meters away at (45.3, -3.8). A unknown object with ID 66 is 46.2 meters away at (-46.2, -1.5). A unknown object with ID 67 is 48.2 meters away at (-48.2, -0.8). A unknown object with ID 68 is 50.6 meters away at (-50.6, 0.2).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-5.167077    0.45004418] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00184719 -0.01808   ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.808748 -7.594042] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 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 [-5.4119477  0.6548601] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 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 (-4.7, -0.2) m/s. Its current heading (yaw) is -3.09

The most relevant actors are: A vehicle with ID 58 is 14.9 meters away at (14.9, 0.6). A vehicle with ID 57 is 17.1 meters away at (16.7, -3.5). A vehicle with ID 15 is 22.2 meters away at (-5.9, 21.4). A vehicle with ID 10 is 33.6 meters away at (-25.0, -22.4). A unknown object with ID 61 is 34.2 meters away at (-34.1, -2.6). A unknown object with ID 66 is 35.9 meters away at (-35.9, -1.3). A pedestrian with ID 33 is 37.0 meters away at (33.5, 15.7). A unknown object with ID 67 is 37.9 meters away at (-37.9, -0.6). A unknown object with ID 68 is 40.3 meters away at (-40.3, 0.4). A unknown object with ID 69 is 44.3 meters away at (-44.3, 0.8).

The vehicle with ID 58 is traveling at a (x, y) velocity of [-5.086694    0.45347652] m/s.The vehicle with ID 57 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 [ 1.5402312 -5.401539 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0.49588853 3.0219374 ] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.0698715   0.00998722] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 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 (-3.6, -1.4) m/s. Its current heading (yaw) is -2.77

The most relevant actors are: A vehicle with ID 58 is 12.6 meters away at (12.3, 2.9). A vehicle with ID 15 is 17.3 meters away at (10.0, 14.1). A vehicle with ID 10 is 22.1 meters away at (-15.7, -15.5). A vehicle with ID 57 is 25.3 meters away at (25.2, -2.2). A unknown object with ID 61 is 25.8 meters away at (-25.7, -1.1). A unknown object with ID 66 is 27.5 meters away at (-27.5, 0.1). A unknown object with ID 67 is 29.5 meters away at (-29.5, 0.8). A unknown object with ID 68 is 31.9 meters away at (-31.9, 1.8). A unknown object with ID 69 is 35.9 meters away at (-35.8, 2.3). A unknown object with ID 19 is 38.7 meters away at (-38.6, 2.3).

The vehicle with ID 58 is traveling at a (x, y) velocity of [-6.2532787  0.4293566] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 6.0439563 -3.0007286] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0.3779489 2.5390759] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -5.6) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A vehicle with ID 62 is 17.6 meters away at (-14.5, 10.0). A pedestrian with ID 127 is 37.7 meters away at (22.3, -30.4). A pedestrian with ID 107 is 39.3 meters away at (24.7, -30.6). A pedestrian with ID 119 is 43.3 meters away at (42.9, -6.0). A unknown object with ID 112 is 44.7 meters away at (43.7, 9.3). A unknown object with ID 110 is 46.2 meters away at (44.8, 11.0). A unknown object with ID 109 is 50.2 meters away at (50.2, -2.8). A pedestrian with ID 123 is 52.7 meters away at (37.6, -36.9). A vehicle with ID 97 is 62.8 meters away at (49.0, -39.3). A pedestrian with ID 106 is 67.7 meters away at (48.6, -47.2).

The vehicle with ID 62 is traveling at a (x, y) velocity of [ 8.120899  -5.1812153] m/s.The pedestrian with ID 127 is traveling at a (x, y) velocity of [-0.01558786  0.01672472] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 1.1701033 -1.0153137] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [-0.00382447 -0.00148625] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [-7.7796830e-03 -6.0867656e-05] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [-1.1775764   0.81316113] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -5.5) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A vehicle with ID 62 is 17.9 meters away at (-14.7, 10.2). A pedestrian with ID 127 is 20.0 meters away at (5.6, -19.2). A pedestrian with ID 107 is 23.8 meters away at (10.8, -21.2). A pedestrian with ID 119 is 26.7 meters away at (26.2, 5.1). A pedestrian with ID 123 is 33.2 meters away at (20.8, -25.8). A unknown object with ID 109 is 34.5 meters away at (33.4, 8.5). A vehicle with ID 97 is 42.7 meters away at (32.2, -28.1). A pedestrian with ID 106 is 45.5 meters away at (29.6, -34.5). A vehicle with ID 91 is 49.0 meters away at (37.4, -31.7). A vehicle with ID 85 is 54.4 meters away at (41.9, -34.7).

The vehicle with ID 62 is traveling at a (x, y) velocity of [ 8.267488  -5.4667244] m/s.The pedestrian with ID 127 is traveling at a (x, y) velocity of [ 0.02870206 -0.00268111] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 1.4767854  -0.85056573] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [ 0.0410305 -0.0164401] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [ 0.02601442 -0.02392239] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [-1.0457773   0.79891914] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 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 (7.8, -5.3) m/s. Its current heading (yaw) is -0.59

The most relevant actors are: A vehicle with ID 111 is 12.0 meters away at (11.5, 3.3). A pedestrian with ID 107 is 12.4 meters away at (-2.4, -12.2). A pedestrian with ID 127 is 13.4 meters away at (-10.4, -8.4). A pedestrian with ID 123 is 15.9 meters away at (4.8, -15.1). A vehicle with ID 62 is 18.3 meters away at (-15.0, 10.4). A pedestrian with ID 119 is 18.8 meters away at (10.1, 15.9). A vehicle with ID 97 is 23.6 meters away at (16.1, -17.3). A pedestrian with ID 106 is 24.9 meters away at (11.4, -22.1). A unknown object with ID 109 is 26.0 meters away at (17.3, 19.3). A vehicle with ID 91 is 29.8 meters away at (21.3, -20.9).

The vehicle with ID 111 is traveling at a (x, y) velocity of [-10.003346   6.806007] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 1.4521277 -0.8964104] m/s.The pedestrian with ID 127 is traveling at a (x, y) velocity of [0.0181494  0.00479255] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [-0.00673021  0.00588245] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 7.8801303 -5.1864147] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [0.00141999 0.00337114] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [-1.1430396  0.7128734] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 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 (8.0, -5.2) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A vehicle with ID 97 is 6.9 meters away at (0.5, -6.9). A pedestrian with ID 123 is 11.8 meters away at (-10.9, -4.7). A vehicle with ID 91 is 11.9 meters away at (5.5, -10.5). A pedestrian with ID 106 is 12.2 meters away at (-6.6, -10.2). A pedestrian with ID 107 is 15.9 meters away at (-15.5, -3.7). A vehicle with ID 85 is 16.9 meters away at (10.0, -13.5). A vehicle with ID 62 is 18.5 meters away at (-15.2, 10.5). A vehicle with ID 117 is 21.8 meters away at (21.3, 4.7). A vehicle with ID 79 is 22.7 meters away at (15.1, -17.0). A pedestrian with ID 127 is 26.2 meters away at (-26.1, 2.0).

