The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.13

The most relevant actors are: A vehicle with ID 18 is 3.0 meters away at (2.6, 1.5). A vehicle with ID 19 is 6.4 meters away at (5.8, -2.7). A vehicle with ID 37 is 8.0 meters away at (-7.3, 3.3). A vehicle with ID 23 is 8.3 meters away at (-5.1, 6.5). A vehicle with ID 30 is 8.5 meters away at (4.8, -7.1). A pedestrian with ID 32 is 14.0 meters away at (-4.7, 13.2). A pedestrian with ID 33 is 14.9 meters away at (-4.9, 14.0). A pedestrian with ID 35 is 15.8 meters away at (-5.7, 14.8). A vehicle with ID 48 is 18.0 meters away at (10.8, -14.4). A pedestrian with ID 22 is 21.0 meters away at (1.6, 20.9).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.0481402  1.4457222] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.08128367  0.14235516] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00587893 -0.02723033] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.0183532  0.00270435] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.9150607 1.2020441] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.6) m/s. Its current heading (yaw) is 2.27

The most relevant actors are: A vehicle with ID 11 is 7.8 meters away at (5.1, -5.9). A vehicle with ID 33 is 7.9 meters away at (-2.1, 7.6). A vehicle with ID 31 is 16.9 meters away at (10.8, -13.1). A unknown object with ID 36 is 27.1 meters away at (-27.0, -2.4). A unknown object with ID 37 is 28.5 meters away at (-28.5, -1.4). A vehicle with ID 38 is 29.7 meters away at (-29.7, 0.8). A vehicle with ID 29 is 35.3 meters away at (-35.3, 0.8). A vehicle with ID 39 is 35.7 meters away at (-35.5, -3.8). A vehicle with ID 30 is 38.9 meters away at (-38.8, 2.3). A vehicle with ID 27 is 41.7 meters away at (-41.5, -4.1).

The vehicle with ID 11 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 [-7.2099276  8.384529 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-0.9640016  1.1578584] m/s.The unknown object with ID 36 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 38 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 1.9) m/s. Its current heading (yaw) is 2.26

The most relevant actors are: A vehicle with ID 11 is 10.2 meters away at (6.6, -7.8). A vehicle with ID 31 is 18.0 meters away at (11.4, -13.9). A vehicle with ID 23 is 20.8 meters away at (-15.8, 13.6). A unknown object with ID 36 is 25.8 meters away at (-25.4, -4.4). A vehicle with ID 38 is 26.9 meters away at (-26.9, -0.4). A vehicle with ID 33 is 27.9 meters away at (-15.8, 23.0). A vehicle with ID 29 is 33.5 meters away at (-33.4, -1.2). A vehicle with ID 39 is 34.4 meters away at (-33.9, -5.9). A vehicle with ID 30 is 37.4 meters away at (-37.4, 0.2). A vehicle with ID 27 is 40.3 meters away at (-39.9, -6.0).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 11.637543  -13.8853655] m/s.The unknown object with ID 36 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 [1.7587025 1.0214291] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-8.295079  9.176597] m/s.The vehicle with ID 29 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.6) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 38 is 13.8 meters away at (-13.4, -3.6). A vehicle with ID 11 is 15.5 meters away at (10.1, -11.7). A vehicle with ID 23 is 24.6 meters away at (13.0, -20.8). A vehicle with ID 31 is 25.0 meters away at (16.1, -19.1). A vehicle with ID 39 is 28.2 meters away at (-26.2, -10.3). A vehicle with ID 29 is 28.8 meters away at (-27.9, -7.3). A vehicle with ID 30 is 32.5 meters away at (-32.0, -5.9). A vehicle with ID 27 is 36.4 meters away at (-34.4, -12.0). A vehicle with ID 28 is 39.9 meters away at (-38.5, -10.6). A vehicle with ID 24 is 44.3 meters away at (-40.9, -17.1).

The vehicle with ID 38 is traveling at a (x, y) velocity of [5.6608033 0.5836441] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.143408  2.557626] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 11.599437 -14.259085] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-1.1216203  1.2446105] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [2.203154  1.6680733] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 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 (-7.3, 1.0) m/s. Its current heading (yaw) is 3.00

The most relevant actors are: A vehicle with ID 39 is 13.8 meters away at (-7.8, -11.4). A vehicle with ID 38 is 15.8 meters away at (9.9, -12.3). A unknown object with ID 20 is 18.0 meters away at (-8.1, -16.1). A vehicle with ID 11 is 18.3 meters away at (15.6, -9.6). A vehicle with ID 29 is 20.5 meters away at (-16.1, -12.8). A vehicle with ID 30 is 23.2 meters away at (-20.2, -11.5). A vehicle with ID 27 is 28.7 meters away at (-22.6, -17.6). A vehicle with ID 28 is 31.0 meters away at (-26.6, -16.0). A vehicle with ID 31 is 31.1 meters away at (23.9, -20.0). A vehicle with ID 24 is 36.9 meters away at (-29.2, -22.6).

The vehicle with ID 39 is traveling at a (x, y) velocity of [4.6064734 2.131908 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 5.862201 -3.830225] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-4.340406  4.661974] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 31 is traveling at a (x, y) velocity of [-2.915501  3.357382] m/s.The vehicle 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 (1.6, -1.1) m/s. Its current heading (yaw) is -0.60

The most relevant actors are: A unknown object with ID 13 is 12.7 meters away at (-11.6, -5.3). A unknown object with ID 16 is 14.6 meters away at (-13.4, -5.8). A unknown object with ID 17 is 16.3 meters away at (-15.3, -5.6). A unknown object with ID 18 is 36.9 meters away at (-36.0, 8.1). A unknown object with ID 7 is 43.6 meters away at (-40.8, 15.3). A unknown object with ID 20 is 47.3 meters away at (-44.1, 17.2). A unknown object with ID 23 is 75.1 meters away at (-56.9, 49.1).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-11.585396  -5.323527], 12.749954223632812 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -1.9) m/s. Its current heading (yaw) is -1.11

The most relevant actors are: A unknown object with ID 13 is 14.4 meters away at (-14.2, -2.6). A unknown object with ID 16 is 16.3 meters away at (-16.0, -3.1). A unknown object with ID 17 is 18.2 meters away at (-18.0, -2.9). A vehicle with ID 6 is 41.8 meters away at (-28.6, -30.5). A unknown object with ID 7 is 47.0 meters away at (-43.4, 17.8). A pedestrian with ID 10 is 59.2 meters away at (41.7, 42.0). A pedestrian with ID 4 is 59.2 meters away at (41.4, 42.3). A pedestrian with ID 3 is 62.9 meters away at (44.8, 44.2).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 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 pedestrian with ID 10 is traveling at a (x, y) velocity of [1.0389981 0.8019747] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [1.0651811  0.77639675] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [1.0216645  0.78102845] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -2.0) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A unknown object with ID 5 is 13.9 meters away at (2.8, 13.6). A unknown object with ID 13 is 14.2 meters away at (-14.1, 1.7). A unknown object with ID 16 is 16.0 meters away at (-15.9, 1.3). A unknown object with ID 17 is 17.9 meters away at (-17.9, 1.4). A vehicle with ID 6 is 38.7 meters away at (-28.5, -26.2). A vehicle with ID 8 is 53.7 meters away at (-48.7, 22.7). A vehicle with ID 11 is 60.1 meters away at (-43.7, -41.3). A pedestrian with ID 10 is 65.0 meters away at (43.9, 48.0). A pedestrian with ID 4 is 65.0 meters away at (43.5, 48.3). A pedestrian with ID 3 is 68.6 meters away at (46.7, 50.2).

