The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36

The most relevant actors are: A pedestrian with ID 9 is 28.1 meters away at (0.6, -28.1). A unknown object with ID 7 is 36.0 meters away at (-34.1, 11.5). A vehicle with ID 1 is 45.3 meters away at (-44.2, 10.0). A pedestrian with ID 10 is 53.4 meters away at (16.8, 50.6). A pedestrian with ID 11 is 53.6 meters away at (16.2, 51.1). A unknown object with ID 8 is 56.7 meters away at (2.3, 56.7).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.3959026  -0.41221628] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.8854346 -2.053363 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.51830393 -0.629463  ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.53442395 -0.65090126] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, -9.2) m/s. Its current heading (yaw) is -2.13

The most relevant actors are: A vehicle with ID 42 is 8.7 meters away at (-1.8, 8.5). A vehicle with ID 46 is 9.6 meters away at (8.7, -4.1). A vehicle with ID 49 is 10.9 meters away at (5.5, -9.4). A vehicle with ID 44 is 11.4 meters away at (11.4, 0.8). A vehicle with ID 50 is 11.5 meters away at (-10.3, -5.0). A unknown object with ID 36 is 13.3 meters away at (2.3, 13.1). A vehicle with ID 37 is 14.5 meters away at (1.7, 14.4). A vehicle with ID 51 is 14.5 meters away at (2.5, -14.3). A unknown object with ID 34 is 15.9 meters away at (4.2, 15.3). A vehicle with ID 53 is 16.9 meters away at (-13.5, -10.1).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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, -9.3) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 55 is 6.1 meters away at (-4.8, 3.7). A pedestrian with ID 58 is 7.7 meters away at (5.7, -5.2). A cyclist with ID 59 is 8.0 meters away at (6.1, -5.2). A vehicle with ID 53 is 8.4 meters away at (-2.1, 8.2). A vehicle with ID 57 is 9.8 meters away at (7.7, -6.1). A vehicle with ID 54 is 10.7 meters away at (10.6, -1.3). A vehicle with ID 61 is 12.1 meters away at (4.5, -11.3). A vehicle with ID 50 is 13.2 meters away at (1.0, 13.2). A vehicle with ID 51 is 14.4 meters away at (13.8, 3.9). A vehicle with ID 62 is 16.2 meters away at (1.5, -16.1).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.5783264  0.92604566] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [0.6270948  0.97694504] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -9.5) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 65 is 6.2 meters away at (-5.5, 3.0). A vehicle with ID 63 is 7.9 meters away at (-2.6, 7.5). A vehicle with ID 67 is 8.6 meters away at (-8.4, -1.9). A vehicle with ID 64 is 10.0 meters away at (9.6, -2.6). A vehicle with ID 66 is 10.2 meters away at (6.7, -7.7). A vehicle with ID 62 is 13.1 meters away at (12.8, 2.4). A vehicle with ID 70 is 13.3 meters away at (3.3, -12.9). A vehicle with ID 71 is 13.5 meters away at (-11.6, -6.9). A vehicle with ID 61 is 17.5 meters away at (15.8, 7.4). A vehicle with ID 57 is 22.9 meters away at (19.1, 12.6).

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.The vehicle with ID 67 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 66 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -9.5) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 26 is 9.6 meters away at (7.5, -6.0). A vehicle with ID 71 is 11.9 meters away at (0.0, 11.9). A vehicle with ID 31 is 12.5 meters away at (4.3, -11.8). A vehicle with ID 70 is 15.9 meters away at (14.8, 5.8). A vehicle with ID 17 is 16.0 meters away at (-12.9, -9.6). A vehicle with ID 67 is 17.1 meters away at (3.2, 16.8). A vehicle with ID 19 is 20.1 meters away at (-1.1, -20.0). A vehicle with ID 18 is 20.7 meters away at (-15.5, -13.8). A vehicle with ID 66 is 21.3 meters away at (18.2, 11.1). A vehicle with ID 65 is 22.7 meters away at (6.2, 21.8).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -3.7) m/s. Its current heading (yaw) is -0.77

The most relevant actors are: A vehicle with ID 10 is 4.5 meters away at (-3.8, -2.4). A vehicle with ID 8 is 7.2 meters away at (0.8, -7.2). A vehicle with ID 15 is 8.3 meters away at (4.3, -7.1). A vehicle with ID 9 is 13.0 meters away at (5.6, -11.7). A pedestrian with ID 11 is 15.4 meters away at (7.2, -13.6). A vehicle with ID 12 is 16.8 meters away at (-14.5, 8.5). A pedestrian with ID 6 is 17.8 meters away at (-13.3, 11.8). A vehicle with ID 14 is 22.3 meters away at (-18.1, 13.0). A vehicle with ID 16 is 27.8 meters away at (-22.1, 17.0). A unknown object with ID 17 is 55.4 meters away at (-52.7, 17.4).

The vehicle with ID 10 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 15 is traveling at a (x, y) velocity of [-1.6484711  1.3375114] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.02730345 -0.02526498] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.0198059  -0.09297346] m/s.The vehicle with ID 14 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 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 (3.6, -3.8) m/s. Its current heading (yaw) is -0.81

The most relevant actors are: A vehicle with ID 9 is 5.1 meters away at (-1.8, -4.8). A vehicle with ID 15 is 5.9 meters away at (-5.5, 2.1). A vehicle with ID 8 is 6.6 meters away at (-6.6, -0.3). A pedestrian with ID 11 is 6.7 meters away at (-0.2, -6.7). A vehicle with ID 10 is 12.2 meters away at (-11.3, 4.6). A pedestrian with ID 2 is 23.3 meters away at (20.8, -10.5). A pedestrian with ID 3 is 23.7 meters away at (21.7, -9.6). A pedestrian with ID 1 is 24.0 meters away at (21.2, -11.1). A vehicle with ID 12 is 26.9 meters away at (-22.0, 15.4). A vehicle with ID 14 is 32.5 meters away at (-25.6, 20.0).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.9185381  1.7822806] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00290813 -0.02765683] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0549855 -1.0268071] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.1516848 -1.0637326] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.1268063 -1.0578363] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [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 (3.8, -3.4) m/s. Its current heading (yaw) is -0.73

The most relevant actors are: A pedestrian with ID 11 is 7.7 meters away at (-7.7, 0.4). A vehicle with ID 9 is 9.3 meters away at (-9.0, 2.3). A pedestrian with ID 3 is 13.5 meters away at (13.1, -3.1). A pedestrian with ID 2 is 13.6 meters away at (13.0, -4.0). A pedestrian with ID 1 is 14.0 meters away at (13.1, -4.9). A vehicle with ID 8 is 15.6 meters away at (-14.0, 6.9). A vehicle with ID 10 is 21.9 meters away at (-18.5, 11.7). A vehicle with ID 15 is 25.7 meters away at (-19.6, 16.7). A vehicle with ID 12 is 37.0 meters away at (-29.2, 22.7). A vehicle with ID 14 is 42.7 meters away at (-32.8, 27.3).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.02170347 -0.02950756] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.5818266   0.03883423] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.11254863 -0.0572424 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00926686 -0.04794759] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.9129963  5.3997974] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [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 (2.9, -1.8) m/s. Its current heading (yaw) is -0.55

The most relevant actors are: A pedestrian with ID 3 is 5.6 meters away at (5.1, 2.3). A pedestrian with ID 2 is 6.3 meters away at (6.2, 1.1). A pedestrian with ID 1 is 6.3 meters away at (6.3, 0.2). A pedestrian with ID 11 is 15.6 meters away at (-14.5, 5.6). A vehicle with ID 9 is 17.6 meters away at (-15.9, 7.6). A vehicle with ID 8 is 24.0 meters away at (-20.7, 12.2). A vehicle with ID 10 is 30.5 meters away at (-25.3, 17.1). A vehicle with ID 12 is 45.6 meters away at (-36.0, 28.0). A vehicle with ID 14 is 51.3 meters away at (-39.6, 32.6). A vehicle with ID 15 is 52.5 meters away at (-38.4, 35.8).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.4214572  -0.12602316] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.00111052 -0.02173056] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.00475716 -0.00776572] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00767308 -0.01154455] m/s.The vehicle with ID 9 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 10 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.9187016  8.072739 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, -4.5) m/s. Its current heading (yaw) is -2.51

The most relevant actors are: A vehicle with ID 4 is 5.4 meters away at (4.1, -3.5). A pedestrian with ID 1 is 59.8 meters away at (-26.4, -53.6).