The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [0.02345718 0.02129199] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [-0.9963075  0.683913 ] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 1.3060821  -0.83116084] m/s.The vehicle with ID 85 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 [ 8.185932  -5.4237804] m/s.The vehicle with ID 117 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 127 is traveling at a (x, y) velocity of [0.00246774 0.00235073] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.7) m/s. Its current heading (yaw) is -2.10

The most relevant actors are: A unknown object with ID 15 is 33.0 meters away at (-2.1, 33.0). A vehicle with ID 18 is 33.4 meters away at (11.2, -31.4). A vehicle with ID 16 is 33.7 meters away at (31.5, 12.2). A vehicle with ID 20 is 34.0 meters away at (-3.7, -33.8). A vehicle with ID 6 is 36.2 meters away at (34.6, 10.7). A vehicle with ID 17 is 39.0 meters away at (37.8, 9.6). A vehicle with ID 21 is 39.8 meters away at (-4.5, -39.5). A vehicle with ID 8 is 45.3 meters away at (45.2, 3.1). A vehicle with ID 22 is 63.8 meters away at (62.9, -10.8). A vehicle with ID 23 is 68.4 meters away at (67.0, -13.7).

The unknown object 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 16 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 6 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle 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: Slight right turn approaching.

(The closest actor is a unknown object at [-2.0537097 32.966614 ], 33.030521392822266 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.5) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A unknown object with ID 2 is 30.6 meters away at (2.6, -30.5). A vehicle with ID 20 is 31.2 meters away at (-2.0, -31.1). A vehicle with ID 18 is 31.6 meters away at (12.9, -28.8). A unknown object with ID 15 is 35.6 meters away at (-0.5, 35.6). A vehicle with ID 16 is 36.2 meters away at (33.0, 14.9). A vehicle with ID 21 is 37.1 meters away at (-2.9, -37.0). A vehicle with ID 17 is 41.1 meters away at (39.3, 12.2). A vehicle with ID 8 is 47.0 meters away at (46.7, 5.6). A pedestrian with ID 4 is 63.6 meters away at (63.3, -5.4). A vehicle with ID 22 is 65.0 meters away at (64.5, -8.0).

The unknown object with ID 2 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 21 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00341548  0.00167362] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0.13750063 0.54871947] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [  2.6326776 -30.470127 ], 30.583648681640625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -1.2) m/s. Its current heading (yaw) is -2.79

The most relevant actors are: A vehicle with ID 20 is 27.5 meters away at (2.2, -27.4). A unknown object with ID 2 is 27.5 meters away at (6.9, -26.6). A vehicle with ID 18 is 30.3 meters away at (17.1, -25.0). A vehicle with ID 21 is 33.2 meters away at (1.3, -33.2). A unknown object with ID 15 is 39.5 meters away at (3.2, 39.3). A vehicle with ID 16 is 41.4 meters away at (36.9, 18.8). A unknown object with ID 9 is 42.9 meters away at (-2.7, -42.8). A vehicle with ID 5 is 43.9 meters away at (-1.0, -43.8). A vehicle with ID 17 is 46.1 meters away at (43.2, 16.1). A pedestrian with ID 4 is 67.5 meters away at (67.5, -1.4).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 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 unknown object with ID 15 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 unknown object with ID 9 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. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.06028558 0.05618524] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 2.9) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A vehicle with ID 20 is 31.3 meters away at (10.5, -29.5). A vehicle with ID 21 is 36.5 meters away at (9.5, -35.2). A vehicle with ID 18 is 37.2 meters away at (25.4, -27.1). A unknown object with ID 15 is 39.1 meters away at (12.0, 37.3). A unknown object with ID 9 is 45.1 meters away at (5.5, -44.7). A vehicle with ID 16 is 48.5 meters away at (45.6, 16.4). A vehicle with ID 17 is 53.6 meters away at (51.7, 14.1). A vehicle with ID 22 is 77.3 meters away at (77.0, -6.5). A vehicle with ID 23 is 81.4 meters away at (80.8, -9.6).

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 18 is traveling at a (x, y) velocity of [0. 0.] 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 9 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 17 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 [-0.10658802 -0.9560237 ] m/s.The vehicle with ID 23 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 (4.1, -6.5) m/s. Its current heading (yaw) is -1.00

The most relevant actors are: A vehicle with ID 38 is 18.2 meters away at (-17.3, 5.9). A vehicle with ID 16 is 27.7 meters away at (-19.2, 20.0). A vehicle with ID 40 is 37.3 meters away at (7.0, -36.6). A vehicle with ID 39 is 42.4 meters away at (-36.1, 22.2). A unknown object with ID 24 is 54.9 meters away at (26.7, -48.0).

The vehicle with ID 38 is traveling at a (x, y) velocity of [-5.943026  7.661959] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.3510513 -8.433128 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-3.4287517  7.760417 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 (3.7, -6.8) m/s. Its current heading (yaw) is -1.07

The most relevant actors are: A vehicle with ID 40 is 11.7 meters away at (-8.4, -8.1). A vehicle with ID 16 is 20.9 meters away at (-13.7, 15.9). A vehicle with ID 38 is 50.9 meters away at (-37.7, 34.2). A vehicle with ID 39 is 56.5 meters away at (-44.1, 35.4). A unknown object with ID 37 is 72.7 meters away at (26.5, -67.7).

The vehicle with ID 40 is traveling at a (x, y) velocity of [-3.9366071  7.4886613] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 6.0931244 -8.800792 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.647389  7.244192] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 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 (3.3, -7.2) m/s. Its current heading (yaw) is -1.14

The most relevant actors are: A pedestrian with ID 29 is 16.4 meters away at (7.5, -14.6). A vehicle with ID 16 is 16.8 meters away at (-9.9, 13.5). A vehicle with ID 40 is 31.3 meters away at (-23.7, 20.4). A unknown object with ID 37 is 57.2 meters away at (19.8, -53.7). A vehicle with ID 39 is 71.1 meters away at (-51.2, 49.4).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.01334602 0.00902351] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 4.692489 -7.38275 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-4.575711   7.1386013] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 (2.7, -7.2) m/s. Its current heading (yaw) is -1.21

The most relevant actors are: A vehicle with ID 16 is 16.0 meters away at (-7.5, 14.1). A pedestrian with ID 33 is 19.2 meters away at (10.7, -15.9). A vehicle with ID 40 is 62.6 meters away at (-39.3, 48.7).

