The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.4) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A vehicle with ID 26 is 10.8 meters away at (-9.3, 5.6). A vehicle with ID 20 is 25.5 meters away at (-22.8, 11.4). A vehicle with ID 30 is 34.3 meters away at (-34.1, -3.3). A cyclist with ID 39 is 35.5 meters away at (-23.3, 26.8). A vehicle with ID 33 is 35.9 meters away at (-9.9, 34.5). A cyclist with ID 31 is 37.3 meters away at (-37.3, 2.5). A vehicle with ID 36 is 37.4 meters away at (-37.3, -2.5). A vehicle with ID 38 is 38.8 meters away at (-15.9, 35.4). A vehicle with ID 37 is 39.9 meters away at (-39.8, 2.8). A pedestrian with ID 29 is 41.6 meters away at (-39.8, 12.2).

The vehicle with ID 26 is traveling at a (x, y) velocity of [-1.3680743  0.764763 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-6.189989  4.340791] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [ 7.741809  -5.7535634] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 0.05182473 -0.02379863] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.4033381 -0.8314328] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.9) m/s. Its current heading (yaw) is 2.60

The most relevant actors are: A vehicle with ID 26 is 11.2 meters away at (-9.6, 5.8). A cyclist with ID 39 is 13.2 meters away at (-3.0, 12.8). A vehicle with ID 30 is 31.8 meters away at (-31.4, -5.0). A vehicle with ID 33 is 33.6 meters away at (-7.1, 32.9). A cyclist with ID 31 is 34.4 meters away at (-34.4, 0.8). A vehicle with ID 36 is 34.8 meters away at (-34.5, -4.2). A pedestrian with ID 29 is 35.6 meters away at (-34.4, 9.1). A vehicle with ID 38 is 36.2 meters away at (-13.2, 33.7). A vehicle with ID 37 is 37.0 meters away at (-36.9, 1.3). A vehicle with ID 20 is 39.7 meters away at (-34.3, 19.9).

The vehicle with ID 26 is traveling at a (x, y) velocity of [-1.1839392   0.87197757] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [ 9.526999 -6.301251] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [0.00047312 0.01692731] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.1410042  -0.72938347] m/s.The vehicle with ID 38 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 20 is traveling at a (x, y) velocity of [-7.6678667  5.822675 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.9) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A vehicle with ID 26 is 9.0 meters away at (-7.4, 5.1). A cyclist with ID 39 is 21.1 meters away at (21.0, -1.7). A vehicle with ID 48 is 27.1 meters away at (-16.2, 21.8). A vehicle with ID 30 is 29.0 meters away at (-28.2, -6.9). A pedestrian with ID 29 is 29.3 meters away at (-28.8, 5.5). A vehicle with ID 33 is 31.2 meters away at (-3.9, 31.0). A cyclist with ID 31 is 31.2 meters away at (-31.2, -1.1). A vehicle with ID 36 is 31.9 meters away at (-31.3, -6.2). A cyclist with ID 44 is 32.1 meters away at (-27.2, 17.2). A pedestrian with ID 34 is 33.1 meters away at (-32.2, 7.9).

The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.49112347  0.90364933] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [11.075002  -6.4375935] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 7.3611646 -5.580099 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.1502978  -0.74072665] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-0.00736002  0.01504108] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [ 0.9706422 -1.6527171] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.3080221 -0.8041287] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.2) m/s. Its current heading (yaw) is 2.65

The most relevant actors are: A vehicle with ID 48 is 9.1 meters away at (2.9, 8.6). A vehicle with ID 26 is 9.3 meters away at (-6.1, 7.0). A pedestrian with ID 29 is 24.9 meters away at (-24.7, 3.2). A vehicle with ID 30 is 27.8 meters away at (-26.7, -7.8). A pedestrian with ID 34 is 28.7 meters away at (-28.2, 5.4). A cyclist with ID 31 is 29.8 meters away at (-29.8, -1.9). A cyclist with ID 44 is 29.8 meters away at (-25.3, 15.8). A vehicle with ID 33 is 30.2 meters away at (-2.4, 30.1). A vehicle with ID 36 is 30.6 meters away at (-29.8, -7.1). A vehicle with ID 38 is 32.0 meters away at (-8.5, 30.9).