The vehicle with ID 4 is traveling at a (x, y) velocity of [3.671338 3.015694] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.01646321 0.7100664 ] m/s.

There are active red lights at the following coordinates: [[ 6.5953174 -1.8295243]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, -4.9) m/s. Its current heading (yaw) is -2.49

The most relevant actors are: A vehicle with ID 4 is 23.7 meters away at (21.5, 9.9).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0.60146755 0.72104657] m/s.

There are active red lights at the following coordinates: [[ 6.5953174 -1.8295243]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, -6.6) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 4 is 40.3 meters away at (33.9, 21.8).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 6.5953174 -1.8295243]]

Instruction: Slight right turn approaching.

(The closest actor is a vehicle at [33.90835  21.828037], 40.32666015625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -8.6) m/s. Its current heading (yaw) is -2.00

The most relevant actors are: A vehicle with ID 4 is 57.3 meters away at (43.7, 37.1).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 6.5953174 -1.8295243]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, -0.3) m/s. Its current heading (yaw) is -3.09

The most relevant actors are: A unknown object with ID 35 is 17.2 meters away at (14.5, 9.2). A pedestrian with ID 2 is 50.7 meters away at (-49.9, 9.3). A vehicle with ID 42 is 53.7 meters away at (33.1, 42.3). A vehicle with ID 4 is 62.9 meters away at (-60.6, 17.0). A unknown object with ID 21 is 76.2 meters away at (-74.8, -14.1).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.01062581 -0.01824599] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.6099722 -8.961107 ] m/s.The vehicle with ID 4 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.

There are active red lights at the following coordinates: [[-73.83453   13.188736]
 [-75.98279   13.975369]]

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [14.467298  9.214471], 17.15252685546875 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, -0.3) m/s. Its current heading (yaw) is -3.09

The most relevant actors are: A unknown object with ID 30 is 21.3 meters away at (20.5, 5.9). A unknown object with ID 35 is 29.2 meters away at (27.5, 9.8). A pedestrian with ID 2 is 38.2 meters away at (-36.9, 10.0). A unknown object with ID 34 is 46.6 meters away at (44.2, 14.8). A vehicle with ID 42 is 49.1 meters away at (41.1, 26.8). A vehicle with ID 4 is 50.7 meters away at (-47.6, 17.4). A unknown object with ID 21 is 63.3 meters away at (-61.8, -13.5). A vehicle with ID 32 is 69.8 meters away at (-69.7, -2.2).

The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.08014921 0.01389177] m/s.The unknown object with ID 34 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 [-2.1108868 -6.932674 ] m/s.The vehicle with ID 4 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 vehicle with ID 32 is traveling at a (x, y) velocity of [ 7.864724 12.816987] m/s.

There are active red lights at the following coordinates: [[-73.83453   13.188736]
 [-75.98279   13.975369]]

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [20.46219    5.8830886], 21.29112434387207 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -0.3) m/s. Its current heading (yaw) is -3.09

The most relevant actors are: A pedestrian with ID 2 is 26.8 meters away at (-24.6, 10.7). A vehicle with ID 4 is 39.7 meters away at (-35.4, 17.9). A unknown object with ID 35 is 41.2 meters away at (39.8, 10.5). A pedestrian with ID 1 is 43.4 meters away at (-41.8, -11.6). A vehicle with ID 42 is 52.1 meters away at (49.8, 15.5).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.04487934 0.08820129] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.9723683 0.751075 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.5859758 -4.8202357] m/s.

There are active red lights at the following coordinates: [[-73.83453   13.188736]
 [-75.98279   13.975369]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -0.3) m/s. Its current heading (yaw) is -3.08

The most relevant actors are: A pedestrian with ID 2 is 18.1 meters away at (-14.1, 11.3). A vehicle with ID 4 is 31.0 meters away at (-24.9, 18.5). A pedestrian with ID 1 is 31.1 meters away at (-29.4, -10.1). A unknown object with ID 5 is 45.4 meters away at (-41.6, 18.0). A unknown object with ID 6 is 45.4 meters away at (-40.9, 19.8). A unknown object with ID 9 is 45.6 meters away at (-39.8, 22.2). A unknown object with ID 10 is 45.8 meters away at (-40.6, 21.2). A unknown object with ID 7 is 46.7 meters away at (-43.5, 17.1). A unknown object with ID 8 is 47.3 meters away at (-44.4, 16.3). A unknown object with ID 35 is 51.5 meters away at (50.3, 10.9).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.13271356  0.09791515] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.1066991  0.45509964] 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 6 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 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 1.22

The most relevant actors are: A pedestrian with ID 13 is 8.2 meters away at (8.1, 1.5). A pedestrian with ID 16 is 12.6 meters away at (4.4, 11.8). A vehicle with ID 15 is 13.6 meters away at (-1.5, -13.5). A pedestrian with ID 14 is 22.3 meters away at (-10.9, 19.5). A vehicle with ID 9 is 26.5 meters away at (0.6, 26.5). A vehicle with ID 22 is 29.4 meters away at (-19.9, -21.7). A vehicle with ID 23 is 31.8 meters away at (-15.0, -28.0). A pedestrian with ID 24 is 32.1 meters away at (-2.8, -31.9). A pedestrian with ID 19 is 34.7 meters away at (-18.1, -29.6). A pedestrian with ID 25 is 35.0 meters away at (-18.9, -29.4).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00807458  0.01802574] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.1151806  -0.37203345] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.01493614 0.00646173] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 9.952185  -3.1353934] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00228558 -0.00055433] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.4978155 1.2595153] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.54993695 1.269143  ] m/s.

There are active red lights at the following coordinates: [[ 8.521156 35.2338  ]
 [ 8.324167 35.275326]]

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [8.077132  1.4675558], 8.209371566772461 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 1.22

The most relevant actors are: A pedestrian with ID 13 is 8.2 meters away at (8.0, 1.5). A pedestrian with ID 16 is 12.8 meters away at (6.2, 11.2). A vehicle with ID 15 is 13.6 meters away at (-1.5, -13.5). A pedestrian with ID 14 is 22.3 meters away at (-10.9, 19.4). A vehicle with ID 9 is 28.2 meters away at (19.3, 20.5). A vehicle with ID 22 is 29.4 meters away at (-19.9, -21.7). A vehicle with ID 1 is 30.8 meters away at (-8.9, 29.5). A vehicle with ID 23 is 31.8 meters away at (-15.0, -28.0). A pedestrian with ID 19 is 31.9 meters away at (-17.3, -26.9). A pedestrian with ID 24 is 32.1 meters away at (-2.8, -31.9).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.01405222 -0.00223324] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.83613473 -0.38029712] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.0017165  -0.00536204] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 9.291786  -2.9883757] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 9.468862  -2.9402444] m/s.The vehicle with ID 23 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 [0.498894  1.2995118] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00468064  0.00047838] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [8.015899  1.5493643], 8.164260864257812 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 1.22