The vehicle with ID 16 is traveling at a (x, y) velocity of [ 3.7968154 -6.8159556] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.01830965 -0.00559553] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-4.9677377  6.9197674] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 1.6) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A pedestrian with ID 32 is 8.9 meters away at (8.5, -2.8). A vehicle with ID 31 is 12.3 meters away at (-5.3, -11.1). A vehicle with ID 37 is 18.4 meters away at (-16.3, -8.6). A vehicle with ID 38 is 18.6 meters away at (-9.6, -16.0). A vehicle with ID 42 is 25.6 meters away at (-21.2, -14.4). A vehicle with ID 33 is 26.0 meters away at (-14.5, -21.5). A vehicle with ID 34 is 31.8 meters away at (-25.3, -19.1). A pedestrian with ID 36 is 33.1 meters away at (-28.0, -17.5). A unknown object with ID 39 is 43.5 meters away at (-32.5, -28.9). A unknown object with ID 40 is 43.7 meters away at (-33.3, -28.3).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-2.1650808 -1.5395446] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.30898046 0.23487465] m/s.The unknown object with ID 39 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.6) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A pedestrian with ID 32 is 8.0 meters away at (-0.9, -7.9). A unknown object with ID 13 is 17.2 meters away at (10.9, -13.3). A unknown object with ID 12 is 18.9 meters away at (-17.4, 7.5). A vehicle with ID 31 is 19.3 meters away at (-10.0, -16.5). A vehicle with ID 37 is 25.3 meters away at (-21.0, -14.1). A vehicle with ID 38 is 25.7 meters away at (-14.3, -21.3). A vehicle with ID 42 is 32.6 meters away at (-25.9, -19.8). A vehicle with ID 33 is 33.1 meters away at (-19.2, -26.9). A vehicle with ID 35 is 36.1 meters away at (28.4, 22.2). A vehicle with ID 34 is 38.8 meters away at (-30.1, -24.6).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-2.2589314  1.4027524] 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 12 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 37 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.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 [-4.4213967  2.2076437] m/s.The vehicle with ID 34 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 (3.1, 3.5) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A pedestrian with ID 32 is 16.6 meters away at (-11.8, -11.7). A vehicle with ID 35 is 19.9 meters away at (12.1, 15.9). A vehicle with ID 43 is 28.7 meters away at (-27.6, 8.0). A vehicle with ID 31 is 29.0 meters away at (-16.5, -23.9). A vehicle with ID 37 is 34.8 meters away at (-27.4, -21.4). A vehicle with ID 38 is 35.3 meters away at (-20.8, -28.6). A pedestrian with ID 44 is 37.0 meters away at (34.3, 13.7). A unknown object with ID 26 is 37.3 meters away at (29.6, 22.7). A unknown object with ID 46 is 38.4 meters away at (15.3, 35.2). A unknown object with ID 48 is 39.6 meters away at (18.7, 34.9).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-2.1659687  1.871713 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-5.1280823 -1.4334589] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 5.0368986 -3.6267622] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.02530907  0.8191505 ] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 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 (2.0, 2.3) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 35 is 4.3 meters away at (-1.6, 4.0). A unknown object with ID 20 is 17.1 meters away at (5.3, -16.2). A pedestrian with ID 32 is 25.9 meters away at (-21.4, -14.7). A vehicle with ID 43 is 26.3 meters away at (-26.1, -3.1). A pedestrian with ID 44 is 30.9 meters away at (29.5, 9.1). A vehicle with ID 53 is 36.7 meters away at (36.6, -3.1). A vehicle with ID 31 is 37.0 meters away at (-21.8, -30.0). A vehicle with ID 54 is 37.3 meters away at (-11.2, 35.6). A vehicle with ID 28 is 42.6 meters away at (-16.9, 39.1). A vehicle with ID 37 is 42.7 meters away at (-32.7, -27.5).

The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.8500912 -3.0167797] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-2.1656704  1.7871962] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 1.8127327 -1.2782898] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.4141119 0.8543137] m/s.The vehicle with ID 53 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 54 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 37 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 (-3.9, 0.3) m/s. Its current heading (yaw) is 3.07

The most relevant actors are: A vehicle with ID 1 is 9.8 meters away at (8.4, 5.1). A unknown object with ID 16 is 14.2 meters away at (-2.3, -14.0). A pedestrian with ID 17 is 32.7 meters away at (21.7, -24.5). A vehicle with ID 18 is 33.9 meters away at (21.9, -25.9). A vehicle with ID 20 is 46.5 meters away at (32.0, -33.7). A vehicle with ID 19 is 51.7 meters away at (39.6, -33.2). A vehicle with ID 22 is 60.6 meters away at (-50.1, 34.1). A vehicle with ID 21 is 63.3 meters away at (50.2, -38.5). A vehicle with ID 24 is 67.5 meters away at (48.3, -47.1). A vehicle with ID 7 is 72.2 meters away at (-62.0, 37.1).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.8479841 -2.2779815] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.04245716 0.01754728] m/s.The vehicle with ID 18 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 19 is traveling at a (x, y) velocity of [ 4.6744304 -4.4708896] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.8068352  2.5011158] 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 7 is traveling at a (x, y) velocity of [-3.8484814  -0.57852733] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 3.6) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A unknown object with ID 12 is 8.3 meters away at (-6.6, -5.0). A vehicle with ID 1 is 12.3 meters away at (11.8, -3.3). A unknown object with ID 16 is 19.6 meters away at (6.9, -18.3). A pedestrian with ID 17 is 42.4 meters away at (30.9, -29.1). A vehicle with ID 18 is 43.3 meters away at (31.1, -30.2). A vehicle with ID 20 is 56.1 meters away at (41.1, -38.2). A vehicle with ID 22 is 58.0 meters away at (-47.6, 33.1). A vehicle with ID 4 is 60.1 meters away at (44.4, -40.5). A vehicle with ID 21 is 73.3 meters away at (59.2, -43.1). A vehicle with ID 19 is 73.6 meters away at (57.2, -46.2).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.9744139 -1.1178359] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.03027132 -0.121493  ] m/s.The vehicle with ID 18 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 [-3.636261   0.7345683] m/s.The vehicle with ID 4 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 19 is traveling at a (x, y) velocity of [ 4.0391474 -3.844603 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-6.5917187 -4.982087 ], 8.262683868408203 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 5.1) m/s. Its current heading (yaw) is 2.51