The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.0068048 0.7205816] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [1.0582491  0.76298755] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [1.136725  0.7090287] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 2.763349  13.5825405], 13.860790252685547 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 0.1) m/s. Its current heading (yaw) is 3.09

The most relevant actors are: A unknown object with ID 13 is 10.9 meters away at (-10.2, 3.9). A unknown object with ID 16 is 12.4 meters away at (-12.0, 3.5). A unknown object with ID 17 is 14.4 meters away at (-13.9, 3.6). A vehicle with ID 6 is 34.2 meters away at (-24.5, -23.8). A vehicle with ID 11 is 55.7 meters away at (-39.7, -39.1). A pedestrian with ID 4 is 71.9 meters away at (49.7, 52.0). A pedestrian with ID 10 is 72.0 meters away at (50.1, 51.6). A pedestrian with ID 3 is 75.5 meters away at (53.0, 53.8).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.96059453 0.6579429 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.9990199  0.64809763] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [1.1020753 0.650793 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-10.152569    3.9223166], 10.88389778137207 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 0.1) m/s. Its current heading (yaw) is 0.07

The most relevant actors are: A vehicle with ID 19 is 20.5 meters away at (1.7, 20.4). A vehicle with ID 65 is 26.9 meters away at (-12.6, 23.8). A unknown object with ID 64 is 27.0 meters away at (18.4, 19.8). A vehicle with ID 69 is 27.9 meters away at (-15.3, 23.4). A vehicle with ID 76 is 28.9 meters away at (28.7, 2.6). A unknown object with ID 77 is 30.5 meters away at (26.7, -14.8). A vehicle with ID 71 is 30.9 meters away at (-20.8, 22.8). A unknown object with ID 81 is 33.1 meters away at (28.9, -16.2). A unknown object with ID 78 is 33.8 meters away at (-30.1, -15.4). A vehicle with ID 79 is 33.8 meters away at (-25.5, -22.3).

The vehicle with ID 19 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 unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 2.2) m/s. Its current heading (yaw) is 0.51

The most relevant actors are: A vehicle with ID 19 is 19.4 meters away at (-4.6, 18.9). A unknown object with ID 27 is 21.5 meters away at (13.8, -16.4). A unknown object with ID 64 is 21.7 meters away at (12.0, 18.1). A vehicle with ID 76 is 22.1 meters away at (22.1, 0.9). A unknown object with ID 77 is 25.9 meters away at (20.0, -16.5). A unknown object with ID 81 is 28.5 meters away at (22.2, -17.9). A vehicle with ID 65 is 29.4 meters away at (-19.0, 22.4). A unknown object with ID 28 is 30.2 meters away at (14.2, -26.7). A vehicle with ID 69 is 30.9 meters away at (-21.7, 22.0). A unknown object with ID 84 is 30.9 meters away at (26.0, -16.7).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 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 unknown object with ID 28 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 84 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 (1.6, 4.4) m/s. Its current heading (yaw) is 1.23

The most relevant actors are: A unknown object with ID 45 is 9.0 meters away at (-8.9, 1.4). A unknown object with ID 64 is 12.9 meters away at (6.1, 11.4). A vehicle with ID 19 is 16.0 meters away at (-10.5, 12.1). A vehicle with ID 76 is 17.2 meters away at (16.2, -5.8). A unknown object with ID 27 is 24.4 meters away at (8.0, -23.1). A unknown object with ID 77 is 27.2 meters away at (14.1, -23.2). A vehicle with ID 65 is 29.5 meters away at (-25.0, 15.6). A unknown object with ID 81 is 29.5 meters away at (16.3, -24.6). A unknown object with ID 84 is 30.9 meters away at (20.2, -23.4). A vehicle with ID 69 is 31.6 meters away at (-27.7, 15.1).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 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 unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 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 closest actor is a unknown object at [-8.874089   1.3614893], 8.977923393249512 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 6.2) m/s. Its current heading (yaw) is 1.55

The most relevant actors are: A unknown object with ID 64 is 4.6 meters away at (4.5, 0.6). A vehicle with ID 19 is 12.1 meters away at (-12.0, 1.3). A vehicle with ID 76 is 22.1 meters away at (14.5, -16.6). A vehicle with ID 65 is 27.0 meters away at (-26.6, 4.8). A vehicle with ID 69 is 29.6 meters away at (-29.3, 4.4). A vehicle with ID 66 is 31.6 meters away at (-26.4, 17.4). A unknown object with ID 27 is 34.5 meters away at (6.5, -33.9). A vehicle with ID 71 is 35.0 meters away at (-34.8, 3.9). A unknown object with ID 77 is 36.3 meters away at (12.7, -34.0). A unknown object with ID 41 is 36.3 meters away at (8.8, -35.3).

The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 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 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 27 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 77 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: Slight right turn approaching.

(The closest actor is a unknown object at [4.520898  0.6303787], 4.564635276794434 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -0.2) m/s. Its current heading (yaw) is -3.09

The most relevant actors are: A pedestrian with ID 39 is 17.7 meters away at (-14.4, 10.3). A vehicle with ID 41 is 20.8 meters away at (-20.7, -1.5). A unknown object with ID 15 is 44.1 meters away at (-39.9, 18.7). A unknown object with ID 6 is 44.1 meters away at (-38.1, 22.3). A unknown object with ID 4 is 44.6 meters away at (-39.5, 20.7). A unknown object with ID 8 is 44.6 meters away at (-37.3, 24.4). A unknown object with ID 2 is 45.2 meters away at (-42.0, 16.8). A pedestrian with ID 1 is 47.6 meters away at (-41.1, 24.0). A pedestrian with ID 42 is 49.4 meters away at (48.3, 10.4). A unknown object with ID 18 is 49.7 meters away at (-34.1, 36.1).

The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.19434951 0.96117353] m/s.The vehicle with ID 41 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 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 pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.50876105 -1.1605055 ] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.84814125 0.22956556] m/s.The unknown object with ID 18 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 (-2.4, -0.1) m/s. Its current heading (yaw) is -3.10

The most relevant actors are: A vehicle with ID 41 is 14.3 meters away at (-14.2, -1.2). A pedestrian with ID 39 is 14.4 meters away at (-7.3, 12.4). A unknown object with ID 32 is 37.9 meters away at (-33.8, 17.2). A unknown object with ID 15 is 38.5 meters away at (-33.4, 19.1). A unknown object with ID 6 is 38.9 meters away at (-31.5, 22.7). A unknown object with ID 4 is 39.1 meters away at (-32.9, 21.1). A unknown object with ID 2 is 39.5 meters away at (-35.5, 17.2). A unknown object with ID 8 is 39.7 meters away at (-30.8, 25.0). A unknown object with ID 10 is 41.3 meters away at (-30.8, 27.4). A unknown object with ID 16 is 41.7 meters away at (-33.9, 24.3).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.19507416 0.692742  ] 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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 unknown object with ID 8 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.1) m/s. Its current heading (yaw) is -3.04

The most relevant actors are: A vehicle with ID 41 is 11.1 meters away at (-11.1, -1.0). A pedestrian with ID 39 is 14.7 meters away at (-3.7, 14.2). A vehicle with ID 38 is 30.1 meters away at (30.1, 0.9). A unknown object with ID 32 is 35.3 meters away at (-30.8, 17.4). A unknown object with ID 15 is 35.8 meters away at (-30.2, 19.2). A unknown object with ID 6 is 36.5 meters away at (-28.4, 22.9). A unknown object with ID 4 is 36.6 meters away at (-29.8, 21.3). A unknown object with ID 2 is 36.7 meters away at (-32.4, 17.3). A unknown object with ID 8 is 37.4 meters away at (-27.7, 25.1). A pedestrian with ID 1 is 38.9 meters away at (-32.7, 21.0).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.1413829  0.85713124] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-7.4654818 -0.299825 ] 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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 unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.168694   -0.88140315] 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 -3.05