The most relevant actors are: A pedestrian with ID 13 is 8.2 meters away at (8.1, 1.5). A pedestrian with ID 16 is 13.2 meters away at (7.8, 10.6). A vehicle with ID 15 is 13.6 meters away at (-1.5, -13.5). A pedestrian with ID 14 is 22.3 meters away at (-10.9, 19.4). A vehicle with ID 1 is 25.6 meters away at (9.6, 23.7). A vehicle with ID 22 is 29.4 meters away at (-19.8, -21.7). A pedestrian with ID 19 is 29.4 meters away at (-16.6, -24.3). A pedestrian with ID 25 is 29.9 meters away at (-17.5, -24.3). A vehicle with ID 23 is 31.8 meters away at (-15.0, -28.0). A pedestrian with ID 24 is 32.0 meters away at (-2.8, -31.9).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00122971  0.00106524] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.6085696  -0.10012428] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.00017883 0.0008067 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.786982 -2.794118] m/s.The vehicle with ID 22 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 [0.24360275 1.2753408 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.23599467 1.2524694 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00242662 -0.00094459] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [8.051095  1.5412375], 8.197288513183594 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 1.22

The most relevant actors are: A pedestrian with ID 13 is 8.2 meters away at (8.1, 1.5). A vehicle with ID 15 is 13.6 meters away at (-1.5, -13.5). A pedestrian with ID 16 is 13.8 meters away at (9.0, 10.5). A unknown object with ID 5 is 20.8 meters away at (13.7, 15.6). A pedestrian with ID 14 is 22.3 meters away at (-10.9, 19.4). A vehicle with ID 7 is 25.4 meters away at (3.8, 25.1). A pedestrian with ID 19 is 27.1 meters away at (-16.7, -21.4). A pedestrian with ID 25 is 27.8 meters away at (-17.3, -21.9). A vehicle with ID 22 is 29.4 meters away at (-19.8, -21.7). A vehicle with ID 23 is 31.8 meters away at (-15.0, -28.0).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.1052909e-04  1.3484629e-05] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.689241   -0.21976845] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00470391 -0.00209208] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 8.228488  -2.6184998] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.10243929  1.3299813 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.14036359 1.3202633 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 8.521156 35.2338  ]
 [ 8.324167 35.275326]]

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [8.053591  1.5479641], 8.201006889343262 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 10.1) m/s. Its current heading (yaw) is 1.95

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 9.8) m/s. Its current heading (yaw) is 1.96

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.0) m/s. Its current heading (yaw) is 1.97

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.1) m/s. Its current heading (yaw) is 1.96

The most relevant actors are: A unknown object with ID 3 is 24.4 meters away at (-16.2, 18.3).

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

Instruction: Continue straight.

(The closest actor is a unknown object at [-16.186169  18.286186], 24.420825958251953 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -0.7) m/s. Its current heading (yaw) is -0.23

The most relevant actors are: A unknown object with ID 12 is 20.7 meters away at (14.2, -15.1). A pedestrian with ID 19 is 22.0 meters away at (14.4, -16.6). A vehicle with ID 15 is 22.9 meters away at (-21.6, -7.5). A unknown object with ID 21 is 24.9 meters away at (16.3, -18.9). A unknown object with ID 26 is 28.7 meters away at (20.2, -20.5). A pedestrian with ID 11 is 28.9 meters away at (28.8, 2.3). A unknown object with ID 16 is 30.8 meters away at (22.2, -21.3). A pedestrian with ID 17 is 32.7 meters away at (23.8, -22.4). A unknown object with ID 22 is 37.3 meters away at (-25.0, 27.6). A unknown object with ID 25 is 38.2 meters away at (-24.4, 29.4).

The unknown object with ID 12 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 [0.0120942 0.0150074] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.10665412 -4.693124  ] 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00206541  0.01310496] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.9735122  -0.08299686] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 14.226736 -15.082393], 20.7335147857666 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -0.1) m/s. Its current heading (yaw) is -0.03

The most relevant actors are: A unknown object with ID 12 is 16.7 meters away at (8.7, -14.2). A pedestrian with ID 19 is 18.1 meters away at (8.8, -15.8). A unknown object with ID 21 is 21.0 meters away at (10.8, -18.0). A pedestrian with ID 11 is 23.5 meters away at (23.3, 3.2). A unknown object with ID 26 is 24.5 meters away at (14.7, -19.7). A unknown object with ID 16 is 26.4 meters away at (16.7, -20.4). A pedestrian with ID 17 is 28.8 meters away at (18.6, -21.9). A unknown object with ID 1 is 31.6 meters away at (23.7, -21.0). A vehicle with ID 15 is 34.1 meters away at (-29.5, -17.2). A unknown object with ID 22 is 41.7 meters away at (-30.6, 28.4).

The unknown object with ID 12 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 [0.00479589 0.00598701] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.01182227 -0.00127124] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.04093089 -0.17162839] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.8198401 -5.5380774] m/s.The unknown object with ID 22 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 [  8.718943 -14.236074], 16.693883895874023 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 0.3) m/s. Its current heading (yaw) is 0.15

The most relevant actors are: A unknown object with ID 12 is 15.1 meters away at (4.0, -14.6). A pedestrian with ID 19 is 16.7 meters away at (4.1, -16.1). A pedestrian with ID 11 is 18.8 meters away at (18.6, 2.8). A unknown object with ID 21 is 19.3 meters away at (6.1, -18.3). A unknown object with ID 26 is 22.3 meters away at (10.0, -19.9). A unknown object with ID 16 is 23.9 meters away at (12.0, -20.7). A pedestrian with ID 17 is 26.2 meters away at (13.9, -22.3). A unknown object with ID 1 is 28.5 meters away at (19.0, -21.3). A vehicle with ID 32 is 41.2 meters away at (35.5, -20.8).

The unknown object with ID 12 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 [0.00920103 0.00091599] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.01686552  0.00405292] 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.01943466 0.01701145] m/s.The unknown object with ID 1 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: Sharp right turn approaching

(The closest actor is a unknown object at [  4.025875 -14.55124 ], 15.097888946533203 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 0.0) m/s. Its current heading (yaw) is 0.02

The most relevant actors are: A pedestrian with ID 11 is 14.5 meters away at (14.3, 2.4). A unknown object with ID 12 is 15.0 meters away at (-0.2, -15.0). A pedestrian with ID 19 is 16.6 meters away at (-0.1, -16.6). A unknown object with ID 21 is 18.8 meters away at (1.9, -18.7). A unknown object with ID 26 is 21.1 meters away at (5.8, -20.3). A unknown object with ID 16 is 22.5 meters away at (7.8, -21.1). A pedestrian with ID 17 is 24.5 meters away at (9.6, -22.5). A unknown object with ID 1 is 26.2 meters away at (14.8, -21.6). A vehicle with ID 32 is 37.8 meters away at (31.3, -21.2). A vehicle with ID 28 is 77.3 meters away at (68.2, -36.4).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.01796084 -0.00305445] m/s.The unknown object with ID 12 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 [ 0.02161074 -0.01134936] 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.05557961 -0.12037819] m/s.The unknown object with ID 1 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -10.9) m/s. Its current heading (yaw) is -1.64

The most relevant actors are: A vehicle with ID 12 is 22.2 meters away at (7.2, 21.0). A vehicle with ID 13 is 25.6 meters away at (24.9, 5.8). A vehicle with ID 17 is 30.8 meters away at (-5.3, -30.3). A vehicle with ID 14 is 31.1 meters away at (30.6, 5.7). A vehicle with ID 15 is 36.1 meters away at (35.7, 5.4). A vehicle with ID 18 is 38.7 meters away at (38.6, 2.2). A pedestrian with ID 19 is 43.5 meters away at (6.5, -43.0). A vehicle with ID 16 is 43.9 meters away at (43.6, 5.2). A vehicle with ID 20 is 48.1 meters away at (-7.2, -47.5). A vehicle with ID 11 is 54.0 meters away at (-7.7, -53.4).

