The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 3.0) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A vehicle with ID 77 is 5.1 meters away at (-2.8, -4.2). A vehicle with ID 73 is 15.0 meters away at (11.8, -9.3). A vehicle with ID 7 is 17.5 meters away at (-12.4, 12.3). A vehicle with ID 80 is 19.3 meters away at (-10.5, -16.3). A vehicle with ID 78 is 19.7 meters away at (-12.9, -14.9). A unknown object with ID 79 is 25.3 meters away at (-0.2, -25.3). A unknown object with ID 37 is 25.5 meters away at (0.4, -25.5). A vehicle with ID 74 is 26.2 meters away at (-14.4, -21.9). A unknown object with ID 75 is 26.4 meters away at (-25.6, 6.6). A unknown object with ID 83 is 27.3 meters away at (-1.6, -27.3).

The vehicle with ID 77 is traveling at a (x, y) velocity of [ 4.621499  -3.3418522] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-3.0701442  2.1044557] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.917832   3.6238544] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 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 74 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.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 3.7) m/s. Its current heading (yaw) is 2.29

The most relevant actors are: A vehicle with ID 73 is 16.1 meters away at (11.7, -11.1). A vehicle with ID 7 is 16.6 meters away at (-10.6, 12.8). A unknown object with ID 75 is 18.4 meters away at (-18.4, -0.2). A vehicle with ID 78 is 22.4 meters away at (-5.8, -21.7). A vehicle with ID 80 is 23.3 meters away at (-3.3, -23.1). A vehicle with ID 77 is 23.6 meters away at (14.9, -18.3). A pedestrian with ID 86 is 25.4 meters away at (-16.3, -19.5). A vehicle with ID 74 is 29.6 meters away at (-7.4, -28.7). A unknown object with ID 79 is 32.8 meters away at (7.2, -32.1). A unknown object with ID 59 is 32.9 meters away at (7.4, -32.1).

The vehicle with ID 73 is traveling at a (x, y) velocity of [-3.8596802  2.6258304] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.7342212  4.107611 ] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 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 [ 5.3533955 -3.5771933] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [0.8385277  0.51244456] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 3.9) m/s. Its current heading (yaw) is 2.17

The most relevant actors are: A unknown object with ID 75 is 14.8 meters away at (-12.6, -7.7). A vehicle with ID 7 is 16.8 meters away at (-10.0, 13.5). A vehicle with ID 73 is 17.7 meters away at (10.7, -14.1). A vehicle with ID 23 is 21.7 meters away at (-18.4, 11.5). A pedestrian with ID 86 is 27.4 meters away at (-8.7, -26.0). A vehicle with ID 78 is 29.2 meters away at (-0.0, -29.2). A vehicle with ID 80 is 30.8 meters away at (2.4, -30.7). A vehicle with ID 19 is 34.6 meters away at (25.4, -23.5). A vehicle with ID 74 is 36.7 meters away at (-1.9, -36.7). A vehicle with ID 20 is 39.3 meters away at (-20.7, 33.4).

The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.8968537  4.8112698] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-2.3072882  1.5075237] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 6.7060246 -9.400222 ] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [0.9815344  0.49338216] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.4490707  2.4261794] m/s.The vehicle with ID 74 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 [-3.2623425  5.181902 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-12.591225  -7.696513], 14.757209777832031 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 4.6) m/s. Its current heading (yaw) is 2.14

The most relevant actors are: A vehicle with ID 23 is 14.9 meters away at (1.2, -14.8). A unknown object with ID 75 is 17.5 meters away at (-7.2, -15.9). A vehicle with ID 7 is 18.3 meters away at (-10.4, 15.0). A vehicle with ID 73 is 24.9 meters away at (13.7, -20.9). A pedestrian with ID 86 is 33.2 meters away at (-1.4, -33.1). A unknown object with ID 6 is 36.1 meters away at (14.9, 32.8). A vehicle with ID 19 is 36.8 meters away at (24.6, -27.3). A vehicle with ID 78 is 37.9 meters away at (5.4, -37.5). A vehicle with ID 8 is 38.3 meters away at (17.7, 33.9). A vehicle with ID 80 is 39.8 meters away at (7.8, -39.0).

The vehicle with ID 23 is traveling at a (x, y) velocity of [ 7.633379 -8.234028] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-3.0106616  5.086967 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.71680653  0.4165902 ] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [1.0195274 0.6253624] m/s.The unknown object with ID 6 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 [-2.5967743  2.1152241] m/s.The vehicle with ID 78 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 80 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 (-0.0, 0.0) m/s. Its current heading (yaw) is 2.67

The most relevant actors are: A vehicle with ID 13 is 7.3 meters away at (6.6, -3.2). A pedestrian with ID 19 is 21.1 meters away at (-10.8, 18.2). A pedestrian with ID 20 is 21.3 meters away at (-10.1, 18.8). A vehicle with ID 17 is 21.8 meters away at (-0.7, 21.8). A pedestrian with ID 28 is 29.5 meters away at (-28.5, -7.7). A vehicle with ID 14 is 32.5 meters away at (-19.5, -25.9). A vehicle with ID 7 is 38.2 meters away at (-37.6, -6.5). A pedestrian with ID 22 is 53.4 meters away at (53.0, 6.0). A vehicle with ID 26 is 55.5 meters away at (-45.7, 31.4). A vehicle with ID 21 is 55.5 meters away at (-37.8, -40.6).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.1901823  0.4149837] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.2171944   0.47737768] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.8780857 -1.0637547] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-3.3793542 -7.6850696] m/s.The vehicle with ID 7 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 [-1.3578242   0.08992472] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 3.9203115 -1.5638779] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.67

The most relevant actors are: A vehicle with ID 13 is 7.3 meters away at (6.6, -3.2). A vehicle with ID 17 is 21.8 meters away at (-0.7, 21.7). A pedestrian with ID 19 is 22.6 meters away at (-12.7, 18.7). A pedestrian with ID 20 is 23.0 meters away at (-12.2, 19.5). A pedestrian with ID 28 is 31.5 meters away at (-29.8, -10.0). A vehicle with ID 7 is 38.3 meters away at (-37.8, -6.5). A vehicle with ID 26 is 47.6 meters away at (-38.3, 28.2). A vehicle with ID 14 is 47.9 meters away at (-25.9, -40.3). A pedestrian with ID 22 is 50.7 meters away at (50.4, 6.0). A vehicle with ID 21 is 55.5 meters away at (-37.7, -40.7).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.8341061   0.35551947] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.9824124  0.3895335] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.25972036 -1.2302023 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 3.2487772 -1.43948  ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-3.016176  -6.8738027] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.5588512   0.01650623] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.67

The most relevant actors are: A vehicle with ID 13 is 7.3 meters away at (6.6, -3.2). A vehicle with ID 17 is 21.7 meters away at (-0.7, 21.7). A pedestrian with ID 19 is 23.1 meters away at (-13.2, 18.9). A pedestrian with ID 20 is 24.3 meters away at (-13.3, 20.4). A pedestrian with ID 28 is 32.2 meters away at (-29.6, -12.7). A vehicle with ID 7 is 38.3 meters away at (-37.8, -6.5). A vehicle with ID 26 is 41.4 meters away at (-32.5, 25.7). A vehicle with ID 16 is 48.0 meters away at (-42.0, 23.2). A pedestrian with ID 22 is 48.1 meters away at (47.7, 6.4). A pedestrian with ID 11 is 50.2 meters away at (25.7, 43.2).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01945182 -0.04605518] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.43753317  0.7522271 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.17164275 -1.4284191 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 2.2313132 -0.9385646] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.2644963 -3.2549381] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.4011964  -0.10838915] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00520143  0.0016913 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.67