The most relevant actors are: A vehicle with ID 1 is 18.2 meters away at (14.9, -10.5). A unknown object with ID 14 is 33.0 meters away at (31.7, 9.1). A vehicle with ID 22 is 49.0 meters away at (-43.0, 23.4). A vehicle with ID 6 is 56.9 meters away at (-56.0, 10.0). A pedestrian with ID 17 is 57.7 meters away at (43.4, -38.0). A vehicle with ID 15 is 58.0 meters away at (-43.2, 38.7). A vehicle with ID 18 is 58.5 meters away at (43.6, -39.1). A vehicle with ID 20 is 71.2 meters away at (53.5, -47.1).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.1504498  2.3794925] m/s.The unknown object with ID 14 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 [-4.5290313 -1.5826   ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-3.6163876 -4.594376 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.06689866 -0.06318164] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.71804017 -2.9922068 ] m/s.The vehicle with ID 18 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 4.4) m/s. Its current heading (yaw) is 2.51

The most relevant actors are: A vehicle with ID 1 is 22.5 meters away at (17.5, -14.2). A vehicle with ID 15 is 37.5 meters away at (-30.7, 21.4). A vehicle with ID 22 is 38.7 meters away at (-37.9, 7.9). A vehicle with ID 18 is 75.0 meters away at (56.8, -48.9).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.30275    3.3312764] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.5048792 -4.4151335] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.6736498 -4.1112146] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-84.97749   47.816124]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.6) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A pedestrian with ID 42 is 10.1 meters away at (9.1, 4.4). A vehicle with ID 5 is 17.9 meters away at (13.5, -11.7). A vehicle with ID 45 is 19.1 meters away at (18.3, 5.4). A vehicle with ID 8 is 27.4 meters away at (-20.7, 17.9). A vehicle with ID 32 is 46.9 meters away at (-32.6, 33.7). A vehicle with ID 50 is 47.4 meters away at (38.0, -28.3). A vehicle with ID 40 is 51.1 meters away at (31.6, -40.2). A vehicle with ID 41 is 52.0 meters away at (-50.0, 14.3). A vehicle with ID 39 is 54.1 meters away at (-38.2, 38.3). A vehicle with ID 44 is 59.5 meters away at (40.4, -43.6).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.01607609  0.00449716] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.0854506  5.1666408] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-1.2676448 -1.4516788] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-7.790058   6.5144134] m/s.The vehicle with ID 32 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 [-7.513172  6.381092] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 15.518954 -13.737677] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 [ 9.21111  -8.019767] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 5.3) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 5 is 18.3 meters away at (13.9, -11.9). A pedestrian with ID 42 is 23.0 meters away at (22.0, -6.6). A vehicle with ID 8 is 29.0 meters away at (-22.0, 18.9). A vehicle with ID 32 is 30.0 meters away at (-19.7, 22.7). A vehicle with ID 45 is 31.1 meters away at (30.4, -6.7). A unknown object with ID 37 is 33.7 meters away at (-31.8, 11.1). A vehicle with ID 39 is 37.0 meters away at (-25.1, 27.2). A vehicle with ID 41 is 37.1 meters away at (-36.9, 3.3). A vehicle with ID 33 is 38.7 meters away at (-33.1, 20.1). A vehicle with ID 50 is 47.6 meters away at (38.1, -28.5).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.466694   5.4433203] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.0140647  -0.00789884] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.4030595  5.2803764] m/s.The vehicle with ID 32 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.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 11.564837 -10.115476] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-5.568204   4.8763704] m/s.

There are active red lights at the following coordinates: [[-1.4957455   7.0116763 ]
 [-0.06813074  6.122724  ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 4.9) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 33 is 11.2 meters away at (2.9, -10.8). A vehicle with ID 32 is 14.7 meters away at (-7.7, 12.6). A vehicle with ID 5 is 18.1 meters away at (13.8, -11.8). A vehicle with ID 39 is 21.4 meters away at (-13.0, 17.0). A vehicle with ID 41 is 25.9 meters away at (-24.9, -6.9). A vehicle with ID 8 is 27.3 meters away at (-20.6, 17.8). A vehicle with ID 2 is 34.5 meters away at (-23.0, 25.7). A pedestrian with ID 42 is 39.6 meters away at (35.1, -18.4). A vehicle with ID 1 is 41.4 meters away at (-28.2, 30.3). A vehicle with ID 26 is 41.5 meters away at (-34.1, 23.7).

The vehicle with ID 33 is traveling at a (x, y) velocity of [ 12.015118 -10.207481] m/s.The vehicle with ID 32 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 [-5.702464  4.883079] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.4599113  3.774103 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.8015605 -0.8838901] m/s.The vehicle with ID 1 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 [ 7.121994  -5.0579686] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.1) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 32 is 4.5 meters away at (2.9, 3.5). A vehicle with ID 26 is 7.9 meters away at (-7.6, 2.3). A vehicle with ID 39 is 8.1 meters away at (-2.3, 7.8). A vehicle with ID 5 is 18.1 meters away at (13.8, -11.7). A vehicle with ID 2 is 20.5 meters away at (-12.3, 16.5). A vehicle with ID 41 is 21.5 meters away at (-14.2, -16.1). A vehicle with ID 8 is 22.8 meters away at (-17.2, 15.0). A vehicle with ID 1 is 27.4 meters away at (-17.4, 21.1). A vehicle with ID 3 is 43.7 meters away at (-32.8, 28.8). A vehicle with ID 7 is 46.5 meters away at (-46.2, 5.0).

The vehicle with ID 32 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 [ 7.9641356 -6.5390873] m/s.The vehicle with ID 39 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 [-5.2199636  4.458694 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-2.9405339  2.4509728] m/s.The vehicle with ID 1 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.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-1.4957455   7.0116763 ]
 [-0.06813074  6.122724  ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 6.6) m/s. Its current heading (yaw) is 1.01

The most relevant actors are: A vehicle with ID 8 is 21.7 meters away at (-7.2, -20.5). A unknown object with ID 9 is 54.2 meters away at (-25.5, -47.8). A vehicle with ID 10 is 55.1 meters away at (22.7, 50.2). A vehicle with ID 1 is 68.7 meters away at (65.8, 19.4).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 [-0.9891596  5.139657 ] m/s.The vehicle with ID 1 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 (3.6, 6.3) m/s. Its current heading (yaw) is 1.06

The most relevant actors are: A vehicle with ID 8 is 36.7 meters away at (-15.1, -33.5). A vehicle with ID 10 is 48.9 meters away at (8.9, 48.0). A vehicle with ID 1 is 58.5 meters away at (58.1, 6.4). A unknown object with ID 9 is 69.3 meters away at (-33.4, -60.7).