The vehicle with ID 12 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 [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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-7.6434183   0.22859976] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00254766  1.20363   ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 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 (-1.2, -11.4) m/s. Its current heading (yaw) is -1.67

The most relevant actors are: A vehicle with ID 17 is 8.7 meters away at (-3.8, -7.9). A pedestrian with ID 19 is 19.4 meters away at (8.2, -17.6). A vehicle with ID 20 is 25.6 meters away at (-5.6, -25.0). A vehicle with ID 11 is 31.5 meters away at (-6.1, -30.9). A vehicle with ID 18 is 36.9 meters away at (27.2, 25.0). A vehicle with ID 13 is 38.7 meters away at (26.6, 28.1). A vehicle with ID 14 is 42.8 meters away at (32.4, 28.0). A vehicle with ID 12 is 44.3 meters away at (8.9, 43.4). A vehicle with ID 15 is 46.5 meters away at (37.4, 27.7). A vehicle with ID 16 is 53.0 meters away at (45.4, 27.4).

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 [0.05814368 1.4539025 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-5.4433064   0.19411442] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 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 16 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, -11.5) m/s. Its current heading (yaw) is -1.67

The most relevant actors are: A vehicle with ID 20 is 3.9 meters away at (-3.4, -2.0). A vehicle with ID 11 is 8.7 meters away at (-4.0, -7.8). A pedestrian with ID 19 is 13.5 meters away at (10.6, 8.3). A vehicle with ID 17 is 15.0 meters away at (-1.6, 14.9). A vehicle with ID 6 is 49.1 meters away at (-7.4, -48.5). A vehicle with ID 18 is 52.8 meters away at (21.1, 48.3). A vehicle with ID 5 is 56.2 meters away at (-7.5, -55.7). A unknown object with ID 8 is 57.5 meters away at (2.9, 57.4). A vehicle with ID 4 is 63.9 meters away at (-7.6, -63.5). A vehicle with ID 12 is 67.4 meters away at (11.2, 66.4).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.21789074 1.3357689 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-2.76102     0.07628624] m/s.The vehicle with ID 5 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 4 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -12.0) m/s. Its current heading (yaw) is -1.66

The most relevant actors are: A vehicle with ID 11 is 15.8 meters away at (-1.7, 15.7). A vehicle with ID 20 is 21.7 meters away at (-1.0, 21.7). A vehicle with ID 6 is 25.3 meters away at (-4.9, -24.8). A vehicle with ID 5 is 32.4 meters away at (-5.1, -32.0). A pedestrian with ID 19 is 37.1 meters away at (13.0, 34.7). A vehicle with ID 17 is 38.6 meters away at (0.8, 38.6). A vehicle with ID 4 is 40.2 meters away at (-5.2, -39.8). A vehicle with ID 3 is 45.3 meters away at (3.8, -45.1). A vehicle with ID 2 is 59.2 meters away at (3.5, -59.1). A vehicle with ID 18 is 74.9 meters away at (20.2, 72.1).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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 [0.013187  1.1756105] m/s.The vehicle with ID 17 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.The vehicle with ID 3 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 18 is traveling at a (x, y) velocity of [-1.1292782   0.03936255] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 4.0) m/s. Its current heading (yaw) is 2.39

The most relevant actors are: A vehicle with ID 10 is 6.7 meters away at (6.7, -0.6).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.7) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 10 is 18.8 meters away at (16.3, -9.3). A pedestrian with ID 3 is 32.7 meters away at (-32.5, 3.9).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00478621  0.00682788] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 4.9) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 10 is 33.5 meters away at (27.6, -18.9).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 5.1) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A pedestrian with ID 9 is 18.1 meters away at (-9.1, -15.6). A pedestrian with ID 5 is 18.8 meters away at (-9.7, -16.1). A vehicle with ID 10 is 51.7 meters away at (41.5, -30.8).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.04359098 -0.00263512] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.00211358 0.01816657] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.2632067 -2.1579514] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-12.1, -0.2) m/s. Its current heading (yaw) is -3.12

The most relevant actors are: A unknown object with ID 111 is 21.8 meters away at (21.0, 5.6). A unknown object with ID 113 is 23.6 meters away at (-22.9, 5.8). A unknown object with ID 103 is 33.7 meters away at (31.5, 12.0).

The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [21.03093   5.643447], 21.77495002746582 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.7, -0.1) m/s. Its current heading (yaw) is -3.14

The most relevant actors are: A unknown object with ID 90 is 32.0 meters away at (-31.5, 6.1). A unknown object with ID 100 is 33.0 meters away at (-32.5, 6.1). A unknown object with ID 112 is 34.0 meters away at (-33.5, 6.0). A unknown object with ID 111 is 45.3 meters away at (44.9, 5.9). A unknown object with ID 88 is 46.3 meters away at (45.9, 5.9). A unknown object with ID 69 is 47.2 meters away at (46.8, 5.9). A unknown object with ID 105 is 48.8 meters away at (48.4, 5.9). A unknown object with ID 65 is 50.8 meters away at (50.4, 5.9). A unknown object with ID 120 is 51.7 meters away at (51.4, 5.9). A vehicle with ID 54 is 63.5 meters away at (-62.9, 8.3).

The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 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 unknown object with ID 111 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 unknown object with ID 69 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-31.45625     6.1067834], 32.043540954589844 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.5, -0.0) m/s. Its current heading (yaw) is -3.14

The most relevant actors are: A unknown object with ID 100 is 11.0 meters away at (-9.1, 6.1). A unknown object with ID 112 is 12.6 meters away at (-11.0, 6.1). A unknown object with ID 73 is 29.4 meters away at (28.8, 5.9). A unknown object with ID 84 is 33.3 meters away at (32.8, 5.9). A unknown object with ID 125 is 34.3 meters away at (33.8, 5.8). A unknown object with ID 71 is 35.3 meters away at (34.8, 5.8). A unknown object with ID 75 is 36.2 meters away at (35.7, 5.8). A vehicle with ID 54 is 40.5 meters away at (-39.7, 8.3). A unknown object with ID 50 is 47.1 meters away at (-46.7, 6.2). A unknown object with ID 126 is 48.0 meters away at (-47.6, 6.2).

The unknown object with ID 100 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 unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-9.1479645  6.111234 ], 11.001474380493164 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.4, 0.0) m/s. Its current heading (yaw) is 3.14

The most relevant actors are: A unknown object with ID 112 is 13.2 meters away at (11.8, 5.9). A unknown object with ID 100 is 14.8 meters away at (13.6, 5.9). A vehicle with ID 54 is 18.7 meters away at (-16.8, 8.2). A unknown object with ID 50 is 24.6 meters away at (-23.8, 6.1). A unknown object with ID 106 is 33.6 meters away at (-33.1, 6.1). A unknown object with ID 92 is 35.7 meters away at (-35.1, 6.2). A unknown object with ID 83 is 36.6 meters away at (-36.1, 6.2). A vehicle with ID 24 is 37.0 meters away at (-36.4, -6.7). A unknown object with ID 93 is 37.5 meters away at (-37.0, 6.2). A unknown object with ID 102 is 38.6 meters away at (-38.0, 6.2).