The vehicle with ID 48 is traveling at a (x, y) velocity of [10.032104 -6.620243] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0.7613298 2.2755344] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.2005845 -0.9153062] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.2479101 -0.8914923] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-0.00201336 -0.01754656] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [0.01997791 0.00616121] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -2.0) m/s. Its current heading (yaw) is -0.31

The most relevant actors are: A unknown object with ID 43 is 5.0 meters away at (-3.0, 4.0). A unknown object with ID 46 is 5.0 meters away at (-2.2, 4.5). A unknown object with ID 47 is 5.9 meters away at (-2.0, 5.6). A unknown object with ID 42 is 6.2 meters away at (-4.2, 4.6). A unknown object with ID 45 is 6.8 meters away at (-2.6, 6.3). A unknown object with ID 26 is 19.6 meters away at (-2.9, -19.4). A unknown object with ID 27 is 22.8 meters away at (4.6, -22.3). A unknown object with ID 12 is 24.9 meters away at (7.9, -23.6). A unknown object with ID 11 is 27.1 meters away at (10.6, -24.9). A unknown object with ID 10 is 28.5 meters away at (12.4, -25.6).

The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-2.9837074  3.9873433], 4.980102062225342 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.4) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A unknown object with ID 46 is 17.1 meters away at (-14.6, 8.9). A pedestrian with ID 41 is 17.4 meters away at (-14.9, 9.0). A unknown object with ID 47 is 17.5 meters away at (-14.4, 10.0). A unknown object with ID 43 is 17.5 meters away at (-15.4, 8.4). A pedestrian with ID 35 is 18.0 meters away at (-15.4, 9.4). A unknown object with ID 45 is 18.4 meters away at (-15.1, 10.6). A unknown object with ID 42 is 18.9 meters away at (-16.7, 8.9). A unknown object with ID 27 is 19.6 meters away at (-7.8, -18.0). A unknown object with ID 12 is 19.8 meters away at (-4.5, -19.3). A unknown object with ID 19 is 20.1 meters away at (-11.7, -16.4).

The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [0.04379035 0.00100868] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.02180468 -0.04217956] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 59.38233  -42.365646]
 [ 62.69861  -43.55292 ]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-14.639394   8.853564], 17.108402252197266 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -2.2) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A vehicle with ID 17 is 19.4 meters away at (-18.0, 7.4). A unknown object with ID 6 is 19.8 meters away at (-9.2, -17.6). A unknown object with ID 5 is 19.9 meters away at (-6.6, -18.8). A unknown object with ID 3 is 20.1 meters away at (-4.7, -19.5). A unknown object with ID 10 is 20.2 meters away at (-11.5, -16.6). A unknown object with ID 11 is 20.7 meters away at (-13.3, -15.9). A unknown object with ID 12 is 21.7 meters away at (-16.0, -14.6). A unknown object with ID 27 is 23.5 meters away at (-19.3, -13.3). A cyclist with ID 49 is 23.9 meters away at (-23.8, 1.0). A pedestrian with ID 16 is 24.8 meters away at (24.3, -5.0).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 9.364052  -3.3031423] 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [10.170677 -5.006119] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.9646792 -1.2894787] m/s.

There are active red lights at the following coordinates: [[ 59.38233  -42.365646]
 [ 62.69861  -43.55292 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -1.3) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A vehicle with ID 17 is 12.3 meters away at (-11.4, 4.8). A cyclist with ID 49 is 15.2 meters away at (-14.7, -3.9). A pedestrian with ID 16 is 17.4 meters away at (17.0, -3.8). A unknown object with ID 3 is 21.0 meters away at (-13.7, -15.9). A unknown object with ID 5 is 21.7 meters away at (-15.6, -15.1). A unknown object with ID 6 is 22.9 meters away at (-18.2, -14.0). A unknown object with ID 8 is 24.2 meters away at (-17.3, -16.9). A unknown object with ID 10 is 24.3 meters away at (-20.5, -13.0). A unknown object with ID 30 is 25.0 meters away at (-7.9, -23.7). A unknown object with ID 11 is 25.4 meters away at (-22.3, -12.2).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 6.356931  -2.6882973] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [ 8.125863  -3.7648752] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.926923  -1.0625507] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 59.38233  -42.365646]
 [ 62.69861  -43.55292 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, 0.3) m/s. Its current heading (yaw) is 0.04