The vehicle with ID 8 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 [-5.1968017  5.2911706] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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, 5.9) m/s. Its current heading (yaw) is 1.11

The most relevant actors are: A vehicle with ID 10 is 47.4 meters away at (-11.0, 46.1). A vehicle with ID 8 is 50.5 meters away at (-21.5, -45.7). A vehicle with ID 1 is 51.8 meters away at (51.5, -5.8).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-7.621586   5.5981836] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 (2.1, 4.2) m/s. Its current heading (yaw) is 1.11

The most relevant actors are: A vehicle with ID 1 is 49.1 meters away at (46.5, -16.0). A vehicle with ID 10 is 56.7 meters away at (-31.2, 47.4). A vehicle with ID 8 is 62.0 meters away at (-26.5, -56.0). A vehicle with ID 4 is 66.3 meters away at (-41.8, 51.4).

The vehicle with ID 1 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 [-7.186499  5.558584] m/s.The vehicle with ID 8 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 [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, 0.3) m/s. Its current heading (yaw) is 0.57

The most relevant actors are: A vehicle with ID 102 is 3.5 meters away at (-1.2, 3.3). A vehicle with ID 45 is 7.0 meters away at (-3.7, 6.0). A vehicle with ID 42 is 7.1 meters away at (5.9, 3.9). A vehicle with ID 47 is 9.7 meters away at (-9.3, 2.6). A vehicle with ID 44 is 9.8 meters away at (6.0, 7.7). A vehicle with ID 50 is 15.7 meters away at (8.1, 13.5). A vehicle with ID 95 is 16.3 meters away at (13.8, 8.6). A vehicle with ID 51 is 19.6 meters away at (14.7, 13.0). A vehicle with ID 89 is 20.6 meters away at (-20.1, -4.3). A vehicle with ID 43 is 24.2 meters away at (20.7, 12.5).

The vehicle with ID 102 is traveling at a (x, y) velocity of [2.0145426 1.2137852] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0.8076261  0.49354073] m/s.The vehicle with ID 47 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 [2.7095034 1.9255587] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [3.509003  2.3365693] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [1.2056974  0.75533044] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [4.161955  2.5321171] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [1.6576173  0.88214207] m/s.

There are active red lights at the following coordinates: [[40.337406 20.713442]
 [42.56573  23.292818]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 0.9) m/s. Its current heading (yaw) is 0.54

The most relevant actors are: A vehicle with ID 102 is 5.0 meters away at (1.2, 4.8). A vehicle with ID 45 is 6.9 meters away at (-4.5, 5.3). A vehicle with ID 42 is 7.5 meters away at (6.3, 4.0). A vehicle with ID 47 is 10.4 meters away at (-10.2, 1.9). A vehicle with ID 44 is 14.8 meters away at (10.1, 10.8). A vehicle with ID 95 is 15.9 meters away at (13.4, 8.6). A vehicle with ID 89 is 22.4 meters away at (-21.7, -5.3). A pedestrian with ID 61 is 22.8 meters away at (21.5, 7.5). A pedestrian with ID 69 is 23.5 meters away at (23.5, -0.2). A vehicle with ID 50 is 23.7 meters away at (14.6, 18.6).

The vehicle with ID 102 is traveling at a (x, y) velocity of [2.9389637 1.9299166] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [1.8971616 1.1583961] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [1.5250554 0.9128817] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [1.7162079 1.058502 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [3.9501953 2.7061765] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0.8014314 0.6016603] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [1.5581428  0.95841205] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.02677104 0.01732542] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.00300636 0.00920068] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [5.2570744 4.4755015] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.4) m/s. Its current heading (yaw) is 0.59

The most relevant actors are: A vehicle with ID 42 is 6.5 meters away at (5.5, 3.6). A vehicle with ID 45 is 7.4 meters away at (-1.2, 7.3). A vehicle with ID 47 is 7.9 meters away at (-7.0, 3.8). A vehicle with ID 102 is 10.0 meters away at (5.8, 8.2). A vehicle with ID 95 is 14.3 meters away at (11.9, 7.8). A vehicle with ID 89 is 19.2 meters away at (-18.9, -3.6). A pedestrian with ID 61 is 20.0 meters away at (19.1, 5.9). A pedestrian with ID 69 is 21.1 meters away at (21.0, -1.7). A vehicle with ID 43 is 21.1 meters away at (18.2, 10.7). A pedestrian with ID 76 is 22.2 meters away at (21.8, 4.2).

The vehicle with ID 42 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 [3.858479  2.5488763] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [3.8950741 2.4614234] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [4.4254093 2.9681463] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [3.2355664 1.9913166] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.0058839  0.03383612] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.0054677  0.00358315] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.5405887 -0.7233966] 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 0.60

The most relevant actors are: A vehicle with ID 42 is 6.4 meters away at (5.4, 3.5). A pedestrian with ID 48 is 10.1 meters away at (1.1, -10.1). A vehicle with ID 47 is 10.1 meters away at (2.3, 9.8). A vehicle with ID 89 is 11.6 meters away at (-11.6, 0.8). A vehicle with ID 95 is 14.0 meters away at (11.7, 7.8). A vehicle with ID 45 is 15.9 meters away at (8.0, 13.8). A unknown object with ID 7 is 17.3 meters away at (0.6, 17.3). A pedestrian with ID 76 is 18.6 meters away at (18.4, 2.6). A pedestrian with ID 74 is 19.0 meters away at (18.5, 4.5). A pedestrian with ID 61 is 19.9 meters away at (19.0, 5.9).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.6579969  -0.39116517] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [5.4815445 3.9088318] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [4.591156  2.6796095] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0.46533468 0.5259385 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [5.4769845 4.3148956] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.6103708  -0.80219984] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-1.5668658 -0.8229698] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.37561947 0.11141364] 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, -6.2) m/s. Its current heading (yaw) is -1.43

The most relevant actors are: A unknown object with ID 11 is 24.2 meters away at (12.1, -21.0). A unknown object with ID 20 is 30.1 meters away at (-12.4, -27.5). A pedestrian with ID 10 is 57.4 meters away at (9.2, -56.6). A pedestrian with ID 9 is 58.0 meters away at (10.1, -57.2). A pedestrian with ID 12 is 60.8 meters away at (-17.4, -58.2). A pedestrian with ID 21 is 61.2 meters away at (-17.7, -58.6). A pedestrian with ID 22 is 66.8 meters away at (-18.6, -64.2). A unknown object with ID 1 is 78.2 meters away at (64.9, -43.6).