The most relevant actors are: A vehicle with ID 41 is 10.7 meters away at (-10.7, -1.0). A pedestrian with ID 39 is 16.2 meters away at (-3.3, 15.9). A vehicle with ID 38 is 17.7 meters away at (17.7, 0.4). A unknown object with ID 32 is 34.9 meters away at (-30.3, 17.3). A unknown object with ID 3 is 35.4 meters away at (-29.8, 19.1). A unknown object with ID 15 is 35.7 meters away at (-30.0, 19.3). A unknown object with ID 6 is 36.2 meters away at (-28.0, 22.9). A unknown object with ID 4 is 36.3 meters away at (-29.4, 21.3). A unknown object with ID 2 is 36.4 meters away at (-32.0, 17.3). A pedestrian with ID 1 is 36.8 meters away at (-31.2, 19.4).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.07055824  0.77218866] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-4.8750086  -0.22923934] 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 3 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.50654775 -0.6892534 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.3) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A vehicle with ID 73 is 9.2 meters away at (-9.2, -0.0). A vehicle with ID 72 is 9.8 meters away at (-3.7, -9.1). A vehicle with ID 74 is 12.8 meters away at (-12.2, -3.9). A vehicle with ID 31 is 13.9 meters away at (-9.1, -10.5). A vehicle with ID 75 is 18.3 meters away at (-16.3, -8.4). A vehicle with ID 77 is 19.9 meters away at (17.0, 10.4). A vehicle with ID 30 is 26.3 meters away at (-17.3, -19.8). A vehicle with ID 83 is 27.6 meters away at (-7.9, 26.4). A vehicle with ID 79 is 28.5 meters away at (-15.8, -23.7). A vehicle with ID 80 is 29.2 meters away at (-23.5, -17.3).

The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 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 vehicle with ID 31 is traveling at a (x, y) velocity of [2.6182296 2.9088464] m/s.The vehicle with ID 75 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 [ 5.4283266  -0.17445579] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [3.0191972 3.593812 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 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 (0.6, 0.7) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 31 is 9.8 meters away at (-6.3, -7.5). A vehicle with ID 73 is 10.3 meters away at (-10.2, -1.3). A vehicle with ID 72 is 11.3 meters away at (-4.7, -10.3). A pedestrian with ID 39 is 11.5 meters away at (10.6, -4.4). A vehicle with ID 74 is 14.2 meters away at (-13.3, -5.2). A pedestrian with ID 58 is 16.0 meters away at (15.8, -3.0). A vehicle with ID 75 is 19.9 meters away at (-17.3, -9.7). A vehicle with ID 30 is 20.9 meters away at (-13.8, -15.6). A vehicle with ID 83 is 26.7 meters away at (-9.0, 25.1). A vehicle with ID 65 is 29.2 meters away at (-21.9, 19.3).

The vehicle with ID 31 is traveling at a (x, y) velocity of [1.199717  1.2734776] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.9266513  -0.48252136] m/s.The vehicle with ID 74 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 [-0.03887067 -0.00711784] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [1.7605513 2.00729  ] m/s.The vehicle with ID 83 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: right u-turn approaching.


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 0.87

The most relevant actors are: A vehicle with ID 31 is 12.1 meters away at (-7.6, -9.4). A pedestrian with ID 58 is 14.2 meters away at (12.0, -7.6). A vehicle with ID 73 is 15.1 meters away at (-14.0, -5.7). A vehicle with ID 72 is 17.1 meters away at (-8.5, -14.8). A vehicle with ID 74 is 19.5 meters away at (-17.0, -9.6). A vehicle with ID 30 is 23.0 meters away at (-15.1, -17.3). A vehicle with ID 83 is 24.3 meters away at (-12.8, 20.6). A vehicle with ID 75 is 25.5 meters away at (-21.1, -14.3). A pedestrian with ID 70 is 27.6 meters away at (23.4, 14.8). A vehicle with ID 76 is 28.5 meters away at (28.2, -3.9).

The vehicle with ID 31 is traveling at a (x, y) velocity of [1.8156174 1.9702313] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.02975874 0.00776129] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 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 vehicle with ID 30 is traveling at a (x, y) velocity of [1.0452254 1.172651 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 0.0024565  -0.00339849] m/s.The vehicle with ID 76 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 (4.7, 5.7) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A pedestrian with ID 70 is 16.3 meters away at (15.5, 5.3). A unknown object with ID 44 is 17.0 meters away at (3.4, 16.6). A vehicle with ID 31 is 17.1 meters away at (-10.5, -13.5). A vehicle with ID 83 is 23.5 meters away at (-20.7, 11.1). A vehicle with ID 76 is 24.4 meters away at (20.4, -13.3). A vehicle with ID 67 is 24.8 meters away at (10.4, 22.5). A vehicle with ID 73 is 26.7 meters away at (-21.9, -15.3). A vehicle with ID 85 is 29.1 meters away at (-26.0, 13.0). A vehicle with ID 72 is 29.3 meters away at (-16.3, -24.3). A vehicle with ID 30 is 30.2 meters away at (-19.7, -22.9).

The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.00465894 0.01184209] m/s.The unknown object with ID 44 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 [2.4257133 2.5650609] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 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 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [2.5089402 2.8113618] m/s.

Instruction: right u-turn approaching.

(The closest actor is a pedestrian at [15.46748   5.251829], 16.334768295288086 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -1.8) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A unknown object with ID 14 is 40.4 meters away at (23.5, -32.9). A vehicle with ID 15 is 41.1 meters away at (40.5, -7.2). A vehicle with ID 6 is 60.4 meters away at (57.4, 18.8).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.9619555 -7.0627933] m/s.

There are active red lights at the following coordinates: [[ 49.216072 -23.739029]
 [ 45.896255 -21.726227]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 23.518478 -32.85632 ], 40.40614318847656 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -0.6) m/s. Its current heading (yaw) is -0.13

The most relevant actors are: A vehicle with ID 15 is 31.5 meters away at (31.2, -4.6). A vehicle with ID 6 is 43.3 meters away at (42.7, 7.7).

The vehicle with ID 15 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 [-2.053744  -6.1912513] m/s.

There are active red lights at the following coordinates: [[ 49.216072 -23.739029]
 [ 45.896255 -21.726227]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 0.8) m/s. Its current heading (yaw) is 0.21

The most relevant actors are: A vehicle with ID 15 is 23.4 meters away at (22.8, -5.0). A vehicle with ID 6 is 32.2 meters away at (32.0, -3.9). A vehicle with ID 4 is 53.4 meters away at (42.7, 32.0).

The vehicle with ID 15 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 [-0.39219713 -5.579067  ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.6216218 -7.0674024] m/s.

There are active red lights at the following coordinates: [[ 49.216072 -23.739029]
 [ 45.896255 -21.726227]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.4) m/s. Its current heading (yaw) is 0.45

The most relevant actors are: A vehicle with ID 15 is 17.6 meters away at (16.1, -7.1). A vehicle with ID 4 is 34.0 meters away at (29.6, 16.8).

The vehicle with ID 15 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 [-2.926826 -6.256062] m/s.

There are active red lights at the following coordinates: [[ 49.216072 -23.739029]
 [ 45.896255 -21.726227]]

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -3.5) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 72 is 3.7 meters away at (-2.5, 2.7). A vehicle with ID 68 is 8.0 meters away at (-0.9, 7.9). A vehicle with ID 67 is 13.1 meters away at (1.0, 13.1). A vehicle with ID 69 is 16.9 meters away at (9.9, 13.7). A vehicle with ID 71 is 17.9 meters away at (2.6, 17.7). A vehicle with ID 73 is 18.7 meters away at (12.7, 13.8). A vehicle with ID 70 is 19.1 meters away at (7.3, -17.7). A vehicle with ID 20 is 29.2 meters away at (-26.7, -12.0). A vehicle with ID 91 is 29.8 meters away at (-13.2, -26.7). A pedestrian with ID 86 is 32.7 meters away at (1.8, 32.6).