The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 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.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [11.812897  5.900201], 13.204427719116211 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 3.1) m/s. Its current heading (yaw) is 2.67

The most relevant actors are: A pedestrian with ID 90 is 3.8 meters away at (-2.9, -2.4). A pedestrian with ID 92 is 5.3 meters away at (-4.5, -2.7). A pedestrian with ID 93 is 5.9 meters away at (-4.7, -3.6). A pedestrian with ID 91 is 7.3 meters away at (-4.6, -5.6). A pedestrian with ID 94 is 15.0 meters away at (4.1, 14.4). A vehicle with ID 95 is 18.4 meters away at (18.0, 3.5). A unknown object with ID 98 is 19.4 meters away at (-18.2, -6.6). A unknown object with ID 99 is 20.5 meters away at (-19.5, -6.2). A pedestrian with ID 97 is 21.7 meters away at (2.1, 21.6). A unknown object with ID 57 is 22.7 meters away at (-5.6, 22.0).

The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.5016082 1.35865  ] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [0.38164756 0.62762845] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [0.3480589  0.56682223] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [0.16993816 1.3131307 ] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.41267717 -0.86319774] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [10.314024  -4.5430226] m/s.The unknown object with ID 98 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 pedestrian with ID 97 is traveling at a (x, y) velocity of [-0.02248311  0.00189253] m/s.The unknown object with ID 57 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 (-7.1, 3.4) m/s. Its current heading (yaw) is 2.70

The most relevant actors are: A pedestrian with ID 92 is 11.5 meters away at (9.8, -6.0). A pedestrian with ID 90 is 12.2 meters away at (10.9, -5.5). A pedestrian with ID 93 is 12.3 meters away at (9.6, -7.7). A pedestrian with ID 91 is 13.1 meters away at (9.5, -9.0). A unknown object with ID 98 is 13.7 meters away at (-5.6, -12.6). A unknown object with ID 99 is 14.1 meters away at (-6.7, -12.4). A pedestrian with ID 94 is 16.3 meters away at (15.6, 5.0). A unknown object with ID 57 is 17.3 meters away at (7.3, 15.7). A unknown object with ID 71 is 17.6 meters away at (5.1, 16.8). A unknown object with ID 23 is 18.1 meters away at (3.0, 17.8).

The pedestrian with ID 92 is traveling at a (x, y) velocity of [0.65572536 1.7073325 ] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.56828344 1.5388296 ] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [0.608732  1.4871821] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [0.69051665 1.615512  ] m/s.The unknown object with ID 98 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 pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.9163596 -1.6622838] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [ 9.838239 -5.99532 ], 11.521059036254883 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 3.3) m/s. Its current heading (yaw) is 2.71

The most relevant actors are: A unknown object with ID 49 is 9.4 meters away at (-8.6, -3.7). A unknown object with ID 66 is 9.5 meters away at (-8.6, -4.1). A unknown object with ID 35 is 10.9 meters away at (-10.0, -4.4). A unknown object with ID 53 is 12.1 meters away at (-11.5, -3.5). A unknown object with ID 99 is 20.5 meters away at (7.5, -19.0). A unknown object with ID 23 is 20.5 meters away at (17.2, 11.2). A unknown object with ID 71 is 21.8 meters away at (19.3, 10.2). A unknown object with ID 57 is 23.4 meters away at (21.5, 9.2). A pedestrian with ID 107 is 23.6 meters away at (-5.0, 23.1). A pedestrian with ID 92 is 27.0 meters away at (25.3, -9.3).

The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.0658828   0.00984398] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [0.3659395 1.3762892] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-8.64539  -3.720129], 9.411808013916016 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 3.3) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A vehicle with ID 38 is 11.2 meters away at (4.2, 10.4). A unknown object with ID 35 is 12.0 meters away at (4.9, -11.0). A unknown object with ID 49 is 12.3 meters away at (6.4, -10.5). A unknown object with ID 66 is 12.5 meters away at (6.4, -10.7). A pedestrian with ID 107 is 19.0 meters away at (9.8, 16.3). A pedestrian with ID 110 is 26.0 meters away at (-7.3, 25.0). A unknown object with ID 23 is 32.5 meters away at (32.1, 4.5). A vehicle with ID 73 is 32.7 meters away at (-13.7, -29.8). A unknown object with ID 71 is 34.4 meters away at (34.3, 3.6). A vehicle with ID 17 is 34.9 meters away at (-1.1, -34.9).

The vehicle with ID 38 is traveling at a (x, y) velocity of [12.353184  -5.0981703] m/s.The unknown object with ID 35 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 unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.03097804 -0.00994486] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-1.289575    0.59827715] m/s.The unknown object with ID 23 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 unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 8.3) m/s. Its current heading (yaw) is 1.90

The most relevant actors are: A vehicle with ID 10 is 7.3 meters away at (-6.8, 2.8). A unknown object with ID 7 is 10.2 meters away at (-9.5, -3.5). A vehicle with ID 2 is 21.0 meters away at (-1.4, -21.0). A vehicle with ID 11 is 33.7 meters away at (21.2, -26.3). A vehicle with ID 12 is 35.1 meters away at (24.4, -25.3). A vehicle with ID 13 is 44.9 meters away at (30.1, -33.3).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [4.2117243 4.8004284] m/s.The vehicle with ID 11 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 8.8) m/s. Its current heading (yaw) is 2.17

The most relevant actors are: A vehicle with ID 10 is 14.2 meters away at (2.4, -14.0). A unknown object with ID 7 is 20.5 meters away at (-0.2, -20.5). A vehicle with ID 2 is 28.0 meters away at (12.8, -24.9). A vehicle with ID 11 is 52.8 meters away at (30.5, -43.2). A vehicle with ID 12 is 54.0 meters away at (33.7, -42.2). A vehicle with ID 6 is 60.5 meters away at (-39.6, 45.8).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-0.02886098  7.837922  ] m/s.The vehicle with ID 11 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 6 is traveling at a (x, y) velocity of [ 6.9858737 -8.823267 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 9.7) m/s. Its current heading (yaw) is 2.23

The most relevant actors are: A vehicle with ID 6 is 17.1 meters away at (-13.1, 11.0). A vehicle with ID 2 is 34.2 meters away at (21.5, -26.6). A vehicle with ID 10 is 36.2 meters away at (16.4, -32.3). A vehicle with ID 11 is 75.9 meters away at (44.4, -61.6).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.667521  -7.3134756] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-4.886508  8.69878 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 10.5) m/s. Its current heading (yaw) is 2.24

The most relevant actors are: A vehicle with ID 6 is 25.9 meters away at (13.0, -22.4). A vehicle with ID 2 is 37.7 meters away at (25.0, -28.3). A vehicle with ID 10 is 61.9 meters away at (32.4, -52.8).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.277837  -5.5334888] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.2789783 10.2645   ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-3.963049  10.281793 ]
 [-2.3437302 11.103187 ]]

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 -2.34

The most relevant actors are: A vehicle with ID 15 is 8.6 meters away at (-5.8, -6.4). A vehicle with ID 26 is 18.6 meters away at (-12.2, -14.0). A vehicle with ID 21 is 20.8 meters away at (-16.5, -12.6). A pedestrian with ID 23 is 26.0 meters away at (-12.2, -23.0). A unknown object with ID 33 is 43.6 meters away at (5.1, 43.3). A unknown object with ID 34 is 45.1 meters away at (6.8, 44.6). A unknown object with ID 35 is 47.2 meters away at (9.2, 46.3). A unknown object with ID 36 is 49.5 meters away at (11.8, 48.1). A unknown object with ID 3 is 51.7 meters away at (14.1, 49.8). A pedestrian with ID 5 is 52.0 meters away at (-52.0, -0.7).