The unknown object with ID 11 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 10 is traveling at a (x, y) velocity of [0.048482  0.9848992] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.02570793 1.0173287 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.1850979 -1.2315178] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.23695995 -1.2815968 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.22799502 -1.3169475 ] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 12.076231 -20.964556], 24.193965911865234 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -4.4) m/s. Its current heading (yaw) is -1.40

The most relevant actors are: A unknown object with ID 20 is 21.8 meters away at (-13.8, -16.9). A pedestrian with ID 10 is 44.6 meters away at (7.6, -44.0). A pedestrian with ID 9 is 45.5 meters away at (8.7, -44.6). A pedestrian with ID 21 is 54.3 meters away at (-19.7, -50.7). A pedestrian with ID 22 is 59.7 meters away at (-20.4, -56.1). A unknown object with ID 1 is 71.6 meters away at (63.4, -33.3).

The unknown object with ID 20 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 [-0.09790634  1.0758342 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.08697082  0.95349383] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.23002023 -1.2944932 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.19375254 -1.1992284 ] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-13.761961 -16.945835], 21.83009147644043 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.7) m/s. Its current heading (yaw) is -1.08

The most relevant actors are: A unknown object with ID 16 is 8.7 meters away at (8.3, -2.5). A unknown object with ID 20 is 18.5 meters away at (-16.2, -8.9). A pedestrian with ID 10 is 34.5 meters away at (5.2, -34.1). A pedestrian with ID 9 is 35.1 meters away at (5.8, -34.7). A pedestrian with ID 7 is 40.1 meters away at (5.7, -39.7). A pedestrian with ID 21 is 50.5 meters away at (-22.7, -45.1). A pedestrian with ID 22 is 55.6 meters away at (-23.3, -50.5). A pedestrian with ID 14 is 63.3 meters away at (-12.7, 62.0). A unknown object with ID 1 is 66.0 meters away at (61.0, -25.3). A unknown object with ID 2 is 66.6 meters away at (62.0, -24.2).

The unknown object with ID 16 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 10 is traveling at a (x, y) velocity of [-0.016463   0.9636195] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.1646982   0.94766796] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.21390224 1.0869894 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.22991961 -1.2473952 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.24906114 -1.1716822 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.02486882 -0.00721486] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 8.308959 -2.500618], 8.67708969116211 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -2.3) m/s. Its current heading (yaw) is -0.52

The most relevant actors are: A unknown object with ID 16 is 4.5 meters away at (2.3, 3.9). A unknown object with ID 20 is 22.3 meters away at (-22.2, -2.4). A pedestrian with ID 10 is 25.4 meters away at (-0.3, -25.4). A pedestrian with ID 9 is 26.5 meters away at (0.2, -26.5). A pedestrian with ID 7 is 31.0 meters away at (0.2, -31.0). A pedestrian with ID 8 is 31.4 meters away at (0.7, -31.4). A pedestrian with ID 21 is 50.3 meters away at (-29.2, -41.0). A pedestrian with ID 22 is 55.4 meters away at (-30.1, -46.5). A unknown object with ID 1 is 58.1 meters away at (54.9, -18.9). A unknown object with ID 2 is 58.8 meters away at (56.0, -17.9).

The unknown object with ID 16 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 10 is traveling at a (x, y) velocity of [0.4497872 1.1527609] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.5771906  0.98666227] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.58192027 1.017006  ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.5614054 1.0333954] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.12573664 -1.1567076 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.3785876 -1.2181144] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [2.328065  3.9059448], 4.547119140625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -0.0) m/s. Its current heading (yaw) is -3.13

The most relevant actors are: A vehicle with ID 70 is 13.8 meters away at (-12.5, 5.8). A vehicle with ID 65 is 14.9 meters away at (8.1, 12.5). A vehicle with ID 73 is 16.1 meters away at (-15.9, -2.3). A vehicle with ID 71 is 17.1 meters away at (-2.4, -16.9). A unknown object with ID 68 is 18.4 meters away at (8.6, -16.3). A vehicle with ID 67 is 19.7 meters away at (18.1, -7.9). A vehicle with ID 66 is 20.3 meters away at (9.7, 17.8). A vehicle with ID 64 is 21.2 meters away at (-21.1, -0.5). A vehicle with ID 78 is 26.0 meters away at (-5.3, -25.4). A vehicle with ID 69 is 26.1 meters away at (11.7, 23.3).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 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 64 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 69 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 (-6.9, 2.0) m/s. Its current heading (yaw) is 2.86

The most relevant actors are: A vehicle with ID 70 is 3.4 meters away at (-0.5, 3.3). A vehicle with ID 73 is 6.1 meters away at (-3.8, -4.8). A vehicle with ID 64 is 9.5 meters away at (-9.0, -3.0). A vehicle with ID 63 is 16.7 meters away at (-16.7, -0.3). A vehicle with ID 71 is 21.7 meters away at (9.7, -19.4). A vehicle with ID 21 is 22.4 meters away at (-19.9, 10.2). A unknown object with ID 50 is 28.1 meters away at (18.6, -21.0). A unknown object with ID 41 is 29.5 meters away at (21.0, -20.7). A vehicle with ID 67 is 32.0 meters away at (30.2, -10.5). A vehicle with ID 62 is 38.2 meters away at (-37.5, 7.2).

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. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 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 62 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 (-8.5, 2.9) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A vehicle with ID 63 is 5.6 meters away at (-1.2, -5.5). A vehicle with ID 21 is 6.7 meters away at (-4.4, 5.0). A vehicle with ID 64 is 10.4 meters away at (6.4, -8.2). A vehicle with ID 70 is 15.0 meters away at (14.8, -1.8). A vehicle with ID 73 is 15.2 meters away at (11.5, -9.9). A vehicle with ID 36 is 16.3 meters away at (-11.0, -12.0). A vehicle with ID 25 is 20.4 meters away at (-9.1, 18.2). A vehicle with ID 49 is 21.9 meters away at (-11.5, -18.6). A vehicle with ID 58 is 22.1 meters away at (-13.7, -17.4). A vehicle with ID 62 is 22.2 meters away at (-22.1, 2.0).