The vehicle with ID 72 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 67 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 71 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 [-0.14563952 -0.74706686] m/s.The vehicle with ID 70 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 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.15839638 -1.1112155 ] 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, -0.1) m/s. Its current heading (yaw) is -1.97

The most relevant actors are: A vehicle with ID 72 is 5.7 meters away at (-1.4, 5.5). A vehicle with ID 68 is 10.9 meters away at (0.3, 10.9). A vehicle with ID 67 is 16.3 meters away at (2.2, 16.1). A vehicle with ID 70 is 17.0 meters away at (8.4, -14.8). A vehicle with ID 69 is 20.0 meters away at (11.0, 16.7). A vehicle with ID 71 is 21.0 meters away at (3.8, 20.6). A vehicle with ID 73 is 21.9 meters away at (13.8, 16.9). A vehicle with ID 21 is 22.1 meters away at (-22.1, -1.0). A vehicle with ID 91 is 26.7 meters away at (-12.1, -23.8). A vehicle with ID 20 is 27.1 meters away at (-25.6, -9.0).

The vehicle with ID 72 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 67 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 69 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 73 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 91 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.4) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A vehicle with ID 72 is 7.8 meters away at (-0.3, 7.8). A unknown object with ID 48 is 11.0 meters away at (-7.3, 8.2). A vehicle with ID 68 is 13.2 meters away at (1.3, 13.1). A vehicle with ID 70 is 15.7 meters away at (9.7, -12.3). A vehicle with ID 67 is 18.8 meters away at (3.3, 18.5). A unknown object with ID 41 is 20.9 meters away at (0.0, -20.9). A vehicle with ID 21 is 21.0 meters away at (-21.0, 1.3). A vehicle with ID 69 is 22.5 meters away at (12.0, 19.0). A vehicle with ID 71 is 23.3 meters away at (4.8, 22.9). A vehicle with ID 91 is 24.1 meters away at (-10.8, -21.5).

The vehicle with ID 72 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.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 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 69 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 91 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 (-4.7, -1.0) m/s. Its current heading (yaw) is -2.94

The most relevant actors are: A vehicle with ID 72 is 13.7 meters away at (6.0, 12.3). A vehicle with ID 21 is 15.7 meters away at (-14.7, 5.6). A unknown object with ID 41 is 17.6 meters away at (6.4, -16.4). A vehicle with ID 91 is 17.7 meters away at (-4.6, -17.2). A vehicle with ID 70 is 17.8 meters away at (15.9, -8.0). A vehicle with ID 20 is 18.2 meters away at (-18.0, -2.5). A vehicle with ID 68 is 19.2 meters away at (7.6, 17.6). A vehicle with ID 17 is 23.3 meters away at (-23.3, -0.6). A vehicle with ID 67 is 25.0 meters away at (9.6, 23.1). A vehicle with ID 93 is 26.8 meters away at (-7.4, -25.7).

The vehicle with ID 72 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 41 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.The vehicle with ID 70 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 68 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -0.9) m/s. Its current heading (yaw) is -0.61

The most relevant actors are: A vehicle with ID 36 is 9.3 meters away at (5.4, -7.6). A vehicle with ID 32 is 9.4 meters away at (7.8, -5.2). A vehicle with ID 33 is 13.2 meters away at (-13.1, 1.7). A pedestrian with ID 40 is 15.6 meters away at (2.6, -15.4). A vehicle with ID 39 is 18.0 meters away at (1.0, 18.0). A vehicle with ID 38 is 19.0 meters away at (-18.3, 5.0). A pedestrian with ID 44 is 23.4 meters away at (5.7, -22.6). A vehicle with ID 47 is 24.2 meters away at (23.9, -3.8). A pedestrian with ID 46 is 24.2 meters away at (6.7, -23.3). A pedestrian with ID 53 is 25.2 meters away at (23.9, 8.0).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.1987664 -0.680066 ] m/s.The vehicle with ID 39 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 [-0.00488798  0.01831352] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.02612631  0.00415126] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.641912   -0.30596438] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.61

The most relevant actors are: A vehicle with ID 36 is 8.4 meters away at (4.6, -7.0). A vehicle with ID 32 is 8.5 meters away at (7.1, -4.7). A vehicle with ID 33 is 14.0 meters away at (-13.8, 2.3). A pedestrian with ID 40 is 16.7 meters away at (4.1, -16.2). A vehicle with ID 39 is 18.5 meters away at (0.3, 18.5). A vehicle with ID 38 is 19.9 meters away at (-19.1, 5.6). A pedestrian with ID 44 is 22.7 meters away at (4.9, -22.2). A vehicle with ID 47 is 23.4 meters away at (23.1, -3.2). A pedestrian with ID 46 is 23.5 meters away at (6.0, -22.7). A pedestrian with ID 53 is 24.4 meters away at (22.9, 8.6).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.0593542  -0.70878625] m/s.The vehicle with ID 39 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 [-0.04670835 -0.01152391] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.00384936 0.00762551] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.00489468  0.00337948] 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 -0.61

The most relevant actors are: A vehicle with ID 36 is 8.2 meters away at (4.5, -6.9). A vehicle with ID 32 is 8.4 meters away at (7.0, -4.6). A vehicle with ID 33 is 14.2 meters away at (-14.0, 2.4). A pedestrian with ID 40 is 18.5 meters away at (6.1, -17.4). A vehicle with ID 39 is 18.6 meters away at (0.2, 18.6). A vehicle with ID 38 is 20.0 meters away at (-19.2, 5.7). A pedestrian with ID 44 is 22.7 meters away at (4.8, -22.1). A vehicle with ID 47 is 23.2 meters away at (23.0, -3.1). A pedestrian with ID 46 is 23.4 meters away at (5.8, -22.7). A pedestrian with ID 53 is 24.3 meters away at (22.7, 8.7).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.9829867 -0.3692406] m/s.The vehicle with ID 39 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 [-0.01094582 -0.00039186] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.0089768  -0.01524848] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-1.9975265e-02  1.9382798e-05] 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 -0.61

The most relevant actors are: A vehicle with ID 36 is 8.2 meters away at (4.5, -6.9). A vehicle with ID 32 is 8.3 meters away at (6.9, -4.6). A vehicle with ID 33 is 14.2 meters away at (-14.0, 2.4). A vehicle with ID 39 is 18.6 meters away at (0.2, 18.6). A pedestrian with ID 40 is 18.8 meters away at (6.4, -17.6). A vehicle with ID 38 is 20.0 meters away at (-19.2, 5.7). A pedestrian with ID 44 is 22.6 meters away at (4.8, -22.1). A vehicle with ID 47 is 23.1 meters away at (22.9, -3.1). A pedestrian with ID 46 is 23.3 meters away at (5.8, -22.6). A pedestrian with ID 53 is 23.6 meters away at (22.0, 8.7).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.00038877  0.00342251] 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 [0.00141739 0.00021702] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.00079292 0.00206302] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.42213914 -0.00421319] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.7, -9.1) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 21 is 9.2 meters away at (-4.9, -7.8). A unknown object with ID 16 is 24.3 meters away at (-22.4, -9.5). A vehicle with ID 20 is 27.8 meters away at (24.1, 14.0). A vehicle with ID 15 is 41.6 meters away at (-31.4, -27.3). A vehicle with ID 18 is 61.3 meters away at (-47.1, -39.2).

The vehicle with ID 21 is traveling at a (x, y) velocity of [10.162526   7.5862775] m/s.The unknown object 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 [10.414511  7.798986] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.560669 7.091998] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [8.9648075 6.662872 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.6, -9.0) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 18 is 9.1 meters away at (-5.2, -7.5). A vehicle with ID 15 is 12.8 meters away at (11.7, 5.1). A vehicle with ID 21 is 47.6 meters away at (39.8, 26.0).