The vehicle with ID 15 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2773186  -0.14533728] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.3701922  -0.22153488] 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 -2.34

The most relevant actors are: A vehicle with ID 15 is 8.7 meters away at (-5.8, -6.4). A vehicle with ID 26 is 18.7 meters away at (-12.2, -14.1). A vehicle with ID 21 is 20.8 meters away at (-16.5, -12.6). A pedestrian with ID 23 is 27.4 meters away at (-14.0, -23.5). A vehicle with ID 13 is 40.4 meters away at (29.2, 28.0). A unknown object with ID 33 is 43.5 meters away at (4.8, 43.2). A unknown object with ID 34 is 45.0 meters away at (6.7, 44.5). A unknown object with ID 35 is 47.2 meters away at (9.2, 46.3). A unknown object with ID 36 is 49.5 meters away at (11.8, 48.1). A unknown object with ID 37 is 53.7 meters away at (16.2, 51.2).

The vehicle with ID 15 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.0089178  -0.14625934] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-11.11217    -7.7950897] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.34

The most relevant actors are: A vehicle with ID 15 is 8.6 meters away at (-5.8, -6.4). A vehicle with ID 13 is 16.7 meters away at (9.9, 13.4). A vehicle with ID 26 is 19.3 meters away at (-12.6, -14.6). A vehicle with ID 21 is 20.7 meters away at (-16.5, -12.5). A pedestrian with ID 23 is 28.5 meters away at (-15.1, -24.2). A pedestrian with ID 12 is 32.5 meters away at (-17.0, 27.8). A unknown object with ID 33 is 43.5 meters away at (4.9, 43.3). A vehicle with ID 11 is 45.0 meters away at (31.7, 32.0). A unknown object with ID 34 is 45.0 meters away at (6.7, 44.5). A vehicle with ID 14 is 45.5 meters away at (29.1, 35.1).

The vehicle with ID 15 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 [-7.9133983 -6.5881457] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.33416492 -0.3797641 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.03727519 -0.17592083] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.548773   0.21661362] m/s.The unknown object with ID 33 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 [-10.484628   -7.6952906] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-11.626773   -7.9945397] 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 -2.34

The most relevant actors are: A vehicle with ID 13 is 3.1 meters away at (-2.1, 2.3). A vehicle with ID 15 is 8.7 meters away at (-5.8, -6.4). A vehicle with ID 26 is 19.8 meters away at (-13.0, -15.0). A vehicle with ID 21 is 20.8 meters away at (-16.5, -12.6). A vehicle with ID 14 is 20.9 meters away at (7.6, 19.5). A vehicle with ID 11 is 23.1 meters away at (14.2, 18.2). A pedestrian with ID 23 is 28.7 meters away at (-15.2, -24.4). A pedestrian with ID 12 is 31.4 meters away at (-13.8, 28.3). A vehicle with ID 17 is 40.3 meters away at (27.7, 29.3). A unknown object with ID 33 is 43.6 meters away at (5.0, 43.3).

The vehicle with ID 13 is traveling at a (x, y) velocity of [-4.3729844 -4.3522224] m/s.The vehicle with ID 15 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-9.915232  -7.5054126] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.209517  -6.0921082] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.00060762 -0.00821302] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.3569514 -0.1150947] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-9.984925 -7.231817] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 9.0) m/s. Its current heading (yaw) is 1.96

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 9.3) m/s. Its current heading (yaw) is 1.90

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 9.3) m/s. Its current heading (yaw) is 1.96

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 8.9) m/s. Its current heading (yaw) is 1.98

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 2.2) m/s. Its current heading (yaw) is 1.42

The most relevant actors are: A unknown object with ID 37 is 13.6 meters away at (-12.3, 5.7). A unknown object with ID 51 is 27.0 meters away at (4.2, 26.6). A unknown object with ID 52 is 27.5 meters away at (2.3, 27.4). A unknown object with ID 50 is 28.1 meters away at (-25.9, 10.9). A unknown object with ID 53 is 28.2 meters away at (0.7, 28.2). A pedestrian with ID 40 is 30.9 meters away at (-0.4, 30.9). A vehicle with ID 56 is 46.6 meters away at (-46.0, -7.6). A vehicle with ID 35 is 48.5 meters away at (-47.7, -9.2). A vehicle with ID 4 is 65.4 meters away at (61.2, -23.1).

The unknown object with ID 37 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.5534365 -0.5358813] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-9.486643   3.8973694] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-12.292181   5.72321 ], 13.559234619140625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 2.4) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A unknown object with ID 51 is 21.9 meters away at (7.0, 20.8). A unknown object with ID 52 is 22.2 meters away at (5.2, 21.6). A unknown object with ID 53 is 22.7 meters away at (3.5, 22.4). A unknown object with ID 50 is 23.7 meters away at (-23.2, 5.3). A unknown object with ID 10 is 24.5 meters away at (-23.9, 5.7). A pedestrian with ID 40 is 25.0 meters away at (5.7, 24.3). A unknown object with ID 21 is 25.1 meters away at (-24.4, 6.0). A unknown object with ID 25 is 27.2 meters away at (7.0, 26.3). A vehicle with ID 56 is 45.3 meters away at (-43.3, -13.5). A vehicle with ID 35 is 47.3 meters away at (-44.8, -15.1).

The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.181392   -0.31733617] 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 25 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 35 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 [ 7.0250216 20.773857 ], 21.92952537536621 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 2.8) m/s. Its current heading (yaw) is 2.73

The most relevant actors are: A unknown object with ID 20 is 5.0 meters away at (0.8, -5.0). A unknown object with ID 50 is 12.9 meters away at (-12.9, 0.0). A unknown object with ID 10 is 13.6 meters away at (-13.6, 0.3). A unknown object with ID 21 is 14.0 meters away at (-14.0, 0.5). A unknown object with ID 8 is 14.7 meters away at (-14.7, 1.1). A unknown object with ID 53 is 22.1 meters away at (13.6, 17.4). A unknown object with ID 36 is 22.3 meters away at (22.0, -3.7). A unknown object with ID 52 is 22.7 meters away at (15.2, 16.8). A unknown object with ID 51 is 23.4 meters away at (17.1, 15.9). A pedestrian with ID 40 is 27.0 meters away at (19.2, 19.0).

The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.7320391  -0.15974192] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 0.81993294 -4.9659376 ], 5.033172607421875 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 3.8) m/s. Its current heading (yaw) is 2.70

The most relevant actors are: A unknown object with ID 8 is 5.9 meters away at (-0.3, -5.9). A unknown object with ID 21 is 6.3 meters away at (0.4, -6.2). A unknown object with ID 10 is 6.5 meters away at (0.8, -6.4). A unknown object with ID 50 is 6.7 meters away at (1.1, -6.6). A unknown object with ID 20 is 19.0 meters away at (15.1, -11.5). A pedestrian with ID 39 is 29.0 meters away at (-8.6, 27.6). A pedestrian with ID 26 is 29.3 meters away at (-8.0, 28.1). A vehicle with ID 56 is 31.5 meters away at (-18.7, -25.4). A vehicle with ID 35 is 33.8 meters away at (-20.1, -27.2). A vehicle with ID 27 is 34.8 meters away at (-27.9, -20.8).

The unknown object with ID 8 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 [-1.1450512   0.56188214] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.1256353   0.52919346] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 [-0.25130653 -5.920768  ], 5.926098823547363 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -6.2) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 26 is 9.0 meters away at (-7.1, 5.5). A vehicle with ID 27 is 12.2 meters away at (-11.0, 5.5). A vehicle with ID 29 is 15.2 meters away at (-15.1, 1.9). A vehicle with ID 25 is 23.0 meters away at (-9.3, 21.1). A pedestrian with ID 28 is 29.7 meters away at (-0.4, 29.7). A unknown object with ID 14 is 45.2 meters away at (8.2, 44.4). A unknown object with ID 13 is 46.0 meters away at (9.8, 45.0). A pedestrian with ID 7 is 64.4 meters away at (13.5, 63.0). A pedestrian with ID 33 is 78.5 meters away at (18.7, 76.3).