The most relevant actors are: A vehicle with ID 13 is 7.3 meters away at (6.5, -3.2). A vehicle with ID 17 is 21.8 meters away at (-0.7, 21.8). A pedestrian with ID 19 is 24.2 meters away at (-13.8, 19.9). A pedestrian with ID 20 is 26.7 meters away at (-14.4, 22.4). A vehicle with ID 16 is 32.2 meters away at (-27.5, 16.7). A pedestrian with ID 28 is 33.6 meters away at (-29.9, -15.3). A vehicle with ID 26 is 38.2 meters away at (-29.4, 24.4). A vehicle with ID 7 is 38.4 meters away at (-37.8, -6.5). A pedestrian with ID 22 is 45.5 meters away at (45.1, 6.1). A pedestrian with ID 11 is 49.7 meters away at (25.4, 42.7).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.5292703  1.159158 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.48251638  1.2009143 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.6625147 -3.4062455] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.337445  -1.2816967] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 1.281717  -0.4974168] m/s.The vehicle with ID 7 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 [-1.1792506  -0.09830525] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.34107533 -0.6509618 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.5) m/s. Its current heading (yaw) is -1.69

The most relevant actors are: A pedestrian with ID 10 is 6.7 meters away at (6.1, 2.9). A pedestrian with ID 11 is 6.9 meters away at (6.6, 2.2). A pedestrian with ID 12 is 10.2 meters away at (-3.1, -9.8). A pedestrian with ID 14 is 16.4 meters away at (-15.8, -4.4). A vehicle with ID 13 is 20.4 meters away at (-18.4, -8.7). A unknown object with ID 23 is 27.7 meters away at (14.3, 23.6). A unknown object with ID 6 is 29.3 meters away at (-29.2, -2.2). A unknown object with ID 29 is 30.3 meters away at (-10.8, 28.3). A vehicle with ID 15 is 34.6 meters away at (-22.9, -25.8). A vehicle with ID 45 is 50.2 meters away at (-30.7, -39.7).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00366277 -0.0046396 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00875587 -0.00398167] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.3765837  -0.03112117] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.5629574 -0.7338738] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.0181733  0.6803014] 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 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 [-0.4646238 -6.4653134] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.77465564 1.9464904 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [6.099987  2.8836443], 6.74724006652832 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.69

The most relevant actors are: A pedestrian with ID 10 is 7.0 meters away at (6.2, 3.2). A pedestrian with ID 11 is 7.1 meters away at (6.6, 2.5). A pedestrian with ID 12 is 9.3 meters away at (0.1, -9.3). A pedestrian with ID 14 is 14.0 meters away at (-12.8, -5.5). A unknown object with ID 3 is 14.9 meters away at (-14.7, -2.6). A vehicle with ID 13 is 18.0 meters away at (-17.7, -3.2). A unknown object with ID 23 is 28.0 meters away at (14.4, 24.0). A unknown object with ID 6 is 29.2 meters away at (-29.1, -1.8). A unknown object with ID 29 is 30.6 meters away at (-10.7, 28.7). A vehicle with ID 45 is 47.7 meters away at (-29.7, -37.2).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.01223983 0.00906055] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.00664206 0.00656698] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.60968    0.14185926] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.5621812  -0.73611885] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [1.136142  4.3531313] 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.22319162 0.48214567] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [6.1843195 3.182424 ], 6.95511531829834 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.69

The most relevant actors are: A pedestrian with ID 10 is 7.0 meters away at (6.1, 3.2). A pedestrian with ID 11 is 7.1 meters away at (6.6, 2.5). A pedestrian with ID 12 is 9.9 meters away at (3.3, -9.3). A pedestrian with ID 14 is 12.0 meters away at (-9.8, -6.9). A unknown object with ID 3 is 14.9 meters away at (-14.7, -2.5). A vehicle with ID 13 is 15.3 meters away at (-12.9, 8.2). A unknown object with ID 23 is 28.0 meters away at (14.4, 24.1). A unknown object with ID 6 is 29.2 meters away at (-29.1, -1.7). A unknown object with ID 29 is 30.7 meters away at (-10.7, 28.7). A vehicle with ID 45 is 46.5 meters away at (-29.3, -36.1).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.00342842 0.00117256] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00271082  0.00128128] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.4998654  0.00630467] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.5596616  -0.62252754] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [3.185635 7.022291] 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.22271381 0.48158285] 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 -1.69

The most relevant actors are: A pedestrian with ID 10 is 7.0 meters away at (6.2, 3.3). A pedestrian with ID 11 is 7.1 meters away at (6.6, 2.6). A pedestrian with ID 14 is 10.7 meters away at (-6.8, -8.2). A pedestrian with ID 12 is 11.6 meters away at (6.3, -9.7). A vehicle with ID 13 is 25.0 meters away at (-5.7, 24.3). A unknown object with ID 23 is 28.0 meters away at (14.4, 24.0). A unknown object with ID 6 is 29.2 meters away at (-29.1, -1.6). A unknown object with ID 29 is 30.7 meters away at (-10.7, 28.7). A vehicle with ID 28 is 34.1 meters away at (-34.0, -2.8). A vehicle with ID 45 is 46.0 meters away at (-29.0, -35.6).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.00226191 0.00202385] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00225672  0.00075852] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.5559118 -0.6076807] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.449762  -0.3867743] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [4.0532594 9.042222 ] 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 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 [11.4378605 -5.176754 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [6.185981  3.2926667], 7.007710933685303 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -6.6) m/s. Its current heading (yaw) is -1.94

The most relevant actors are: A vehicle with ID 40 is 40.3 meters away at (-20.9, -34.5). A vehicle with ID 41 is 41.0 meters away at (-23.5, -33.6). A vehicle with ID 11 is 44.9 meters away at (-13.1, -42.9). A vehicle with ID 12 is 54.3 meters away at (-19.2, -50.8). A vehicle with ID 39 is 63.0 meters away at (-6.6, -62.7). A vehicle with ID 5 is 66.9 meters away at (-23.0, -62.8).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.4765325 -7.8166947] m/s.The vehicle with ID 12 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 5 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, -6.9) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 40 is 26.5 meters away at (-16.5, -20.7). A vehicle with ID 41 is 27.5 meters away at (-19.1, -19.8). A vehicle with ID 34 is 28.8 meters away at (-21.7, -19.0). A vehicle with ID 27 is 30.0 meters away at (-24.0, -18.1). A vehicle with ID 36 is 31.4 meters away at (-26.4, -16.9). A vehicle with ID 12 is 39.8 meters away at (-14.8, -37.0). A vehicle with ID 11 is 46.7 meters away at (-13.4, -44.7). A vehicle with ID 39 is 48.9 meters away at (-2.1, -48.8). A vehicle with ID 5 is 52.2 meters away at (-18.5, -48.9). A vehicle with ID 4 is 57.8 meters away at (-20.1, -54.2).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.5543315 -7.6833816] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [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 (-2.3, -6.9) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 40 is 14.2 meters away at (-12.3, -7.0). A vehicle with ID 41 is 16.1 meters away at (-14.9, -6.1). A vehicle with ID 34 is 18.3 meters away at (-17.5, -5.2). A vehicle with ID 27 is 20.3 meters away at (-19.8, -4.3). A vehicle with ID 36 is 22.5 meters away at (-22.2, -3.2). A vehicle with ID 31 is 25.0 meters away at (-24.9, -2.5). A vehicle with ID 12 is 25.6 meters away at (-10.7, -23.3). A vehicle with ID 32 is 29.8 meters away at (-29.8, -0.7). A vehicle with ID 28 is 32.3 meters away at (-32.3, -0.4). A vehicle with ID 30 is 34.8 meters away at (-34.8, 0.6).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -6.9) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A vehicle with ID 40 is 10.5 meters away at (-8.0, 6.8). A vehicle with ID 12 is 11.3 meters away at (-6.4, -9.3). A vehicle with ID 41 is 13.1 meters away at (-10.7, 7.6). A vehicle with ID 34 is 15.7 meters away at (-13.2, 8.5). A vehicle with ID 27 is 18.0 meters away at (-15.4, 9.4). A vehicle with ID 36 is 20.8 meters away at (-17.9, 10.5). A vehicle with ID 39 is 22.2 meters away at (6.5, -21.2). A vehicle with ID 5 is 23.2 meters away at (-10.0, -21.0). A vehicle with ID 31 is 23.4 meters away at (-20.5, 11.2). A vehicle with ID 32 is 28.5 meters away at (-25.4, 12.9).