The most relevant actors are: A vehicle with ID 16 is 67.4 meters away at (-67.4, -0.7).

The vehicle with ID 16 is traveling at a (x, y) velocity of [-5.2628965 -4.225216 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 0.3) m/s. Its current heading (yaw) is 0.06

The most relevant actors are: A vehicle with ID 2 is 41.9 meters away at (-1.1, -41.9). A vehicle with ID 1 is 50.6 meters away at (-2.6, -50.5). A vehicle with ID 8 is 57.7 meters away at (-4.0, -57.5). A vehicle with ID 11 is 72.4 meters away at (-72.3, 4.5).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-3.7242177 -4.899856 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -0.5) m/s. Its current heading (yaw) is -0.15

The most relevant actors are: A vehicle with ID 2 is 43.0 meters away at (-8.3, -42.1). A vehicle with ID 1 is 51.7 meters away at (-9.6, -50.8).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -3.0) m/s. Its current heading (yaw) is -1.11

The most relevant actors are: A vehicle with ID 2 is 41.1 meters away at (-13.4, -38.9). A vehicle with ID 1 is 49.6 meters away at (-14.8, -47.3). A vehicle with ID 3 is 56.7 meters away at (-16.2, -54.4).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 4.4) m/s. Its current heading (yaw) is 2.27

The most relevant actors are: A vehicle with ID 2 is 14.3 meters away at (11.3, -8.8). A vehicle with ID 44 is 17.3 meters away at (-5.5, 16.4). A cyclist with ID 45 is 18.0 meters away at (11.8, 13.5). A vehicle with ID 47 is 20.6 meters away at (12.1, 16.7). A cyclist with ID 46 is 20.6 meters away at (13.5, 15.6). A vehicle with ID 49 is 20.6 meters away at (-15.1, -14.0). A vehicle with ID 51 is 22.8 meters away at (10.6, 20.2). A vehicle with ID 50 is 24.4 meters away at (17.7, 16.8). A vehicle with ID 54 is 28.3 meters away at (17.3, 22.4). A cyclist with ID 48 is 29.1 meters away at (-19.0, -22.0).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.124505   2.7904837] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.8016514 6.4261403] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [0.02380257 0.03661414] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [-0.1080872   0.05281149] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-1.5358355 -6.2305484] m/s.The vehicle with ID 51 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 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 48 is traveling at a (x, y) velocity of [-3.43447  -7.348741] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 5.3) m/s. Its current heading (yaw) is 1.78

The most relevant actors are: A vehicle with ID 2 is 13.4 meters away at (6.9, -11.5). A cyclist with ID 45 is 17.3 meters away at (16.8, 4.2). A vehicle with ID 47 is 18.6 meters away at (17.2, 7.3). A vehicle with ID 51 is 19.0 meters away at (15.6, 10.9). A cyclist with ID 46 is 19.5 meters away at (18.5, 6.2). A vehicle with ID 44 is 21.6 meters away at (7.8, 20.1). A vehicle with ID 50 is 23.9 meters away at (22.8, 7.4). A vehicle with ID 55 is 25.6 meters away at (20.4, 15.5). A vehicle with ID 54 is 25.8 meters away at (22.2, 13.1). A vehicle with ID 56 is 31.7 meters away at (-19.5, -25.0).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-4.201408   4.0542026] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [ 0.03375679 -0.03630388] m/s.The vehicle with ID 47 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 cyclist with ID 46 is traveling at a (x, y) velocity of [ 0.01314416 -0.04307373] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [5.8216386 7.0023866] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 4.3) m/s. Its current heading (yaw) is 0.96