The vehicle with ID 18 is traveling at a (x, y) velocity of [9.528674  7.1053376] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.852404  7.2924466] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [11.041788  8.163543] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.2, -8.7) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A unknown object with ID 14 is 31.4 meters away at (20.7, 23.7). A vehicle with ID 18 is 44.8 meters away at (37.2, 24.8). A vehicle with ID 15 is 65.5 meters away at (53.9, 37.3).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [10.280049   7.5696282] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.852583 7.240505] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [20.654785 23.699392], 31.43694305419922 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.0, -8.4) m/s. Its current heading (yaw) is -2.49

The most relevant actors are: A vehicle with ID 19 is 27.8 meters away at (-20.1, -19.2). A vehicle with ID 12 is 59.5 meters away at (-45.3, -38.5).

The vehicle with ID 19 is traveling at a (x, y) velocity of [11.152282  8.195741] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [11.018877  8.168961] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.3) m/s. Its current heading (yaw) is 2.93

The most relevant actors are: A unknown object with ID 62 is 12.9 meters away at (4.4, 12.1). A unknown object with ID 61 is 12.9 meters away at (6.3, 11.3). A unknown object with ID 57 is 13.1 meters away at (3.2, 12.7). A unknown object with ID 58 is 13.2 meters away at (2.8, 12.9). A unknown object with ID 60 is 14.3 meters away at (1.7, 14.2). A unknown object with ID 67 is 14.3 meters away at (1.7, 14.2). A unknown object with ID 65 is 14.3 meters away at (8.4, 11.6). A unknown object with ID 59 is 15.4 meters away at (7.1, 13.7). A unknown object with ID 73 is 16.1 meters away at (0.6, 16.1). A unknown object with ID 75 is 18.1 meters away at (-0.2, 18.1).

The unknown object with ID 62 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 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 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 [ 4.4118004 12.101353 ], 12.880477905273438 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.93

The most relevant actors are: A vehicle with ID 80 is 11.9 meters away at (11.9, -1.2). A unknown object with ID 62 is 13.0 meters away at (5.3, 11.9). A unknown object with ID 57 is 13.2 meters away at (4.2, 12.5). A unknown object with ID 61 is 13.2 meters away at (7.2, 11.1). A unknown object with ID 58 is 13.3 meters away at (3.7, 12.8). A unknown object with ID 67 is 14.3 meters away at (2.6, 14.1). A unknown object with ID 65 is 14.8 meters away at (9.3, 11.5). A unknown object with ID 59 is 15.5 meters away at (7.9, 13.4). A unknown object with ID 73 is 16.0 meters away at (1.5, 15.9). A unknown object with ID 75 is 17.8 meters away at (0.8, 17.8).

The vehicle with ID 80 is traveling at a (x, y) velocity of [-5.5899706  2.3934436] m/s.The unknown object with ID 62 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.2) m/s. Its current heading (yaw) is 3.02

The most relevant actors are: A vehicle with ID 80 is 4.9 meters away at (4.3, 2.3). A unknown object with ID 57 is 13.6 meters away at (5.8, 12.3). A unknown object with ID 62 is 13.6 meters away at (7.0, 11.6). A unknown object with ID 58 is 13.6 meters away at (5.4, 12.5). A unknown object with ID 61 is 14.0 meters away at (8.9, 10.8). A unknown object with ID 67 is 14.4 meters away at (4.3, 13.7). A unknown object with ID 65 is 15.7 meters away at (11.1, 11.1). A unknown object with ID 73 is 16.0 meters away at (3.3, 15.6). A unknown object with ID 59 is 16.4 meters away at (9.7, 13.2). A unknown object with ID 52 is 17.1 meters away at (-11.1, -13.0).

The vehicle with ID 80 is traveling at a (x, y) velocity of [-3.3051653  1.3782988] 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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.1) m/s. Its current heading (yaw) is 3.06

The most relevant actors are: A vehicle with ID 80 is 4.6 meters away at (2.6, 3.8). A vehicle with ID 83 is 14.5 meters away at (-14.5, -1.0). A unknown object with ID 58 is 14.6 meters away at (7.9, 12.3). A unknown object with ID 57 is 14.6 meters away at (8.2, 12.1). A unknown object with ID 62 is 14.8 meters away at (9.3, 11.5). A unknown object with ID 67 is 15.1 meters away at (6.6, 13.6). A unknown object with ID 61 is 15.6 meters away at (11.3, 10.7). A unknown object with ID 52 is 15.8 meters away at (-8.7, -13.1). A unknown object with ID 21 is 16.5 meters away at (-10.1, -13.1). A unknown object with ID 73 is 16.5 meters away at (5.6, 15.5).

The vehicle with ID 80 is traveling at a (x, y) velocity of [-0.51998365  0.20680533] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [3.6404903 7.788767 ] m/s.The unknown object with ID 58 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 62 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 61 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 unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 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 (2.1, 7.4) m/s. Its current heading (yaw) is 1.29

The most relevant actors are: A unknown object with ID 24 is 10.5 meters away at (-5.2, 9.1). A unknown object with ID 25 is 11.7 meters away at (-4.0, 11.0). A cyclist with ID 2 is 17.2 meters away at (-3.4, -16.9). A unknown object with ID 22 is 22.8 meters away at (-11.3, -19.8). A unknown object with ID 11 is 23.1 meters away at (-8.2, -21.7). A unknown object with ID 23 is 31.1 meters away at (-12.5, -28.4). A unknown object with ID 14 is 38.7 meters away at (-0.4, -38.7).

The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [1.332239  7.5816355] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-5.174632  9.104547], 10.47232437133789 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 7.9) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A unknown object with ID 25 is 9.8 meters away at (-8.9, -4.3). A unknown object with ID 24 is 11.8 meters away at (-10.0, -6.2). A pedestrian with ID 21 is 14.0 meters away at (-12.1, 7.1). A cyclist with ID 2 is 17.5 meters away at (-4.9, -16.7). A unknown object with ID 23 is 47.1 meters away at (-17.3, -43.8).

The unknown object with ID 25 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.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00367167  0.01125633] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [1.8733536 7.4672956] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-8.8522415 -4.3045425], 9.84333610534668 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 7.7) m/s. Its current heading (yaw) is 1.21

The most relevant actors are: A cyclist with ID 2 is 18.4 meters away at (-5.9, -17.4). A pedestrian with ID 21 is 19.5 meters away at (-17.6, -8.5). A unknown object with ID 25 is 24.6 meters away at (-14.4, -20.0). A unknown object with ID 24 is 26.8 meters away at (-15.5, -21.9). A unknown object with ID 23 is 63.7 meters away at (-22.9, -59.5).

The cyclist with ID 2 is traveling at a (x, y) velocity of [2.6407878 7.7118087] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.02614564 0.02354676] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 7.5) m/s. Its current heading (yaw) is 1.19

The most relevant actors are: A cyclist with ID 2 is 18.1 meters away at (-6.5, -16.9). A pedestrian with ID 21 is 33.2 meters away at (-23.5, -23.5). A unknown object with ID 25 is 40.4 meters away at (-20.3, -35.0). A unknown object with ID 24 is 42.7 meters away at (-21.5, -36.9). A unknown object with ID 23 is 79.9 meters away at (-28.9, -74.4).