The vehicle with ID 63 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 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 73 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, 3.2) m/s. Its current heading (yaw) is 2.80

The most relevant actors are: A vehicle with ID 62 is 6.2 meters away at (-4.5, -4.3). A unknown object with ID 26 is 11.4 meters away at (7.9, -8.2). A vehicle with ID 61 is 11.7 meters away at (-11.5, -1.7). A vehicle with ID 21 is 13.0 meters away at (13.0, -1.2). A vehicle with ID 25 is 14.6 meters away at (8.3, 12.0). A vehicle with ID 42 is 15.7 meters away at (-4.1, 15.2). A vehicle with ID 29 is 18.4 meters away at (-3.2, 18.1). A vehicle with ID 36 is 19.3 meters away at (6.6, -18.1). A vehicle with ID 45 is 19.6 meters away at (9.9, 16.9). A vehicle with ID 63 is 20.0 meters away at (16.3, -11.7).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 vehicle 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.The vehicle with ID 63 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 (-0.5, -1.4) m/s. Its current heading (yaw) is -1.92

The most relevant actors are: A vehicle with ID 56 is 5.2 meters away at (-1.6, 4.9). A vehicle with ID 57 is 11.9 meters away at (0.7, 11.9). A vehicle with ID 54 is 16.9 meters away at (10.1, -13.5). A vehicle with ID 58 is 18.4 meters away at (3.2, 18.2). A vehicle with ID 60 is 21.4 meters away at (-21.4, 0.9). A vehicle with ID 55 is 22.7 meters away at (14.8, -17.3). A vehicle with ID 59 is 23.0 meters away at (12.9, 19.1). A unknown object with ID 41 is 23.2 meters away at (-0.1, -23.2). A pedestrian with ID 68 is 23.7 meters away at (-20.1, -12.6). A pedestrian with ID 63 is 24.7 meters away at (11.1, 22.0).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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 55 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 unknown object with ID 41 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 [ 1.2077105  -0.20868278] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.49020222 -1.1352521 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -3.8) m/s. Its current heading (yaw) is -1.67

The most relevant actors are: A vehicle with ID 56 is 10.3 meters away at (0.0, 10.3). A vehicle with ID 54 is 14.2 meters away at (11.5, -8.2). A unknown object with ID 47 is 15.9 meters away at (1.2, -15.9). A vehicle with ID 67 is 17.1 meters away at (11.2, -12.9). A vehicle with ID 57 is 17.5 meters away at (2.4, 17.3). A unknown object with ID 41 is 17.7 meters away at (1.4, -17.6). A pedestrian with ID 68 is 18.0 meters away at (-16.2, -7.7). A unknown object with ID 50 is 18.5 meters away at (-1.0, -18.5). A vehicle with ID 55 is 20.3 meters away at (16.3, -12.1). A pedestrian with ID 65 is 20.7 meters away at (15.8, -13.3).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.6648476  2.1693313] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 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 [ 1.1506301 -0.2707999] m/s.The unknown object with ID 50 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 [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.09210446  0.01075304] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -3.7) m/s. Its current heading (yaw) is -0.92

The most relevant actors are: A vehicle with ID 67 is 6.2 meters away at (6.0, -1.5). A unknown object with ID 45 is 6.8 meters away at (4.6, 5.0). A vehicle with ID 54 is 9.4 meters away at (9.4, -0.5). A vehicle with ID 38 is 13.6 meters away at (1.5, -13.5). A pedestrian with ID 65 is 14.2 meters away at (13.3, -5.0). A vehicle with ID 55 is 14.6 meters away at (14.0, -4.3). A pedestrian with ID 68 is 16.1 meters away at (-16.1, -0.1). A vehicle with ID 69 is 17.5 meters away at (-12.9, -11.8). A vehicle with ID 56 is 18.2 meters away at (-2.3, 18.1). A vehicle with ID 71 is 20.8 meters away at (5.4, -20.1).

The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.3278799  1.4429631] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.14647922  0.17967935] m/s.The vehicle with ID 55 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 [ 1.1561193  -0.33514315] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -3.9) m/s. Its current heading (yaw) is -0.68

The most relevant actors are: A pedestrian with ID 65 is 6.4 meters away at (5.6, 3.0). A vehicle with ID 55 is 6.9 meters away at (6.0, 3.3). A vehicle with ID 54 is 7.1 meters away at (1.4, 7.0). A unknown object with ID 43 is 8.5 meters away at (8.4, 1.3). A vehicle with ID 38 is 8.7 meters away at (-6.4, -6.0). A vehicle with ID 67 is 10.9 meters away at (-6.2, 9.0). A vehicle with ID 36 is 12.4 meters away at (12.2, -1.9). A vehicle with ID 71 is 12.9 meters away at (-2.6, -12.6). A vehicle with ID 74 is 14.7 meters away at (-0.6, -14.7). A unknown object with ID 48 is 15.7 meters away at (4.1, -15.1).

The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.05042497 0.0543399 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 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.The vehicle with ID 67 is traveling at a (x, y) velocity of [-3.8435285  1.8565294] m/s.The vehicle with ID 36 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 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 (-0.3, -5.9) m/s. Its current heading (yaw) is -1.63

The most relevant actors are: A unknown object with ID 54 is 13.5 meters away at (-8.4, 10.5). A unknown object with ID 53 is 14.9 meters away at (-8.0, 12.6). A unknown object with ID 57 is 15.4 meters away at (-11.1, 10.6). A pedestrian with ID 59 is 16.4 meters away at (-11.9, 11.2). A unknown object with ID 52 is 16.7 meters away at (-7.5, 14.9). A unknown object with ID 56 is 16.8 meters away at (-10.3, 13.2). A unknown object with ID 55 is 18.0 meters away at (-9.7, 15.2). A pedestrian with ID 58 is 24.2 meters away at (-9.4, 22.3). A pedestrian with ID 60 is 24.4 meters away at (-10.3, 22.1). A pedestrian with ID 25 is 60.2 meters away at (14.2, -58.5).

The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.28962356 1.2350521 ] 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.16971092 1.0822295 ] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.2772146 -1.1584283] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.36618507 -1.0742698 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-8.432161 10.495237], 13.46296215057373 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -6.2) m/s. Its current heading (yaw) is -1.58

The most relevant actors are: A unknown object with ID 32 is 13.9 meters away at (12.1, -6.9). A unknown object with ID 54 is 24.1 meters away at (-8.0, 22.7). A unknown object with ID 57 is 25.2 meters away at (-10.6, 22.8). A unknown object with ID 53 is 25.9 meters away at (-7.6, 24.8). A unknown object with ID 56 is 27.3 meters away at (-9.9, 25.5). A unknown object with ID 52 is 28.0 meters away at (-7.1, 27.1). A pedestrian with ID 59 is 28.1 meters away at (-10.9, 25.9). A unknown object with ID 55 is 29.0 meters away at (-9.3, 27.4). A pedestrian with ID 60 is 34.0 meters away at (-10.4, 32.4). A pedestrian with ID 58 is 37.7 meters away at (-8.6, 36.7).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 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 pedestrian with ID 59 is traveling at a (x, y) velocity of [0.24082004 1.2827976 ] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.35865703 -0.8155116 ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.23333925 1.0846359 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [12.122255  -6.8967133], 13.946818351745605 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -6.8) m/s. Its current heading (yaw) is -1.48

The most relevant actors are: A unknown object with ID 28 is 11.5 meters away at (9.6, 6.3). A unknown object with ID 32 is 13.3 meters away at (11.7, 6.2). A unknown object with ID 26 is 15.4 meters away at (14.2, 6.0). A unknown object with ID 41 is 16.4 meters away at (16.2, 2.8). A unknown object with ID 43 is 16.7 meters away at (15.7, 5.7). A unknown object with ID 50 is 16.7 meters away at (16.3, 3.3). A unknown object with ID 47 is 16.9 meters away at (16.0, 5.4). A unknown object with ID 33 is 17.0 meters away at (16.9, 1.8). A unknown object with ID 46 is 17.2 meters away at (16.5, 4.6). A unknown object with ID 54 is 37.0 meters away at (-8.4, 36.0).