The vehicle with ID 40 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 41 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -6.5) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 83 is 3.7 meters away at (-2.5, 2.7). A vehicle with ID 86 is 6.1 meters away at (-5.9, -1.3). A vehicle with ID 80 is 7.9 meters away at (1.9, 7.7). A vehicle with ID 82 is 8.1 meters away at (8.1, -0.2). A pedestrian with ID 69 is 11.2 meters away at (2.0, -11.0). A vehicle with ID 90 is 12.0 meters away at (-10.1, -6.5). A vehicle with ID 78 is 12.9 meters away at (12.0, 4.5). A vehicle with ID 75 is 13.5 meters away at (5.8, 12.2). A vehicle with ID 91 is 14.2 meters away at (-3.5, -13.8). A vehicle with ID 76 is 17.7 meters away at (15.6, 8.5).

The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 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 pedestrian with ID 69 is traveling at a (x, y) velocity of [-2.479127e-07 -6.673148e-03] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 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 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -5.6) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 90 is 5.3 meters away at (0.2, 5.3). A vehicle with ID 73 is 5.4 meters away at (-5.3, -1.0). A vehicle with ID 91 is 7.0 meters away at (6.8, -1.9). A vehicle with ID 86 is 11.5 meters away at (4.4, 10.6). A pedestrian with ID 94 is 12.2 meters away at (5.6, -10.9). A pedestrian with ID 69 is 12.3 meters away at (12.3, 0.8). A vehicle with ID 83 is 16.6 meters away at (7.9, 14.6). A vehicle with ID 82 is 21.9 meters away at (18.5, 11.7). A vehicle with ID 80 is 23.2 meters away at (12.3, 19.7). A pedestrian with ID 67 is 24.8 meters away at (5.9, -24.1).

The vehicle with ID 90 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 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [1.0171778  0.94171095] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.01103098 -0.01996922] m/s.The vehicle with ID 83 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 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.01116351 0.0071764 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -6.1) m/s. Its current heading (yaw) is -2.16

The most relevant actors are: A vehicle with ID 73 is 10.9 meters away at (3.7, 10.3). A pedestrian with ID 33 is 14.9 meters away at (-12.3, -8.4). A pedestrian with ID 95 is 15.5 meters away at (-13.1, -8.2). A pedestrian with ID 94 is 16.6 meters away at (16.4, 2.3). A pedestrian with ID 57 is 17.3 meters away at (14.2, -9.9). A vehicle with ID 91 is 18.5 meters away at (15.9, 9.5). A vehicle with ID 90 is 19.1 meters away at (9.4, 16.7). A vehicle with ID 97 is 19.4 meters away at (9.9, -16.7). A pedestrian with ID 67 is 19.6 meters away at (15.0, -12.7). A pedestrian with ID 44 is 20.5 meters away at (15.4, -13.6).

The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.45971185 -1.2439274 ] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-0.43221876 -1.2459401 ] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [0.97446394 0.9001631 ] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.4556649  0.5172386] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.06701109 -0.0481229 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.09043318 0.03700762] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -7.2) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A pedestrian with ID 33 is 6.4 meters away at (-6.0, 2.2). A pedestrian with ID 95 is 7.1 meters away at (-6.7, 2.3). A pedestrian with ID 102 is 8.3 meters away at (5.3, -6.4). A vehicle with ID 100 is 16.8 meters away at (-16.0, 5.0). A vehicle with ID 66 is 17.4 meters away at (16.0, -6.7). A vehicle with ID 97 is 17.8 meters away at (17.4, -3.7). A pedestrian with ID 57 is 19.3 meters away at (18.9, 3.9). A pedestrian with ID 32 is 22.2 meters away at (-4.7, -21.7). A pedestrian with ID 67 is 22.4 meters away at (22.4, 0.5). A pedestrian with ID 44 is 22.8 meters away at (22.7, -0.5).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.3875785 -1.3163815] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-0.4146682 -1.3324766] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [0.9255882 1.019538 ] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.4043638   0.21600927] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.39120796 -1.5026882 ] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.01589928 -0.00858659] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.04396592 -0.02336166] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -1.1) m/s. Its current heading (yaw) is -2.38

The most relevant actors are: A vehicle with ID 55 is 5.2 meters away at (1.1, 5.1). A vehicle with ID 58 is 5.7 meters away at (5.4, -2.0). A vehicle with ID 60 is 9.0 meters away at (8.8, 1.8). A vehicle with ID 61 is 9.6 meters away at (4.3, 8.6). A pedestrian with ID 36 is 11.1 meters away at (-10.9, 2.3). A vehicle with ID 63 is 13.7 meters away at (12.4, 5.8). A vehicle with ID 53 is 14.3 meters away at (-13.9, 3.2). A vehicle with ID 65 is 15.6 meters away at (5.8, -14.4). A vehicle with ID 64 is 15.6 meters away at (8.3, 13.2). A vehicle with ID 62 is 17.6 meters away at (-17.2, -3.9).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.01656134 1.4053525 ] m/s.The vehicle with ID 63 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 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 (-2.8, -1.2) m/s. Its current heading (yaw) is -2.74

The most relevant actors are: A vehicle with ID 58 is 9.3 meters away at (9.3, 0.9). A vehicle with ID 55 is 9.3 meters away at (5.0, 7.9). A pedestrian with ID 36 is 10.8 meters away at (-7.9, 7.4). A vehicle with ID 53 is 11.7 meters away at (-10.1, 5.9). A vehicle with ID 62 is 13.3 meters away at (-13.2, -1.3). A vehicle with ID 60 is 13.5 meters away at (12.7, 4.7). A pedestrian with ID 70 is 13.6 meters away at (-7.8, -11.2). A vehicle with ID 61 is 14.1 meters away at (8.1, 11.5). A vehicle with ID 65 is 15.2 meters away at (9.8, -11.6). A vehicle with ID 34 is 17.3 meters away at (-14.3, 9.7).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.72900075  0.9302845 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 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 [ 1.3630207 -1.0505314] m/s.The vehicle with ID 61 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 34 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 (-4.1, 1.4) m/s. Its current heading (yaw) is 2.82

The most relevant actors are: A vehicle with ID 62 is 6.3 meters away at (-6.2, -1.1). A vehicle with ID 53 is 6.7 meters away at (-3.0, 6.0). A pedestrian with ID 36 is 9.8 meters away at (-2.3, 9.5). A vehicle with ID 59 is 10.9 meters away at (-10.6, 2.7). A vehicle with ID 34 is 12.0 meters away at (-7.2, 9.6). A pedestrian with ID 70 is 13.1 meters away at (1.9, -13.0). A vehicle with ID 55 is 14.6 meters away at (12.1, 8.1). A vehicle with ID 56 is 15.7 meters away at (-14.4, 6.2). A vehicle with ID 75 is 16.3 meters away at (-8.2, -14.1). A vehicle with ID 58 is 16.4 meters away at (16.4, 1.0).