The vehicle with ID 26 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 29 is traveling at a (x, y) velocity of [0.38606712 2.4136944 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-9.715496  -0.5546442] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [1.037039  0.5399555] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.25304952 -0.6396146 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.17366047 0.5889047 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -6.5) m/s. Its current heading (yaw) is -2.07

The most relevant actors are: A vehicle with ID 26 is 18.4 meters away at (-0.1, 18.4). A vehicle with ID 27 is 18.8 meters away at (-3.9, 18.4). A vehicle with ID 29 is 20.1 meters away at (-7.9, 18.5). A vehicle with ID 25 is 39.7 meters away at (-22.3, 32.8). A pedestrian with ID 28 is 44.8 meters away at (8.6, 43.9). A pedestrian with ID 4 is 58.7 meters away at (-45.4, -37.3). A unknown object with ID 14 is 59.3 meters away at (15.4, 57.2).

The vehicle with ID 26 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 29 is traveling at a (x, y) velocity of [-0.07633398  1.0824915 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-10.115875   -0.5700776] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [1.0660067  0.69096655] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.6672792  -0.97369444] m/s.The unknown object with ID 14 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, -6.4) m/s. Its current heading (yaw) is -2.06

The most relevant actors are: A vehicle with ID 27 is 31.3 meters away at (2.9, 31.1). A vehicle with ID 26 is 31.9 meters away at (6.7, 31.2). A vehicle with ID 29 is 32.2 meters away at (-1.0, 32.2). A pedestrian with ID 4 is 47.6 meters away at (-39.5, -26.7). A vehicle with ID 10 is 56.6 meters away at (-48.6, -28.8). A pedestrian with ID 19 is 67.1 meters away at (-62.6, -24.3).

The vehicle with ID 27 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.7570504 -0.9802265] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.0072906 -2.022208 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.15549244 -0.516311  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -6.3) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A pedestrian with ID 4 is 37.7 meters away at (-34.1, -16.0). A vehicle with ID 27 is 44.7 meters away at (9.4, 43.7). A vehicle with ID 29 is 45.2 meters away at (5.6, 44.8). A vehicle with ID 26 is 45.7 meters away at (13.3, 43.8). A vehicle with ID 10 is 50.3 meters away at (-45.6, -21.2). A pedestrian with ID 22 is 57.2 meters away at (-56.1, -11.4).

The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.69380015 -0.8908905 ] m/s.The vehicle with ID 27 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.4551222 -2.693239 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.00663947 0.0069707 ] 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 1.04

The most relevant actors are: A cyclist with ID 22 is 4.3 meters away at (-0.6, -4.3). A pedestrian with ID 56 is 4.6 meters away at (3.7, -2.7). A cyclist with ID 25 is 5.6 meters away at (-2.2, -5.1). A vehicle with ID 57 is 6.3 meters away at (-5.9, 2.0). A vehicle with ID 59 is 10.1 meters away at (-9.3, -3.9). A vehicle with ID 61 is 14.4 meters away at (-11.8, -8.2). A pedestrian with ID 60 is 15.9 meters away at (-13.9, -7.7). A vehicle with ID 67 is 21.0 meters away at (20.9, 2.1). A unknown object with ID 68 is 21.2 meters away at (19.9, -7.2). A pedestrian with ID 65 is 22.6 meters away at (22.4, -3.4).

The cyclist with ID 22 is traveling at a (x, y) velocity of [-0.00908729 -0.02038346] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.70231783 -1.1794668 ] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-0.01484215 -0.00752136] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.74365705 -1.3601167 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.6934201 0.8327206] m/s.

There are active red lights at the following coordinates: [[3.9578054 6.612602 ]
 [6.8903446 2.3404915]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 2.2) m/s. Its current heading (yaw) is 1.06

The most relevant actors are: A cyclist with ID 22 is 6.1 meters away at (-1.7, -5.9). A vehicle with ID 57 is 7.3 meters away at (-7.3, -0.3). A pedestrian with ID 56 is 7.7 meters away at (0.8, -7.6). A cyclist with ID 25 is 8.2 meters away at (-3.4, -7.4). A vehicle with ID 59 is 12.4 meters away at (-10.8, -6.2). A vehicle with ID 61 is 16.9 meters away at (-13.2, -10.5). A vehicle with ID 67 is 19.6 meters away at (19.6, -0.3). A unknown object with ID 68 is 20.9 meters away at (18.5, -9.6). A pedestrian with ID 60 is 21.0 meters away at (-16.7, -12.8). A pedestrian with ID 65 is 22.9 meters away at (22.5, -4.1).

The cyclist with ID 22 is traveling at a (x, y) velocity of [0.29050234 1.1819245 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.74233556 -1.2742158 ] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [0.2493348 0.3535065] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.71646065 -1.3412429 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.87933993 0.8045714 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 2.9) m/s. Its current heading (yaw) is 1.06

The most relevant actors are: A cyclist with ID 22 is 8.0 meters away at (-3.2, -7.3). A cyclist with ID 25 is 11.1 meters away at (-5.0, -9.9). A vehicle with ID 57 is 11.8 meters away at (-10.4, -5.6). A pedestrian with ID 56 is 15.9 meters away at (-3.7, -15.5). A vehicle with ID 67 is 17.4 meters away at (16.5, -5.7). A vehicle with ID 59 is 18.0 meters away at (-13.8, -11.5). A vehicle with ID 13 is 21.0 meters away at (-11.1, 17.9). A unknown object with ID 68 is 21.5 meters away at (15.5, -15.0). A pedestrian with ID 65 is 22.0 meters away at (20.1, -8.9). A vehicle with ID 61 is 22.7 meters away at (-16.3, -15.9).

The cyclist with ID 22 is traveling at a (x, y) velocity of [1.0474817 2.1844478] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [0.9576648 1.5455992] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.63962525 -1.2205123 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.17446145 -0.17154591] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 9.447602 23.230185]
 [ 7.619516 25.206154]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 3.3) m/s. Its current heading (yaw) is 1.43

The most relevant actors are: A cyclist with ID 22 is 9.5 meters away at (-3.7, -8.7). A cyclist with ID 25 is 12.3 meters away at (-4.9, -11.3). A vehicle with ID 57 is 17.1 meters away at (-12.9, -11.2). A pedestrian with ID 33 is 17.4 meters away at (14.6, -9.4). A vehicle with ID 67 is 18.2 meters away at (14.0, -11.6). A vehicle with ID 13 is 18.2 meters away at (-13.4, 12.3). A vehicle with ID 19 is 19.6 meters away at (8.8, 17.5). A unknown object with ID 50 is 21.8 meters away at (-6.0, 21.0). A pedestrian with ID 65 is 22.8 meters away at (16.4, -15.9). A vehicle with ID 11 is 23.3 meters away at (-17.1, 15.8).

The cyclist with ID 22 is traveling at a (x, y) velocity of [1.138758 2.266573] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [1.1725456 1.9818894] m/s.The vehicle with ID 57 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 [ 0.08300769 -0.0009526 ] m/s.The vehicle with ID 67 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 [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.78977966 -1.2900262 ] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.67928505 -0.65535367] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 51 is 7.8 meters away at (4.9, 6.0). A unknown object with ID 52 is 9.1 meters away at (-8.9, 1.4). A unknown object with ID 53 is 11.0 meters away at (-0.9, 11.0). A vehicle with ID 55 is 17.4 meters away at (-16.9, -4.1). A vehicle with ID 14 is 18.3 meters away at (11.7, 14.1). A vehicle with ID 54 is 18.4 meters away at (9.0, 16.0). A vehicle with ID 56 is 20.5 meters away at (-17.6, 10.4). A vehicle with ID 57 is 21.3 meters away at (-21.2, -2.0). A vehicle with ID 58 is 27.3 meters away at (-27.1, 3.3). A vehicle with ID 59 is 28.9 meters away at (-21.5, -19.4).