The cyclist with ID 2 is traveling at a (x, y) velocity of [2.7204626 7.6690383] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00799452  0.0110408 ] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.5) m/s. Its current heading (yaw) is 2.40

The most relevant actors are: A vehicle with ID 16 is 4.5 meters away at (1.4, 4.3). A vehicle with ID 17 is 6.8 meters away at (6.8, -0.4). A vehicle with ID 18 is 7.6 meters away at (5.6, -5.1). A vehicle with ID 20 is 8.6 meters away at (-6.4, 5.7). A vehicle with ID 21 is 9.3 meters away at (-3.7, 8.5). A vehicle with ID 24 is 10.8 meters away at (-10.8, 0.1). A pedestrian with ID 22 is 14.2 meters away at (14.1, -1.7). A pedestrian with ID 23 is 14.9 meters away at (14.8, -1.4). A pedestrian with ID 19 is 15.0 meters away at (15.0, -0.6). A vehicle with ID 27 is 15.7 meters away at (-12.1, 10.1).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.9835547   0.86944044] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 6.285009 -5.286527] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8367538  0.6976257] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.87434006  0.72741854] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.852991   0.6773318] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-21.694422  18.35833 ]
 [-19.111715  20.390305]]

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 2.39

The most relevant actors are: A vehicle with ID 16 is 4.4 meters away at (1.7, 4.1). A vehicle with ID 18 is 6.6 meters away at (4.8, -4.5). A vehicle with ID 17 is 7.1 meters away at (7.1, -0.6). A vehicle with ID 20 is 8.2 meters away at (-6.1, 5.5). A vehicle with ID 21 is 9.0 meters away at (-3.4, 8.3). A pedestrian with ID 22 is 12.8 meters away at (12.7, -0.3). A vehicle with ID 24 is 13.2 meters away at (4.0, -12.5). A pedestrian with ID 23 is 13.4 meters away at (13.4, -0.1). A pedestrian with ID 19 is 13.7 meters away at (13.7, 0.5). A vehicle with ID 27 is 15.3 meters away at (-11.7, 9.9).

The vehicle with ID 16 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8544555   0.67951906] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 8.042327  -6.8517213] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8348776  0.6793808] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.8053284  0.6829947] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-21.694422  18.35833 ]
 [-19.111715  20.390305]]

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 2.39

The most relevant actors are: A vehicle with ID 16 is 4.4 meters away at (1.7, 4.0). A vehicle with ID 18 is 6.6 meters away at (4.8, -4.5). A vehicle with ID 17 is 7.1 meters away at (7.1, -0.6). A vehicle with ID 20 is 8.2 meters away at (-6.1, 5.5). A vehicle with ID 21 is 8.9 meters away at (-3.4, 8.3). A pedestrian with ID 22 is 11.0 meters away at (11.0, 1.0). A pedestrian with ID 23 is 11.9 meters away at (11.8, 1.3). A pedestrian with ID 19 is 12.2 meters away at (12.1, 1.9). A vehicle with ID 27 is 15.3 meters away at (-11.8, 9.9). A vehicle with ID 37 is 19.7 meters away at (15.0, -12.7).

The vehicle with ID 16 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.81001836  0.70696294] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.7797733  0.7232557] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.80208546  0.7537125 ] m/s.The vehicle with ID 27 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 [-0.5266488   0.43477315] 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 2.39

The most relevant actors are: A vehicle with ID 16 is 4.4 meters away at (1.7, 4.0). A vehicle with ID 18 is 6.6 meters away at (4.8, -4.5). A vehicle with ID 17 is 7.1 meters away at (7.1, -0.6). A vehicle with ID 20 is 8.2 meters away at (-6.1, 5.5). A vehicle with ID 21 is 8.9 meters away at (-3.3, 8.3). A pedestrian with ID 22 is 9.5 meters away at (9.2, 2.5). A pedestrian with ID 23 is 10.5 meters away at (10.1, 2.7). A pedestrian with ID 19 is 11.1 meters away at (10.6, 3.3). A vehicle with ID 27 is 15.3 meters away at (-11.7, 9.9). A vehicle with ID 37 is 19.4 meters away at (14.8, -12.5).

The vehicle with ID 16 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.82923716  0.72548026] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.818941   0.6719571] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.79138947  0.67260724] m/s.The vehicle with ID 27 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 3.2) m/s. Its current heading (yaw) is 2.68

The most relevant actors are: A unknown object with ID 52 is 7.9 meters away at (-2.1, 7.6). A vehicle with ID 56 is 26.3 meters away at (-11.3, 23.8). A unknown object with ID 50 is 26.9 meters away at (25.4, -9.0). A vehicle with ID 49 is 27.1 meters away at (-27.1, -0.4). A vehicle with ID 57 is 29.8 meters away at (-6.1, 29.2). A vehicle with ID 27 is 33.0 meters away at (-32.3, -6.9). A vehicle with ID 59 is 34.7 meters away at (-1.7, 34.6). A vehicle with ID 53 is 46.2 meters away at (46.2, 1.3). A vehicle with ID 47 is 46.6 meters away at (-41.5, 21.2). A vehicle with ID 54 is 47.8 meters away at (46.8, 9.8).

The unknown object with ID 52 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 unknown object with ID 50 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 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle 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 [-2.1183987  7.6396494], 7.927916049957275 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 4.2) m/s. Its current heading (yaw) is 2.51

The most relevant actors are: A unknown object with ID 52 is 9.8 meters away at (9.8, -0.4). A vehicle with ID 56 is 15.8 meters away at (0.7, 15.8). A vehicle with ID 49 is 17.3 meters away at (-15.2, -8.3). A vehicle with ID 57 is 22.0 meters away at (5.9, 21.2). A vehicle with ID 27 is 25.2 meters away at (-20.4, -14.9). A vehicle with ID 59 is 28.5 meters away at (10.4, 26.6). A unknown object with ID 45 is 31.6 meters away at (-21.7, 23.0). A vehicle with ID 47 is 32.4 meters away at (-29.5, 13.3). A vehicle with ID 35 is 32.7 meters away at (-25.2, -20.7). A vehicle with ID 48 is 38.1 meters away at (-34.0, 17.2).

The unknown object with ID 52 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 49 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 27 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 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 [ 9.81847   -0.3712368], 9.825485229492188 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 4.9) m/s. Its current heading (yaw) is 2.50

The most relevant actors are: A vehicle with ID 56 is 14.5 meters away at (12.8, 6.8). A vehicle with ID 49 is 17.5 meters away at (-3.0, -17.2). A vehicle with ID 47 is 17.9 meters away at (-17.4, 4.3). A vehicle with ID 57 is 21.9 meters away at (18.1, 12.3). A vehicle with ID 48 is 23.3 meters away at (-21.8, 8.1). A unknown object with ID 52 is 23.9 meters away at (22.0, -9.4). A vehicle with ID 27 is 25.3 meters away at (-8.4, -23.8). A vehicle with ID 59 is 28.5 meters away at (22.4, 17.6). A vehicle with ID 35 is 32.5 meters away at (-13.2, -29.7). A vehicle with ID 46 is 34.9 meters away at (-31.0, 16.1).

The vehicle with ID 56 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 47 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 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 (-6.2, 4.8) m/s. Its current heading (yaw) is 2.48

The most relevant actors are: A vehicle with ID 47 is 7.2 meters away at (-4.7, -5.4). A vehicle with ID 48 is 9.1 meters away at (-9.0, -1.7). A vehicle with ID 46 is 19.2 meters away at (-18.2, 6.3). A vehicle with ID 56 is 25.8 meters away at (25.6, -3.0). A vehicle with ID 49 is 28.7 meters away at (9.7, -27.1). A vehicle with ID 57 is 30.9 meters away at (30.8, 2.5). A vehicle with ID 6 is 32.0 meters away at (-22.5, 22.8). A vehicle with ID 27 is 33.9 meters away at (4.4, -33.6). A vehicle with ID 12 is 37.1 meters away at (-36.3, 7.6). A vehicle with ID 3 is 38.1 meters away at (-27.0, 26.9).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 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 49 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -6.4) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 42 is 19.8 meters away at (-14.7, -13.3). A vehicle with ID 43 is 21.0 meters away at (-17.1, -12.2). A vehicle with ID 44 is 22.4 meters away at (-19.5, -11.1). A vehicle with ID 34 is 24.4 meters away at (-22.1, -10.3). A vehicle with ID 39 is 26.7 meters away at (-24.9, -9.5). A vehicle with ID 18 is 26.9 meters away at (-11.5, -24.3). A vehicle with ID 32 is 28.7 meters away at (-27.3, -8.7). A vehicle with ID 21 is 32.5 meters away at (-31.9, -6.4). A vehicle with ID 31 is 35.3 meters away at (-34.7, -6.3). A vehicle with ID 29 is 44.8 meters away at (-44.8, -2.4).