The vehicle with ID 62 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 pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.79648924  0.8384627 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 1.4016005 -1.0202771] m/s.The vehicle with ID 55 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 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.9) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 59 is 3.6 meters away at (-2.0, -3.0). A vehicle with ID 34 is 4.1 meters away at (1.4, 3.9). A vehicle with ID 53 is 5.5 meters away at (5.5, 0.2). A vehicle with ID 56 is 5.8 meters away at (-5.7, 0.4). A vehicle with ID 62 is 7.2 meters away at (2.4, -6.8). A pedestrian with ID 36 is 7.3 meters away at (4.8, 5.5). A vehicle with ID 30 is 8.8 meters away at (-3.0, 8.3). A vehicle with ID 28 is 12.9 meters away at (-11.4, 6.0). A vehicle with ID 27 is 14.4 meters away at (-7.5, 12.2). A vehicle with ID 25 is 18.0 meters away at (-15.3, 9.6).

The vehicle with ID 59 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 53 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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.9582616  0.7740172] m/s.The vehicle with ID 30 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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 -2.29

The most relevant actors are: A unknown object with ID 21 is 6.9 meters away at (6.9, -0.8). A unknown object with ID 20 is 7.0 meters away at (-0.7, 7.0). A unknown object with ID 6 is 7.4 meters away at (7.0, -2.4). A unknown object with ID 44 is 14.9 meters away at (13.3, 6.7). A vehicle with ID 48 is 15.3 meters away at (7.4, 13.4). A unknown object with ID 49 is 22.8 meters away at (18.7, 13.0). A pedestrian with ID 50 is 27.2 meters away at (24.3, 12.2). A vehicle with ID 58 is 32.2 meters away at (18.5, 26.4). A vehicle with ID 53 is 33.4 meters away at (26.4, 20.4). A vehicle with ID 62 is 33.5 meters away at (-33.5, 0.4).

The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [1.0084813 1.1348196] m/s.The vehicle with ID 58 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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 6.884761 -0.772846], 6.928002834320068 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.5) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A unknown object with ID 21 is 8.3 meters away at (8.3, 0.8). A unknown object with ID 6 is 8.4 meters away at (8.4, -0.8). A unknown object with ID 20 is 8.6 meters away at (0.7, 8.5). A unknown object with ID 44 is 16.9 meters away at (14.7, 8.3). A vehicle with ID 48 is 17.4 meters away at (8.8, 15.0). A unknown object with ID 49 is 24.9 meters away at (20.1, 14.7). A pedestrian with ID 50 is 32.0 meters away at (27.7, 16.1). A vehicle with ID 62 is 32.2 meters away at (-32.1, 2.0). A vehicle with ID 58 is 34.3 meters away at (19.9, 28.0). A vehicle with ID 53 is 35.5 meters away at (27.8, 22.0).

The unknown object with ID 21 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [1.0462855 1.1342711] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [8.276293 0.805593], 8.315407752990723 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.4) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A unknown object with ID 6 is 9.5 meters away at (9.5, 0.7). A unknown object with ID 21 is 9.6 meters away at (9.3, 2.3). A unknown object with ID 44 is 18.6 meters away at (15.8, 9.8). A vehicle with ID 48 is 19.2 meters away at (10.0, 16.5). A unknown object with ID 49 is 26.7 meters away at (21.3, 16.1). A vehicle with ID 62 is 31.3 meters away at (-31.0, 3.7). A vehicle with ID 58 is 36.3 meters away at (21.1, 29.5). A pedestrian with ID 50 is 36.7 meters away at (30.9, 19.7). A vehicle with ID 53 is 37.3 meters away at (29.1, 23.3). A vehicle with ID 42 is 37.5 meters away at (25.7, -27.3).

The unknown object with ID 6 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 44 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [1.1237767 1.1310389] m/s.The vehicle with ID 53 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.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [9.450867 0.722569], 9.478447914123535 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -3.8) m/s. Its current heading (yaw) is -1.47

The most relevant actors are: A unknown object with ID 6 is 12.1 meters away at (10.4, 6.2). A unknown object with ID 21 is 12.9 meters away at (10.3, 7.7). A unknown object with ID 44 is 22.7 meters away at (16.8, 15.2). A vehicle with ID 48 is 24.5 meters away at (10.9, 21.9). A vehicle with ID 62 is 31.6 meters away at (-30.2, 9.2). A vehicle with ID 42 is 34.4 meters away at (26.5, -21.9). A vehicle with ID 58 is 41.2 meters away at (22.0, 34.9). A vehicle with ID 53 is 41.5 meters away at (29.9, 28.7). A vehicle with ID 56 is 42.7 meters away at (-40.7, 12.7). A pedestrian with ID 39 is 43.1 meters away at (20.9, 37.7).

The unknown object with ID 6 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 44 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 62 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 58 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 56 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 [-0.01086348  0.04651544] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [10.387268  6.164792], 12.078907012939453 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -2.7) m/s. Its current heading (yaw) is -2.49

The most relevant actors are: A vehicle with ID 8 is 27.9 meters away at (27.4, -5.2). A vehicle with ID 9 is 29.3 meters away at (-5.9, 28.7). A unknown object with ID 19 is 50.0 meters away at (-28.7, -40.9). A unknown object with ID 18 is 51.8 meters away at (-30.2, -42.1).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.2550907  5.1835527] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 1.7904274 -1.5637618] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 (-3.6, -3.4) m/s. Its current heading (yaw) is -2.38

The most relevant actors are: A vehicle with ID 8 is 23.9 meters away at (22.3, 8.8). A vehicle with ID 9 is 31.9 meters away at (5.3, 31.4). A unknown object with ID 10 is 32.3 meters away at (-29.9, -12.3). A unknown object with ID 11 is 40.6 meters away at (-20.6, -35.0). A unknown object with ID 19 is 41.0 meters away at (-21.5, -34.9). A unknown object with ID 18 is 42.7 meters away at (-22.9, -36.1).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.0862455  2.0276859] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 2.4151309 -2.1262598] 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 (-3.4, -4.0) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 8 is 23.2 meters away at (17.2, 15.6). A unknown object with ID 11 is 30.9 meters away at (-14.0, -27.6). A unknown object with ID 19 is 31.1 meters away at (-14.7, -27.5). A unknown object with ID 18 is 32.8 meters away at (-16.1, -28.7). A vehicle with ID 9 is 37.2 meters away at (16.9, 33.1).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.446256  -2.5643182] 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 1.8329171 -3.5885432] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.0) m/s. Its current heading (yaw) is -2.30

The most relevant actors are: A unknown object with ID 6 is 16.0 meters away at (-15.5, 3.8). A unknown object with ID 3 is 16.4 meters away at (-16.1, 3.0). A unknown object with ID 7 is 17.1 meters away at (-16.5, 4.4). A unknown object with ID 5 is 17.2 meters away at (-16.8, 3.7). A unknown object with ID 11 is 20.8 meters away at (-7.0, -19.6). A unknown object with ID 19 is 21.0 meters away at (-7.7, -19.5). A vehicle with ID 8 is 21.0 meters away at (14.6, 15.1). A unknown object with ID 18 is 22.6 meters away at (-9.1, -20.7). A unknown object with ID 2 is 24.6 meters away at (-10.1, -22.5). A vehicle with ID 9 is 40.7 meters away at (24.8, 32.3).