The unknown object with ID 28 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 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.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [9.586632  6.3124886], 11.47828483581543 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -7.3) m/s. Its current heading (yaw) is -1.40

The most relevant actors are: A unknown object with ID 32 is 22.6 meters away at (9.9, 20.3). A pedestrian with ID 25 is 29.2 meters away at (14.2, -25.5). A unknown object with ID 20 is 29.7 meters away at (-7.9, -28.6). A pedestrian with ID 18 is 32.6 meters away at (15.1, -28.9). A pedestrian with ID 5 is 33.9 meters away at (16.1, -29.8). A pedestrian with ID 16 is 36.7 meters away at (16.6, -32.7). A unknown object with ID 11 is 42.0 meters away at (-0.5, -42.0). A unknown object with ID 10 is 43.4 meters away at (0.9, -43.4). A unknown object with ID 7 is 45.1 meters away at (2.1, -45.1). A unknown object with ID 3 is 48.7 meters away at (4.3, -48.5).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.45340902 -1.0597273 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.3544035  1.1914046] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.4585721 -0.9835585] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.42576554  1.1151569 ] m/s.The unknown object with ID 11 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 unknown object with ID 7 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 9.886204 20.33242 ], 22.608501434326172 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 0.04

The most relevant actors are: A vehicle with ID 12 is 8.9 meters away at (-8.9, -0.2). A pedestrian with ID 8 is 9.2 meters away at (8.5, 3.5). A vehicle with ID 7 is 11.3 meters away at (-10.9, -3.1). A vehicle with ID 9 is 23.0 meters away at (-22.8, -3.4). A pedestrian with ID 20 is 28.4 meters away at (-27.5, 6.9). A unknown object with ID 13 is 30.4 meters away at (-29.0, -9.2). A pedestrian with ID 21 is 31.6 meters away at (-30.8, 7.2). A vehicle with ID 11 is 34.6 meters away at (-34.6, -1.8). A pedestrian with ID 24 is 38.0 meters away at (-37.1, 8.3). A pedestrian with ID 25 is 41.9 meters away at (-40.9, -9.2).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.1219732  0.11455837] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-8.112969    0.00825083] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-8.736814    0.11847907] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00073144 0.00142066] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.01569274 0.01237455] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-9.216699   1.5021774] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00387009  0.00287219] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.00371055  0.00364933] 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 0.04

The most relevant actors are: A vehicle with ID 12 is 8.9 meters away at (-8.9, -0.2). A pedestrian with ID 8 is 11.5 meters away at (10.9, 3.8). A pedestrian with ID 15 is 22.8 meters away at (-19.7, -11.5). A vehicle with ID 7 is 27.2 meters away at (-27.0, -3.0). A pedestrian with ID 20 is 28.4 meters away at (-27.6, 6.9). A pedestrian with ID 21 is 31.6 meters away at (-30.8, 7.3). A pedestrian with ID 24 is 38.0 meters away at (-37.0, 8.3). A vehicle with ID 9 is 41.3 meters away at (-41.3, -1.1). A pedestrian with ID 25 is 41.9 meters away at (-40.9, -9.1). A vehicle with ID 26 is 43.9 meters away at (40.4, 17.2).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.2213035  0.10838792] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.1996043   0.02409796] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-8.466177    0.27537912] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.01227292 -0.00066731] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.0169398   0.00378531] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.02105735 -0.00736626] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-9.440276   2.3637671] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.00897381 -0.001696  ] m/s.The vehicle with ID 26 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 0.04

The most relevant actors are: A pedestrian with ID 1 is 8.7 meters away at (2.2, -8.5). A vehicle with ID 12 is 8.8 meters away at (-8.8, -0.2). A pedestrian with ID 8 is 14.1 meters away at (13.5, 4.1). A pedestrian with ID 15 is 24.8 meters away at (-22.0, -11.6). A pedestrian with ID 20 is 28.4 meters away at (-27.6, 6.9). A pedestrian with ID 21 is 31.6 meters away at (-30.8, 7.3). A pedestrian with ID 24 is 37.9 meters away at (-37.0, 8.2). A pedestrian with ID 25 is 41.9 meters away at (-40.9, -9.1). A vehicle with ID 26 is 43.9 meters away at (40.4, 17.2). A vehicle with ID 7 is 44.2 meters away at (-44.2, -0.1).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.2120708  0.02159711] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.4448916 0.2222544] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.2203021   0.13596584] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.02034037 -0.00250081] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.00805105 -0.00338358] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00179555 -0.00041928] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.00316619 -0.00028732] m/s.The vehicle with ID 26 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 [-8.428588   2.5595474] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [ 2.219866 -8.451661], 8.738327980041504 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 0.04

The most relevant actors are: A vehicle with ID 12 is 8.9 meters away at (-8.9, -0.2). A pedestrian with ID 8 is 17.2 meters away at (16.4, 5.0). A pedestrian with ID 15 is 26.7 meters away at (-24.4, -11.0). A pedestrian with ID 20 is 28.4 meters away at (-27.6, 6.9). A pedestrian with ID 21 is 31.6 meters away at (-30.7, 7.2). A pedestrian with ID 24 is 37.9 meters away at (-37.0, 8.2). A pedestrian with ID 25 is 41.9 meters away at (-40.9, -9.1). A vehicle with ID 26 is 43.9 meters away at (40.4, 17.2). A unknown object with ID 3 is 49.7 meters away at (-13.3, -47.9). A vehicle with ID 7 is 60.4 meters away at (-60.1, 6.2).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.4445139 0.6125686] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.2137706   0.31248158] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.02270625 0.00737912] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00542541 -0.00408977] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00131978 -0.00122622] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.0035962  -0.00120903] m/s.The vehicle with ID 26 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 7 is traveling at a (x, y) velocity of [-7.840372  3.957609] m/s.

Instruction: Sharp right turn approaching