The vehicle with ID 42 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 [0. 0.] m/s.The vehicle with ID 44 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 vehicle with ID 39 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 32 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 31 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -6.3) m/s. Its current heading (yaw) is -1.88

The most relevant actors are: A vehicle with ID 42 is 10.6 meters away at (-10.6, -0.8). A vehicle with ID 43 is 12.9 meters away at (-12.9, 0.4). A vehicle with ID 18 is 13.8 meters away at (-7.4, -11.7). A vehicle with ID 44 is 15.5 meters away at (-15.4, 1.5). A vehicle with ID 34 is 18.1 meters away at (-18.0, 2.4). A vehicle with ID 39 is 21.0 meters away at (-20.7, 3.1). A vehicle with ID 32 is 23.5 meters away at (-23.2, 4.0). A vehicle with ID 21 is 28.4 meters away at (-27.7, 6.2). A vehicle with ID 31 is 31.3 meters away at (-30.6, 6.4). A vehicle with ID 29 is 41.9 meters away at (-40.6, 10.3).

The vehicle with ID 42 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 [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 44 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 vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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 29 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 (-2.2, -6.4) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A vehicle with ID 18 is 3.2 meters away at (-3.1, 0.7). A vehicle with ID 42 is 13.2 meters away at (-6.4, 11.6). A vehicle with ID 43 is 15.5 meters away at (-8.8, 12.8). A vehicle with ID 44 is 17.8 meters away at (-11.2, 13.8). A vehicle with ID 34 is 20.0 meters away at (-13.7, 14.5). A vehicle with ID 39 is 22.7 meters away at (-16.5, 15.5). A vehicle with ID 32 is 25.1 meters away at (-19.1, 16.3). A vehicle with ID 19 is 33.8 meters away at (-14.4, -30.6). A unknown object with ID 27 is 35.7 meters away at (3.9, 35.5).

The vehicle with ID 18 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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, -6.5) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 18 is 14.0 meters away at (1.5, 13.9). A vehicle with ID 19 is 20.0 meters away at (-9.8, -17.4). A vehicle with ID 42 is 24.9 meters away at (-1.7, 24.8). A unknown object with ID 23 is 46.9 meters away at (21.6, 41.7). A vehicle with ID 4 is 58.1 meters away at (-1.6, -58.1).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 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, 9.9) m/s. Its current heading (yaw) is 1.43

The most relevant actors are: A vehicle with ID 9 is 13.5 meters away at (11.0, -7.8). A vehicle with ID 6 is 28.0 meters away at (25.2, -12.2). A vehicle with ID 11 is 52.5 meters away at (-3.3, -52.4).

The vehicle with ID 9 is traveling at a (x, y) velocity of [ -0.9620139 -13.604211 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.22535579 -1.6946766 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.2087332 17.341915 ] 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, 9.7) m/s. Its current heading (yaw) is 1.54

The most relevant actors are: A vehicle with ID 3 is 38.4 meters away at (23.1, -30.6). A vehicle with ID 11 is 38.4 meters away at (-2.8, -38.3). A vehicle with ID 9 is 55.5 meters away at (6.8, -55.1). A vehicle with ID 1 is 75.6 meters away at (1.5, 75.6).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.0817591 16.261967 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ -1.2507583 -14.035072 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -3.688522 108.13305 ]
 [ -5.848242 111.81836 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 9.2) m/s. Its current heading (yaw) is 1.69

The most relevant actors are: A vehicle with ID 11 is 25.7 meters away at (-0.9, -25.7). A vehicle with ID 1 is 56.8 meters away at (2.1, 56.8).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.1955064 15.23823  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -3.688522 108.13305 ]
 [ -5.848242 111.81836 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 7.1) m/s. Its current heading (yaw) is 1.83

The most relevant actors are: A vehicle with ID 11 is 12.9 meters away at (-0.7, -12.9). A vehicle with ID 1 is 40.9 meters away at (5.3, 40.5).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.74005  14.066375] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -3.688522 108.13305 ]
 [ -5.848242 111.81836 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.0, -4.3) m/s. Its current heading (yaw) is -0.55

The most relevant actors are: A pedestrian with ID 71 is 8.6 meters away at (-7.7, -3.7). A unknown object with ID 63 is 8.7 meters away at (6.7, 5.5). A vehicle with ID 8 is 8.8 meters away at (-5.4, 7.0). A pedestrian with ID 69 is 9.2 meters away at (-8.9, -2.1). A pedestrian with ID 70 is 9.7 meters away at (-8.9, -3.8). A pedestrian with ID 73 is 9.7 meters away at (0.9, 9.7). A vehicle with ID 82 is 10.9 meters away at (7.3, -8.1). A pedestrian with ID 74 is 12.7 meters away at (-11.2, -6.0). A vehicle with ID 56 is 15.2 meters away at (4.7, 14.4). A vehicle with ID 34 is 16.4 meters away at (-13.6, 9.1).

The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.02158101  0.03923641] m/s.The unknown object with ID 63 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 [ 5.708062  -3.9475205] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.01852382  0.00952023] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.02233432  0.03038188] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.00433937  0.01564161] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.00577864 0.0142418 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-9.355413  6.66161 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 6.021926  -3.9857507] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -4.9) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A vehicle with ID 89 is 3.2 meters away at (-1.7, -2.7). A vehicle with ID 82 is 7.2 meters away at (-7.1, 1.0). A vehicle with ID 8 is 11.6 meters away at (-8.3, 8.1). A vehicle with ID 113 is 15.2 meters away at (6.4, 13.8). A unknown object with ID 63 is 16.7 meters away at (-7.9, 14.7). A vehicle with ID 34 is 18.9 meters away at (-16.0, 10.1). A vehicle with ID 16 is 19.0 meters away at (15.4, -11.2). A vehicle with ID 51 is 22.3 meters away at (-5.6, 21.6). A pedestrian with ID 71 is 23.0 meters away at (-22.4, 5.4). A pedestrian with ID 73 is 23.3 meters away at (-13.7, 18.8).

The vehicle with ID 89 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 [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 6.3973823 -4.1888943] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [-7.8218436  4.9808917] m/s.The unknown object with ID 63 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 [ 6.302121  -4.1127586] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.763192  -5.3849244] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-8.027645  5.193649] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.01716594 -0.00866765] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.01597782 -0.0231334 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -5.3) m/s. Its current heading (yaw) is -0.63

The most relevant actors are: A pedestrian with ID 107 is 8.3 meters away at (-0.9, -8.2). A pedestrian with ID 108 is 9.9 meters away at (-0.7, -9.9). A pedestrian with ID 114 is 12.6 meters away at (0.6, -12.6). A vehicle with ID 65 is 13.3 meters away at (2.3, 13.1). A vehicle with ID 8 is 13.5 meters away at (-9.5, 9.6). A vehicle with ID 55 is 15.5 meters away at (8.3, 13.1). A vehicle with ID 89 is 18.0 meters away at (-16.3, 7.7). A vehicle with ID 16 is 19.9 meters away at (16.2, -11.5). A vehicle with ID 34 is 22.3 meters away at (-18.4, 12.5). A pedestrian with ID 103 is 24.5 meters away at (9.7, 22.5).