The unknown object with ID 6 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.4436526 -5.6287766] 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.0240963 -5.155099 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-15.549974    3.8444958], 16.018173217773438 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.4) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A cyclist with ID 47 is 8.4 meters away at (-1.5, 8.3). A pedestrian with ID 40 is 30.1 meters away at (26.2, -14.8). A vehicle with ID 58 is 38.9 meters away at (-29.2, 25.8). A vehicle with ID 56 is 43.0 meters away at (-42.7, -5.1). A vehicle with ID 55 is 48.9 meters away at (-14.5, -46.7). A vehicle with ID 12 is 52.3 meters away at (-52.3, 2.6). A vehicle with ID 16 is 63.1 meters away at (-25.0, -57.9). A unknown object with ID 60 is 70.5 meters away at (-49.0, 50.7). A vehicle with ID 63 is 74.7 meters away at (72.8, -17.1). A vehicle with ID 65 is 76.2 meters away at (64.2, -40.9).

The cyclist with ID 47 is traveling at a (x, y) velocity of [-0.23321837  0.17433763] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.41015196  0.3118525 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 5.7308826 -5.1283684] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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, -2.6) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A cyclist with ID 47 is 13.3 meters away at (-5.8, 12.0). A vehicle with ID 58 is 29.1 meters away at (-21.9, 19.1). A vehicle with ID 55 is 46.6 meters away at (-18.6, -42.8). A vehicle with ID 56 is 46.8 meters away at (-46.7, -1.7). A unknown object with ID 8 is 60.2 meters away at (6.1, -59.9). A vehicle with ID 16 is 62.1 meters away at (-29.4, -54.7). A pedestrian with ID 51 is 64.5 meters away at (55.0, -33.7). A vehicle with ID 63 is 69.8 meters away at (68.4, -13.7). A vehicle with ID 65 is 70.7 meters away at (60.1, -37.3). A unknown object with ID 60 is 76.2 meters away at (-53.3, 54.5).

The cyclist with ID 47 is traveling at a (x, y) velocity of [0.00618343 0.00476519] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 5.5726066 -4.952767 ] m/s.The vehicle with ID 55 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.98256856 -0.56899446] m/s.The vehicle with ID 63 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -4.2) m/s. Its current heading (yaw) is -1.63

The most relevant actors are: A pedestrian with ID 13 is 20.8 meters away at (-9.5, 18.4). A cyclist with ID 47 is 20.9 meters away at (-9.6, 18.6). A vehicle with ID 58 is 22.5 meters away at (-15.2, 16.6). A unknown object with ID 30 is 24.5 meters away at (-19.1, -15.4). A vehicle with ID 55 is 42.0 meters away at (-21.9, -35.9). A unknown object with ID 8 is 53.3 meters away at (3.2, -53.2). A pedestrian with ID 51 is 57.3 meters away at (49.8, -28.3). A vehicle with ID 16 is 57.9 meters away at (-32.6, -47.9). A vehicle with ID 65 is 64.3 meters away at (56.8, -30.1). A vehicle with ID 63 is 65.2 meters away at (64.8, -6.5).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.08482308  0.0364877 ] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [ 0.0092082  -0.02751416] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 4.683661  -3.8758404] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.78666764 -0.9511032 ] m/s.The vehicle with ID 16 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -3.4) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A unknown object with ID 30 is 16.9 meters away at (-15.0, -7.7). A unknown object with ID 17 is 17.8 meters away at (-15.7, -8.5). A vehicle with ID 58 is 18.9 meters away at (-4.1, 18.5). A pedestrian with ID 13 is 27.9 meters away at (-6.6, 27.1). A cyclist with ID 47 is 27.9 meters away at (-6.7, 27.0). A vehicle with ID 55 is 33.8 meters away at (-18.0, -28.6). A vehicle with ID 49 is 47.1 meters away at (-45.6, 11.8). A vehicle with ID 31 is 47.9 meters away at (-33.3, -34.4). A pedestrian with ID 51 is 56.6 meters away at (51.4, -23.5). A vehicle with ID 48 is 59.0 meters away at (-36.3, -46.5).

The unknown object with ID 30 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 58 is traveling at a (x, y) velocity of [ 2.191116 -1.949594] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.1804411  1.1074567] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [-1.6653392  1.0326785] m/s.The vehicle with ID 55 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.95936346 -1.0932322 ] 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 ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 1.6) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A unknown object with ID 105 is 3.1 meters away at (-0.6, 3.0). A unknown object with ID 103 is 3.6 meters away at (3.5, 0.6). A unknown object with ID 107 is 5.3 meters away at (-3.5, -4.0). A unknown object with ID 112 is 7.4 meters away at (-2.8, 6.9). A pedestrian with ID 113 is 7.6 meters away at (-0.6, 7.6). A unknown object with ID 106 is 10.0 meters away at (4.8, -8.8). A vehicle with ID 108 is 10.3 meters away at (9.0, -5.0). A unknown object with ID 114 is 11.3 meters away at (-11.3, 0.6). A vehicle with ID 110 is 14.2 meters away at (-11.5, 8.4). A unknown object with ID 115 is 21.0 meters away at (19.3, -8.5).

The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [ 1.3657367 -0.931023 ] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [-1.8992878  1.1070464] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [-4.380743   3.7032614] m/s.The unknown object with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 2.9) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A unknown object with ID 112 is 5.2 meters away at (4.6, 2.3). A unknown object with ID 114 is 5.6 meters away at (-3.8, -4.1). A unknown object with ID 105 is 7.2 meters away at (7.0, -1.7). A pedestrian with ID 113 is 9.5 meters away at (9.4, 1.3). A unknown object with ID 107 is 9.5 meters away at (4.0, -8.7). A vehicle with ID 108 is 12.7 meters away at (11.0, -6.4). A vehicle with ID 110 is 19.7 meters away at (-14.0, 13.9). A vehicle with ID 111 is 33.0 meters away at (-32.1, -7.8). A unknown object with ID 119 is 39.5 meters away at (35.2, -17.9). A pedestrian with ID 124 is 39.5 meters away at (-19.8, 34.2).

The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [ 1.0948149 -0.6328833] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [-3.5485818  2.0223262] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [-5.577075   6.6993837] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [-3.7118423 -6.374957 ] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 124 is traveling at a (x, y) velocity of [-0.15545493  1.3334609 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [4.649913  2.2640834], 5.171823978424072 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 1.7) m/s. Its current heading (yaw) is 2.85

The most relevant actors are: A unknown object with ID 114 is 11.3 meters away at (6.3, -9.4). A vehicle with ID 108 is 14.2 meters away at (12.5, -6.6). A unknown object with ID 112 is 15.2 meters away at (14.8, -3.1). A unknown object with ID 105 is 18.4 meters away at (17.0, -7.1). A unknown object with ID 107 is 19.9 meters away at (14.1, -14.0). A pedestrian with ID 113 is 22.9 meters away at (22.3, -5.5). A vehicle with ID 110 is 28.9 meters away at (-15.3, 24.5). A vehicle with ID 52 is 30.6 meters away at (-29.6, 7.8). A vehicle with ID 76 is 30.9 meters away at (-29.0, 10.6). A pedestrian with ID 124 is 32.8 meters away at (-9.9, 31.2).

The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [-5.2384653  3.4574418] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [ 1.2476377 -0.7430416] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [-6.256332  9.123057] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 124 is traveling at a (x, y) velocity of [-0.30201283  1.0399882 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 6.295289 -9.41277 ], 11.323908805847168 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, -2.8) m/s. Its current heading (yaw) is -2.67

The most relevant actors are: A vehicle with ID 108 is 13.8 meters away at (13.5, 3.1). A vehicle with ID 52 is 19.5 meters away at (-17.7, 8.2). A unknown object with ID 114 is 20.2 meters away at (18.1, -9.0). A vehicle with ID 76 is 20.4 meters away at (-17.1, 11.0). A unknown object with ID 112 is 26.8 meters away at (26.6, -2.6). A pedestrian with ID 125 is 33.8 meters away at (0.2, 33.8). A pedestrian with ID 124 is 33.8 meters away at (1.1, 33.8). A vehicle with ID 104 is 35.2 meters away at (-13.6, -32.4). A pedestrian with ID 113 is 37.3 meters away at (36.6, -6.9). A vehicle with ID 111 is 46.4 meters away at (-25.1, -39.0).