The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 14 is traveling at a (x, y) velocity of [2.528249  3.0312245] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [2.1003544 3.0983088] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 0.8) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 51 is 9.4 meters away at (5.9, 7.3). A unknown object with ID 53 is 10.3 meters away at (-1.6, 10.2). A vehicle with ID 55 is 18.3 meters away at (-17.6, -5.0). A vehicle with ID 56 is 20.7 meters away at (-18.3, 9.6). A vehicle with ID 57 is 22.1 meters away at (-21.9, -2.8). A vehicle with ID 43 is 25.0 meters away at (23.2, -9.3). A vehicle with ID 54 is 27.6 meters away at (11.4, 25.1). A vehicle with ID 58 is 27.9 meters away at (-27.8, 2.5). A vehicle with ID 14 is 29.7 meters away at (19.0, 22.8). A vehicle with ID 59 is 30.0 meters away at (-22.2, -20.3).

The vehicle with ID 51 is traveling at a (x, y) velocity of [1.965501  2.5885882] 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-0.409928  6.204064] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [5.0855117 6.2014303] m/s.The vehicle with ID 59 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 0.87

The most relevant actors are: A unknown object with ID 53 is 7.9 meters away at (-5.0, 6.2). A vehicle with ID 51 is 13.1 meters away at (8.9, 9.6). A unknown object with ID 44 is 13.4 meters away at (-12.9, -3.3). A vehicle with ID 56 is 22.4 meters away at (-21.6, 5.7). A vehicle with ID 28 is 22.7 meters away at (19.7, -11.4). A vehicle with ID 55 is 22.8 meters away at (-20.9, -8.9). A vehicle with ID 43 is 23.8 meters away at (19.8, -13.2). A vehicle with ID 57 is 26.2 meters away at (-25.3, -6.7). A vehicle with ID 60 is 28.8 meters away at (-3.0, 28.6). A vehicle with ID 58 is 31.2 meters away at (-31.2, -1.5).

The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [4.466378  2.4139974] m/s.The unknown object with ID 44 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 28 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 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 closest actor is a unknown object at [-4.968154  6.161617], 7.915053844451904 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.2) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 51 is 12.4 meters away at (12.3, 1.6). A unknown object with ID 53 is 12.5 meters away at (-12.3, -2.6). A vehicle with ID 60 is 22.4 meters away at (-10.3, 19.8). A vehicle with ID 26 is 24.4 meters away at (14.1, -19.9). A vehicle with ID 43 is 25.3 meters away at (12.5, -22.0). A vehicle with ID 56 is 29.1 meters away at (-28.9, -3.2). A vehicle with ID 55 is 33.4 meters away at (-28.3, -17.8). A vehicle with ID 15 is 33.6 meters away at (23.6, 24.0). A pedestrian with ID 16 is 34.2 meters away at (-4.6, 33.9). A vehicle with ID 49 is 36.1 meters away at (17.2, 31.7).

The vehicle with ID 51 is traveling at a (x, y) velocity of [ 6.0350924 -1.8397727] m/s.The unknown object with ID 53 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 26 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 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.1952182 -0.5930869] m/s.The vehicle with ID 49 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 (-5.2, 4.6) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 7 is 43.4 meters away at (-34.8, 25.9).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.9) m/s. Its current heading (yaw) is 2.41

The most relevant actors are: A vehicle with ID 7 is 29.3 meters away at (-24.1, 16.5).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 5.2) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 7 is 14.3 meters away at (-12.8, 6.4).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 4.9) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A vehicle with ID 7 is 3.9 meters away at (-1.1, -3.8). A unknown object with ID 5 is 38.8 meters away at (21.3, -32.4).

The vehicle 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.62

The most relevant actors are: A vehicle with ID 6 is 26.7 meters away at (7.1, 25.8). A unknown object with ID 5 is 59.9 meters away at (-34.9, -48.6). A vehicle with ID 12 is 62.7 meters away at (51.9, -35.1).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 11.452919  -15.7254925] m/s.The unknown object with ID 5 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 [  8.943791 -12.70302 ] m/s.

There are active red lights at the following coordinates: [[9.057722 8.220527]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.62

The most relevant actors are: A vehicle with ID 6 is 30.2 meters away at (29.7, -5.5).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 11.191252 -15.435595] m/s.

There are active red lights at the following coordinates: [[9.057722 8.220527]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.62

The most relevant actors are: A vehicle with ID 6 is 63.0 meters away at (51.8, -35.9).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 11.07125 -14.95425] m/s.

There are active red lights at the following coordinates: [[9.057722 8.220527]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.62

There are no other relevant actors in the scene.

There are active red lights at the following coordinates: [[9.057722 8.220527]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 3.4) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 65 is 4.8 meters away at (4.7, 0.5). A vehicle with ID 59 is 5.1 meters away at (0.1, -5.1). A vehicle with ID 62 is 6.7 meters away at (-5.6, 3.6). A vehicle with ID 57 is 10.1 meters away at (-9.9, -1.9). A vehicle with ID 52 is 11.7 meters away at (-4.5, -10.8). A vehicle with ID 55 is 16.0 meters away at (-14.3, -7.3). A vehicle with ID 60 is 19.2 meters away at (-9.3, -16.9). A vehicle with ID 61 is 22.0 meters away at (-18.3, -12.1). A unknown object with ID 54 is 23.7 meters away at (0.3, 23.7). A unknown object with ID 74 is 23.8 meters away at (5.6, 23.1).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [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 unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 0.4) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 65 is 3.6 meters away at (1.8, -3.1). A vehicle with ID 62 is 8.5 meters away at (-8.5, -0.0). A vehicle with ID 59 is 9.2 meters away at (-2.9, -8.8). A vehicle with ID 57 is 14.0 meters away at (-12.9, -5.5). A vehicle with ID 52 is 16.3 meters away at (-7.5, -14.5). A unknown object with ID 74 is 19.7 meters away at (2.6, 19.5). A unknown object with ID 54 is 20.3 meters away at (-2.7, 20.1). A vehicle with ID 55 is 20.4 meters away at (-17.2, -10.9). A vehicle with ID 16 is 23.2 meters away at (23.1, 1.7). A vehicle with ID 60 is 23.9 meters away at (-12.2, -20.5).

The vehicle with ID 65 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 [-3.7583756  2.9159274] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.5) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 65 is 3.8 meters away at (1.5, -3.5). A vehicle with ID 62 is 8.8 meters away at (-8.8, -0.4). A vehicle with ID 59 is 9.7 meters away at (-3.1, -9.2). A vehicle with ID 57 is 14.4 meters away at (-13.2, -6.0). A vehicle with ID 52 is 16.7 meters away at (-7.7, -14.8). A vehicle with ID 16 is 19.1 meters away at (18.6, 4.5). A unknown object with ID 74 is 19.3 meters away at (2.4, 19.2). A unknown object with ID 54 is 19.9 meters away at (-3.0, 19.7). A vehicle with ID 55 is 20.8 meters away at (-17.4, -11.4). A vehicle with ID 77 is 21.2 meters away at (-13.2, -16.6).

The vehicle with ID 65 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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 [-0.85339046  0.44739002] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 [3.2734792 3.8395195] m/s.

Instruction: right u-turn approaching.