The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.57337654  0.8024663 ] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [-0.7621195   0.68129003] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [-1.3994259  0.9159997] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-12.558164   8.169102] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 7.0129766 -4.715425 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-8.815855  5.544186] m/s.The vehicle with ID 89 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 [ 7.823271  -5.1528897] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 5.5866904 -3.570865 ] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [ 0.02110747 -0.00711214] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, -5.0) m/s. Its current heading (yaw) is -0.60

The most relevant actors are: A pedestrian with ID 24 is 11.8 meters away at (6.5, -9.9). A pedestrian with ID 23 is 12.8 meters away at (7.1, -10.6). A pedestrian with ID 21 is 13.8 meters away at (8.3, -11.1). A vehicle with ID 8 is 14.5 meters away at (-10.0, 10.4). A pedestrian with ID 114 is 16.6 meters away at (-16.6, -0.2). A pedestrian with ID 108 is 17.0 meters away at (-16.9, 2.1). A pedestrian with ID 107 is 17.3 meters away at (-17.0, 3.4). A vehicle with ID 16 is 20.9 meters away at (17.5, -11.4). A pedestrian with ID 41 is 23.1 meters away at (18.5, 13.8). A vehicle with ID 67 is 23.2 meters away at (-4.9, 22.7).

The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01464064  0.01676283] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.00374882  0.00224412] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.04748458 -0.02266353] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 7.1251397 -4.8785334] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [-1.2846534  1.1184479] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [-0.88247114  0.8317633 ] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.8993884   0.61726105] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 8.026009 -5.087094] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [0.08616849 0.04669437] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-8.434485  5.378326] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 3.4) m/s. Its current heading (yaw) is 0.81

The most relevant actors are: A unknown object with ID 29 is 27.4 meters away at (-27.3, -1.7). A vehicle with ID 30 is 31.4 meters away at (17.6, -26.0). A pedestrian with ID 34 is 36.0 meters away at (12.5, -33.7). A pedestrian with ID 6 is 42.3 meters away at (22.3, 36.0).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 4.600303  -2.3587146] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3012891   0.41289005] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.06034532 0.01118968] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-27.34127    -1.7185636], 27.395227432250977 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 3.0) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A pedestrian with ID 6 is 34.0 meters away at (16.6, 29.7). A pedestrian with ID 7 is 35.3 meters away at (12.8, 32.9). A pedestrian with ID 34 is 39.1 meters away at (4.3, -38.9). A vehicle with ID 30 is 42.5 meters away at (21.7, -36.6). A unknown object with ID 2 is 75.8 meters away at (49.9, 57.1). A unknown object with ID 3 is 77.4 meters away at (51.3, 58.0).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00883316  0.01364411] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.21942605  1.0671512 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.2769808  0.4949529] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 5.3441415 -2.11263  ] m/s.The unknown object with ID 2 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: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.3) m/s. Its current heading (yaw) is 0.82

The most relevant actors are: A pedestrian with ID 6 is 26.0 meters away at (11.0, 23.6). A pedestrian with ID 7 is 28.9 meters away at (7.4, 28.0). A unknown object with ID 5 is 29.3 meters away at (9.5, 27.7). A pedestrian with ID 34 is 44.2 meters away at (-3.6, -44.0). A unknown object with ID 20 is 56.2 meters away at (14.5, 54.3). A unknown object with ID 2 is 67.5 meters away at (44.3, 51.0). A unknown object with ID 3 is 69.2 meters away at (45.7, 51.9).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00268386 -0.01968883] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.11716677 0.46430424] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.1943421  0.4928758] 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 2 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: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 4.1) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A pedestrian with ID 6 is 16.8 meters away at (4.3, 16.2). A unknown object with ID 5 is 20.5 meters away at (2.8, 20.3). A pedestrian with ID 7 is 20.8 meters away at (0.5, 20.7). A unknown object with ID 10 is 45.4 meters away at (5.1, 45.1). A unknown object with ID 18 is 46.0 meters away at (4.5, 45.7). A unknown object with ID 20 is 47.5 meters away at (7.9, 46.9). A unknown object with ID 25 is 48.4 meters away at (7.6, 47.8). A unknown object with ID 27 is 48.7 meters away at (7.4, 48.1). A unknown object with ID 2 is 57.6 meters away at (37.6, 43.6). A unknown object with ID 3 is 59.2 meters away at (38.9, 44.6).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.030302    0.07712571] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.00596164 0.0150157 ] 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 18 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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 unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 3.7) m/s. Its current heading (yaw) is 1.98

The most relevant actors are: A pedestrian with ID 2 is 31.4 meters away at (1.6, -31.4). A vehicle with ID 10 is 35.5 meters away at (21.2, -28.5). A unknown object with ID 12 is 45.6 meters away at (-26.2, -37.4). A vehicle with ID 14 is 69.3 meters away at (-26.3, 64.2).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.1483023  -0.10038078] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.9768544  2.440223 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.2664322  7.3763824] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 3.0) m/s. Its current heading (yaw) is 2.13

The most relevant actors are: A vehicle with ID 10 is 37.2 meters away at (20.4, -31.1). A pedestrian with ID 2 is 38.6 meters away at (2.8, -38.5). A vehicle with ID 14 is 76.5 meters away at (-24.6, 72.4).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.4756296  1.8117675] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.1229402 -0.6576586] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-0.73555243  7.7603264 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 2.1) m/s. Its current heading (yaw) is 2.34

The most relevant actors are: A vehicle with ID 10 is 38.3 meters away at (18.2, -33.7). A pedestrian with ID 2 is 45.4 meters away at (4.4, -45.2).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.4399984  0.6750379] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0761819  -0.91244906] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 0.7) m/s. Its current heading (yaw) is 2.88

The most relevant actors are: A unknown object with ID 6 is 8.5 meters away at (-6.1, -5.8). A vehicle with ID 10 is 40.0 meters away at (15.8, -36.8).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.36866   -1.1919527] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-6.1328325 -5.836241 ], 8.466011047363281 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -3.1) m/s. Its current heading (yaw) is -1.69

The most relevant actors are: A pedestrian with ID 9 is 31.3 meters away at (-7.0, -30.5). A unknown object with ID 7 is 34.2 meters away at (-33.6, 6.0). A pedestrian with ID 11 is 53.3 meters away at (18.9, 49.9). A pedestrian with ID 10 is 53.3 meters away at (19.6, 49.6). A vehicle with ID 1 is 74.0 meters away at (-72.1, 16.8).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.345613   -0.39849034] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.40183228 -0.8178819 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.3102702 -0.8049791] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.95456   -2.0637121] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -1.5) m/s. Its current heading (yaw) is -1.43

The most relevant actors are: A pedestrian with ID 9 is 27.3 meters away at (-4.5, -26.9). A unknown object with ID 7 is 35.5 meters away at (-33.9, 10.5). A unknown object with ID 2 is 37.4 meters away at (-35.7, 11.2). A unknown object with ID 8 is 54.9 meters away at (2.9, 54.8). A pedestrian with ID 10 is 56.0 meters away at (18.6, 52.8). A pedestrian with ID 11 is 56.0 meters away at (17.9, 53.1). A vehicle with ID 1 is 65.3 meters away at (-63.0, 17.4).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.284368  -0.5278403] 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.51583445 -0.80119467] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.4981735  -0.80354035] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.1841426 -2.4278426] 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 -1.36

The most relevant actors are: A pedestrian with ID 9 is 27.2 meters away at (-2.0, -27.1). A unknown object with ID 7 is 36.0 meters away at (-34.1, 11.4). A pedestrian with ID 10 is 55.2 meters away at (17.7, 52.2). A pedestrian with ID 11 is 55.2 meters away at (16.9, 52.5). A vehicle with ID 1 is 55.3 meters away at (-53.6, 13.9). A unknown object with ID 8 is 56.5 meters away at (2.4, 56.4).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.2487817  -0.28647023] m/s.The unknown object with ID 7 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 [-0.33538392 -0.7492478 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.3227642 -0.7845145] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.9341564 -2.0555286] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.