The vehicle with ID 108 is traveling at a (x, y) velocity of [-5.9314547  6.120998 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 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 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [-0.57869714  0.928345  ] m/s.The pedestrian with ID 124 is traveling at a (x, y) velocity of [-0.5537664   0.91538376] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [ 1.3091421  -0.85849357] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [-4.2366786 -8.206322 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.6) m/s. Its current heading (yaw) is 2.36

The most relevant actors are: A vehicle with ID 17 is 3.2 meters away at (2.9, 1.4). A vehicle with ID 20 is 7.7 meters away at (-1.8, 7.5). A vehicle with ID 19 is 9.0 meters away at (7.9, -4.3). A vehicle with ID 23 is 9.0 meters away at (-5.8, 7.0). A vehicle with ID 24 is 15.8 meters away at (-7.6, 13.9). A vehicle with ID 25 is 18.9 meters away at (-12.4, 14.3). A vehicle with ID 26 is 23.3 meters away at (-12.8, 19.6). A vehicle with ID 37 is 31.5 meters away at (-17.9, 26.0). A vehicle with ID 15 is 33.3 meters away at (-21.7, 25.3). A vehicle with ID 27 is 42.9 meters away at (-27.9, 32.6).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 (-0.0, 0.0) m/s. Its current heading (yaw) is 2.34

The most relevant actors are: A vehicle with ID 17 is 3.3 meters away at (3.1, 1.1). A vehicle with ID 20 is 7.4 meters away at (-1.6, 7.3). A vehicle with ID 23 is 8.7 meters away at (-5.5, 6.7). A vehicle with ID 19 is 9.3 meters away at (8.1, -4.5). A vehicle with ID 24 is 15.5 meters away at (-7.4, 13.6). A vehicle with ID 25 is 18.6 meters away at (-12.2, 14.0). A vehicle with ID 26 is 23.0 meters away at (-12.5, 19.3). A vehicle with ID 37 is 31.1 meters away at (-17.6, 25.7). A pedestrian with ID 35 is 49.8 meters away at (-45.4, 20.5). A pedestrian with ID 39 is 54.0 meters away at (-47.8, 25.2).

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 23 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.5189649 -1.2593045] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.8343771 -0.9176985] 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 2.34

The most relevant actors are: A vehicle with ID 17 is 3.3 meters away at (3.2, 1.1). A vehicle with ID 20 is 7.4 meters away at (-1.5, 7.2). A vehicle with ID 23 is 8.7 meters away at (-5.5, 6.7). A vehicle with ID 19 is 9.3 meters away at (8.1, -4.6). A vehicle with ID 24 is 15.5 meters away at (-7.4, 13.6). A vehicle with ID 25 is 18.6 meters away at (-12.2, 14.0). A vehicle with ID 26 is 23.0 meters away at (-12.5, 19.3). A vehicle with ID 37 is 31.0 meters away at (-17.5, 25.6). A vehicle with ID 18 is 38.6 meters away at (25.0, -29.5). A vehicle with ID 22 is 39.7 meters away at (28.0, -28.1).

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 23 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-5.245167   6.1000004] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.3181925  5.057163 ] 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 2.34

The most relevant actors are: A vehicle with ID 17 is 3.4 meters away at (3.2, 1.1). A vehicle with ID 20 is 7.4 meters away at (-1.5, 7.2). A vehicle with ID 23 is 8.7 meters away at (-5.5, 6.7). A vehicle with ID 19 is 9.3 meters away at (8.1, -4.6). A vehicle with ID 24 is 15.5 meters away at (-7.4, 13.6). A vehicle with ID 25 is 18.6 meters away at (-12.2, 14.0). A vehicle with ID 26 is 23.0 meters away at (-12.5, 19.3). A vehicle with ID 18 is 25.3 meters away at (16.4, -19.3). A vehicle with ID 22 is 28.7 meters away at (20.9, -19.7). A vehicle with ID 37 is 31.0 meters away at (-17.5, 25.6).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 [-3.3553975  3.9630651] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-2.9819038  3.5240068] 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 (8.3, -4.4) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A unknown object with ID 69 is 10.9 meters away at (-1.5, 10.8). A pedestrian with ID 62 is 14.7 meters away at (1.5, 14.6). A pedestrian with ID 74 is 17.3 meters away at (2.5, -17.1). A unknown object with ID 102 is 17.3 meters away at (-16.8, 3.9). A unknown object with ID 80 is 18.0 meters away at (11.7, 13.7). A unknown object with ID 88 is 18.3 meters away at (12.4, 13.4). A vehicle with ID 52 is 36.7 meters away at (-31.8, 18.3). A vehicle with ID 59 is 41.0 meters away at (32.9, -24.4). A unknown object with ID 75 is 43.2 meters away at (38.6, -19.5). A unknown object with ID 82 is 55.2 meters away at (53.2, -15.0).

The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 1.0610149 -0.4704903] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.9424768   0.74888825] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.713412  -4.7501717] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 9.837507 -5.524377] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-1.4667215 10.775172 ], 10.874539375305176 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -4.9) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A pedestrian with ID 74 is 17.3 meters away at (-16.2, -5.9). A unknown object with ID 88 is 23.5 meters away at (-4.0, 23.2). A unknown object with ID 80 is 24.0 meters away at (-4.8, 23.5). A unknown object with ID 75 is 24.1 meters away at (22.2, -9.4). A pedestrian with ID 62 is 26.5 meters away at (-13.0, 23.1). A unknown object with ID 69 is 27.4 meters away at (-18.0, 20.7). A pedestrian with ID 101 is 28.3 meters away at (28.3, 1.0). A unknown object with ID 99 is 30.2 meters away at (27.4, -12.7). A vehicle with ID 103 is 33.8 meters away at (31.7, -11.8). A unknown object with ID 104 is 35.1 meters away at (-29.1, 19.6).

The pedestrian with ID 74 is traveling at a (x, y) velocity of [-1.074189   0.8295059] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 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.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.9183468 -0.6744409] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.9467185  0.4827342] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [-6.8849974  4.4049683] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -4.8) m/s. Its current heading (yaw) is -0.54

The most relevant actors are: A unknown object with ID 75 is 5.3 meters away at (5.3, 0.8). A vehicle with ID 103 is 6.4 meters away at (2.9, 5.7). A unknown object with ID 99 is 11.0 meters away at (10.7, -2.6). A unknown object with ID 125 is 13.9 meters away at (13.2, -4.2). A vehicle with ID 122 is 14.9 meters away at (14.9, -0.9). A pedestrian with ID 113 is 16.8 meters away at (-15.0, -7.4). A unknown object with ID 70 is 17.0 meters away at (15.9, -5.8). A unknown object with ID 63 is 20.3 meters away at (19.9, 3.7). A unknown object with ID 82 is 20.4 meters away at (19.7, 5.3). A unknown object with ID 123 is 20.8 meters away at (20.4, 4.0).

The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [-4.1192074  2.6091192] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [-6.1289554  3.6136134] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [-0.44296288  0.86329705] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [5.256809  0.8206978], 5.3204874992370605 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -4.8) m/s. Its current heading (yaw) is -0.54

The most relevant actors are: A unknown object with ID 90 is 4.0 meters away at (3.8, 1.1). A unknown object with ID 70 is 4.7 meters away at (-1.4, 4.5). A unknown object with ID 51 is 5.6 meters away at (5.6, 0.1). A unknown object with ID 125 is 7.4 meters away at (-4.1, 6.1). A unknown object with ID 49 is 7.9 meters away at (7.8, -1.2). A vehicle with ID 53 is 8.3 meters away at (-2.2, -8.0). A unknown object with ID 48 is 9.6 meters away at (9.4, -2.1). A unknown object with ID 99 is 10.3 meters away at (-6.7, 7.8). A vehicle with ID 50 is 11.0 meters away at (2.4, -10.8). A unknown object with ID 115 is 11.6 meters away at (11.3, -3.0).

The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 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 unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [3.8078766 1.1169319], 3.9683070182800293 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -3.5) m/s. Its current heading (yaw) is -1.39

The most relevant actors are: A pedestrian with ID 77 is 5.2 meters away at (-4.9, -1.9). A pedestrian with ID 39 is 9.5 meters away at (1.5, 9.4). A unknown object with ID 69 is 9.8 meters away at (0.3, 9.8). A pedestrian with ID 85 is 13.3 meters away at (8.2, -10.4). A vehicle with ID 44 is 16.3 meters away at (-11.8, 11.2). A pedestrian with ID 56 is 16.3 meters away at (16.2, 1.7). A vehicle with ID 68 is 18.5 meters away at (0.4, -18.5). A unknown object with ID 86 is 20.3 meters away at (20.0, -3.4). A unknown object with ID 87 is 22.1 meters away at (21.7, -4.4). A vehicle with ID 89 is 23.2 meters away at (23.0, -3.0).

The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.7662599 1.029124 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.8107311 -0.8657295] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.12305433 0.4796151 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 1.1806659 -0.8272433] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.00987605  0.00373207] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [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, -3.3) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A pedestrian with ID 77 is 7.7 meters away at (-2.2, 7.3). A pedestrian with ID 85 is 10.0 meters away at (9.6, -3.1). A vehicle with ID 68 is 11.7 meters away at (1.4, -11.6). A pedestrian with ID 39 is 14.0 meters away at (0.8, 14.0). A vehicle with ID 44 is 19.0 meters away at (-8.8, 16.9). A pedestrian with ID 56 is 19.3 meters away at (17.5, 8.3). A unknown object with ID 86 is 21.4 meters away at (21.1, 3.3). A vehicle with ID 65 is 22.2 meters away at (-4.0, -21.8). A unknown object with ID 87 is 22.9 meters away at (22.8, 2.3). A pedestrian with ID 93 is 23.4 meters away at (22.7, -5.5).

The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.87918633 1.228824  ] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.00118333 0.28821695] m/s.The vehicle with ID 68 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 [-1.0382863 -1.3612479] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.68490565 -0.478297  ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.0051391  -0.01829886] m/s.The unknown object with ID 86 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 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.01856276 -0.02685357] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -3.3) m/s. Its current heading (yaw) is -2.07

The most relevant actors are: A vehicle with ID 68 is 7.0 meters away at (4.8, -5.2). A pedestrian with ID 85 is 13.5 meters away at (13.0, 3.7). A vehicle with ID 65 is 15.2 meters away at (-0.6, -15.2). A unknown object with ID 94 is 16.3 meters away at (-9.8, -13.0). A pedestrian with ID 77 is 16.3 meters away at (3.2, 16.0). A pedestrian with ID 82 is 16.5 meters away at (-13.4, -9.6). A pedestrian with ID 83 is 16.8 meters away at (-14.2, -9.1). A pedestrian with ID 39 is 18.2 meters away at (2.2, 18.1). A vehicle with ID 43 is 18.9 meters away at (-11.7, -14.9). A vehicle with ID 44 is 23.3 meters away at (-4.7, 22.8).

The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.26718384  0.00671342] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.98611426 1.1310604 ] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [0.6064197 0.9891299] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [0.661412  0.9850936] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0277784 -1.0836378] 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -3.6) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A pedestrian with ID 82 is 8.6 meters away at (-8.6, -0.5). A unknown object with ID 94 is 8.6 meters away at (-6.1, -6.1). A vehicle with ID 68 is 8.6 meters away at (8.5, 1.6). A vehicle with ID 65 is 8.9 meters away at (3.2, -8.3). A pedestrian with ID 83 is 9.2 meters away at (-9.2, 0.0). A vehicle with ID 43 is 11.2 meters away at (-7.9, -7.9). A pedestrian with ID 85 is 19.0 meters away at (15.9, 10.4). A vehicle with ID 66 is 20.3 meters away at (-4.0, -19.9). A pedestrian with ID 50 is 22.3 meters away at (-0.5, -22.3). A pedestrian with ID 39 is 23.2 meters away at (3.7, 22.9).

The pedestrian with ID 82 is traveling at a (x, y) velocity of [0.67157197 1.1607642 ] m/s.The unknown object with ID 94 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [0.7105824 1.1122718] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.02624385 -0.03018072] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.04988845 -0.01253691] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.8511284 -0.9925207] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -2.6) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 49 is 9.6 meters away at (7.5, -5.9). A unknown object with ID 53 is 14.8 meters away at (14.6, 2.1). A vehicle with ID 55 is 14.9 meters away at (12.7, -7.7). A vehicle with ID 60 is 20.0 meters away at (17.6, -9.4). A vehicle with ID 41 is 20.8 meters away at (20.8, -1.2). A vehicle with ID 65 is 25.4 meters away at (22.8, -11.3). A vehicle with ID 45 is 28.7 meters away at (-28.5, -3.2). A vehicle with ID 72 is 30.5 meters away at (27.6, -12.9). A vehicle with ID 47 is 31.0 meters away at (-30.0, -8.0). A vehicle with ID 42 is 34.1 meters away at (33.6, -5.4).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 45 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 47 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -2.8) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 55 is 3.9 meters away at (-3.2, -2.2). A vehicle with ID 60 is 4.3 meters away at (1.6, -4.0). A vehicle with ID 41 is 6.4 meters away at (4.8, 4.3). A vehicle with ID 49 is 8.3 meters away at (-8.3, -0.5). A vehicle with ID 65 is 8.9 meters away at (6.7, -5.8). A vehicle with ID 72 is 13.7 meters away at (11.6, -7.4). A vehicle with ID 42 is 17.6 meters away at (17.6, 0.1). A vehicle with ID 29 is 31.4 meters away at (28.6, -13.2). A vehicle with ID 43 is 31.8 meters away at (31.4, -4.8). A vehicle with ID 44 is 42.1 meters away at (41.3, -8.2).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 65 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -2.7) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 72 is 5.1 meters away at (-4.7, -1.9). A vehicle with ID 42 is 5.7 meters away at (1.2, 5.6). A vehicle with ID 65 is 9.4 meters away at (-9.4, -0.3). A vehicle with ID 29 is 14.3 meters away at (12.2, -7.6). A vehicle with ID 60 is 14.8 meters away at (-14.7, 1.6). A vehicle with ID 43 is 15.1 meters away at (15.0, 0.8). A vehicle with ID 41 is 15.1 meters away at (-11.5, 9.8). A vehicle with ID 30 is 16.3 meters away at (-3.5, 15.9). A vehicle with ID 55 is 19.9 meters away at (-19.7, 3.4). A vehicle with ID 37 is 20.2 meters away at (0.8, 20.2).

The vehicle with ID 72 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 65 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 60 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 41 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 55 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 (7.7, -2.6) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 29 is 4.2 meters away at (-3.5, -2.3). A vehicle with ID 43 is 6.1 meters away at (-0.7, 6.1). A vehicle with ID 44 is 9.6 meters away at (9.2, 2.8). A unknown object with ID 9 is 14.1 meters away at (6.6, -12.5). A unknown object with ID 32 is 14.4 meters away at (6.1, -13.0). A unknown object with ID 10 is 15.0 meters away at (6.6, -13.5). A vehicle with ID 5 is 16.5 meters away at (16.5, 0.4). A vehicle with ID 42 is 18.2 meters away at (-14.5, 11.0). A vehicle with ID 2 is 18.4 meters away at (16.2, -8.9). A vehicle with ID 72 is 20.9 meters away at (-20.6, 3.4).

The vehicle with ID 29 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 unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 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 (0.1, -1.1) m/s. Its current heading (yaw) is -1.44

The most relevant actors are: A pedestrian with ID 13 is 24.2 meters away at (6.2, 23.4). A pedestrian with ID 14 is 25.3 meters away at (6.2, 24.6). A unknown object with ID 9 is 36.1 meters away at (-9.4, -34.9). A vehicle with ID 17 is 60.2 meters away at (-0.8, 60.2). A unknown object with ID 4 is 66.5 meters away at (-4.0, -66.4).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-6.398538e-05 -1.141478e-02] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.00707093 -0.0027466 ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.2) m/s. Its current heading (yaw) is -1.49

The most relevant actors are: A pedestrian with ID 13 is 24.8 meters away at (6.0, 24.1). A vehicle with ID 17 is 60.8 meters away at (-0.9, 60.8).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.05453017  0.41385522] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -2.3) m/s. Its current heading (yaw) is -1.34

The most relevant actors are: A pedestrian with ID 13 is 27.3 meters away at (5.6, 26.7). A vehicle with ID 17 is 63.7 meters away at (-1.2, 63.7). A vehicle with ID 5 is 70.5 meters away at (-70.1, -7.1). A unknown object with ID 6 is 74.0 meters away at (70.8, -21.5).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.0132718  0.00542103] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -2.9) m/s. Its current heading (yaw) is -0.92

The most relevant actors are: A unknown object with ID 2 is 61.2 meters away at (-59.5, 14.6). A vehicle with ID 17 is 69.4 meters away at (-3.4, 69.3). A vehicle with ID 5 is 72.5 meters away at (-72.5, -1.2).

The unknown object with ID 2 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 5 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 [-59.466904  14.624584], 61.23880386352539 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 4.3) m/s. Its current heading (yaw) is 1.23

The most relevant actors are: A pedestrian with ID 84 is 7.1 meters away at (4.4, -5.5). A pedestrian with ID 85 is 9.5 meters away at (-9.0, 3.0). A vehicle with ID 83 is 10.4 meters away at (-8.6, -5.9). A unknown object with ID 50 is 11.8 meters away at (10.3, 5.9). A vehicle with ID 86 is 18.6 meters away at (-2.8, 18.4). A vehicle with ID 87 is 18.8 meters away at (-5.5, -18.0). A vehicle with ID 88 is 23.6 meters away at (-12.1, 20.2). A vehicle with ID 82 is 26.2 meters away at (26.1, 2.8). A pedestrian with ID 91 is 34.0 meters away at (25.8, 22.1). A vehicle with ID 93 is 37.7 meters away at (7.4, 37.0).

The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.41013387 -1.3814791 ] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.5520069 1.5142438] m/s.The vehicle with ID 83 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 86 is traveling at a (x, y) velocity of [-4.140026   6.7884207] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [1.7904105 5.139952 ] m/s.The vehicle with ID 88 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 pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1955444   0.45263195] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 2.9) m/s. Its current heading (yaw) is 1.29

The most relevant actors are: A unknown object with ID 50 is 8.0 meters away at (8.0, -0.8). A pedestrian with ID 85 is 10.7 meters away at (-10.6, -0.9). A pedestrian with ID 56 is 13.5 meters away at (-13.2, 3.0). A vehicle with ID 87 is 15.0 meters away at (-4.3, -14.4). A pedestrian with ID 84 is 15.2 meters away at (1.0, -15.2). A vehicle with ID 83 is 16.7 meters away at (-10.9, -12.6). A vehicle with ID 88 is 19.7 meters away at (-14.4, 13.5). A vehicle with ID 82 is 24.1 meters away at (23.8, -4.0). A pedestrian with ID 91 is 26.6 meters away at (21.1, 16.2). A vehicle with ID 86 is 30.2 meters away at (-19.7, 22.8).

The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.3187906 1.284384 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.00261445 -0.01144114] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [1.6588902 4.913587 ] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.5394447 -1.5544317] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 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 pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.0583565   0.15679462] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-10.258155    4.1751924] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 7.951405   -0.77760124], 7.989336967468262 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 5.0) m/s. Its current heading (yaw) is 1.93

The most relevant actors are: A pedestrian with ID 85 is 11.8 meters away at (-9.9, -6.4). A vehicle with ID 87 is 13.0 meters away at (-0.5, -13.0). A vehicle with ID 88 is 14.9 meters away at (-13.9, 5.4). A vehicle with ID 93 is 21.1 meters away at (4.9, 20.5). A pedestrian with ID 91 is 21.2 meters away at (19.3, 8.7). A vehicle with ID 83 is 23.3 meters away at (-10.5, -20.8). A vehicle with ID 39 is 25.1 meters away at (-23.7, 8.4). A pedestrian with ID 84 is 26.3 meters away at (0.3, -26.3). A vehicle with ID 82 is 27.2 meters away at (24.3, -12.2). A vehicle with ID 36 is 40.6 meters away at (-38.3, 13.4).

The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.209993   1.2439212] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [2.0232606 4.830256 ] m/s.The vehicle with ID 88 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 [-0.5157984 -1.2532122] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1195457  0.2830677] m/s.The vehicle with ID 83 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 [ 0.65661967 -0.2213878 ] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.59185123 -1.4294112 ] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 3.3396869 -1.1497002] m/s.

There are active red lights at the following coordinates: [[ 2.8452592 26.454266 ]
 [ 1.6663759 24.584661 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 3.8) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A vehicle with ID 88 is 7.2 meters away at (-5.7, -4.3). A vehicle with ID 93 is 14.1 meters away at (11.9, 7.7). A pedestrian with ID 85 is 14.4 meters away at (-3.6, -14.0). A vehicle with ID 39 is 15.1 meters away at (-15.0, -1.5). A vehicle with ID 87 is 20.8 meters away at (14.4, -15.0). A unknown object with ID 73 is 25.0 meters away at (16.6, -18.7). A pedestrian with ID 91 is 25.2 meters away at (25.2, -0.1). A vehicle with ID 36 is 26.2 meters away at (-26.1, 2.2). A vehicle with ID 83 is 30.5 meters away at (-2.4, -30.4). A vehicle with ID 34 is 33.1 meters away at (-33.1, 0.6).

The vehicle with ID 88 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 [-0.6289861 -2.2901993] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.3167715  0.788043 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [5.2776375 2.2377346] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.0937092   0.32294747] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.81564885 -0.25613734] m/s.The vehicle with ID 83 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.

There are active red lights at the following coordinates: [[ 2.8452592 26.454266 ]
 [ 1.6663759 24.584661 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.1) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A unknown object with ID 22 is 16.3 meters away at (-15.9, 3.4). A unknown object with ID 14 is 19.9 meters away at (18.9, 6.2). A vehicle with ID 21 is 29.1 meters away at (25.3, -14.4). A pedestrian with ID 15 is 29.1 meters away at (27.9, -8.3). A pedestrian with ID 16 is 29.9 meters away at (28.8, -8.3). A pedestrian with ID 17 is 30.5 meters away at (30.0, -5.3). A pedestrian with ID 18 is 31.2 meters away at (30.5, -6.6). A pedestrian with ID 19 is 32.0 meters away at (31.4, -6.4). A vehicle with ID 20 is 36.1 meters away at (29.2, -21.2).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-2.230533   2.4821959] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.02373559  0.01151779] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.04997615 -0.00961137] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.02776488 -0.00862317] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.00308844 0.00821945] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.02049096  0.00989051] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-15.928888    3.3765965], 16.282840728759766 meters away.)