The most relevant actors are: A vehicle with ID 2 is 12.3 meters away at (-1.1, -12.3). A vehicle with ID 51 is 13.9 meters away at (13.9, 0.8). A vehicle with ID 47 is 15.8 meters away at (15.5, -2.8). A cyclist with ID 45 is 16.3 meters away at (15.2, -5.9). A cyclist with ID 46 is 17.4 meters away at (17.0, -3.8). A vehicle with ID 55 is 19.5 meters away at (18.7, 5.3). A vehicle with ID 54 is 20.7 meters away at (20.5, 3.0). A vehicle with ID 50 is 21.3 meters away at (21.1, -2.6). A vehicle with ID 58 is 27.0 meters away at (25.7, 8.4). A vehicle with ID 38 is 27.6 meters away at (25.0, 11.7).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-1.8768303  5.2898517] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [ 0.01757219 -0.02896618] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [ 0.07264859 -0.02774575] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 5.3) m/s. Its current heading (yaw) is 0.83

The most relevant actors are: A vehicle with ID 51 is 10.5 meters away at (6.0, -8.6). A vehicle with ID 55 is 11.6 meters away at (10.8, -4.1). A vehicle with ID 54 is 14.2 meters away at (12.6, -6.4). A vehicle with ID 2 is 14.2 meters away at (-8.8, -11.1). A vehicle with ID 47 is 14.4 meters away at (7.6, -12.2). A cyclist with ID 45 is 17.1 meters away at (7.2, -15.5). A vehicle with ID 38 is 17.2 meters away at (17.1, 2.1). A vehicle with ID 58 is 17.9 meters away at (17.8, -1.1). A vehicle with ID 50 is 17.9 meters away at (13.2, -12.1). A vehicle with ID 59 is 22.2 meters away at (22.1, -1.8).

The vehicle with ID 51 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 54 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 [2.1133876 5.0733066] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [-0.01990625  0.03215274] m/s.The vehicle with ID 38 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 50 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 (0.5, -0.3) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A unknown object with ID 10 is 2.7 meters away at (-2.6, -1.0). A unknown object with ID 14 is 3.6 meters away at (1.2, -3.4). A vehicle with ID 12 is 4.0 meters away at (0.7, 4.0). A unknown object with ID 13 is 6.4 meters away at (-6.2, 1.5). A pedestrian with ID 17 is 13.1 meters away at (11.4, 6.4). A unknown object with ID 18 is 15.4 meters away at (-14.0, 6.5). A pedestrian with ID 11 is 19.2 meters away at (12.5, 14.6). A vehicle with ID 22 is 20.9 meters away at (7.6, -19.5). A vehicle with ID 25 is 23.6 meters away at (-17.7, 15.6). A vehicle with ID 27 is 25.5 meters away at (6.7, -24.6).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 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 17 is traveling at a (x, y) velocity of [-0.95222366 -1.2434461 ] m/s.The unknown object with ID 18 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 [ 0.16755918 -0.82138497] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 5.329269 -3.48537 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A unknown object with ID 10 is 2.9 meters away at (-2.7, -0.9). A unknown object with ID 14 is 3.4 meters away at (1.0, -3.3). A vehicle with ID 12 is 4.1 meters away at (0.5, 4.1). A unknown object with ID 13 is 6.6 meters away at (-6.4, 1.6). A pedestrian with ID 17 is 10.5 meters away at (9.7, 4.0). A unknown object with ID 18 is 15.6 meters away at (-14.1, 6.6). A vehicle with ID 25 is 15.7 meters away at (-11.0, 11.2). A pedestrian with ID 11 is 16.4 meters away at (12.1, 11.1). A vehicle with ID 22 is 20.7 meters away at (7.4, -19.3). A vehicle with ID 27 is 25.3 meters away at (6.6, -24.4).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 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 17 is traveling at a (x, y) velocity of [-0.91355556 -1.2460934 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.9957095 -1.2877204] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.34547094 -1.5085497 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A unknown object with ID 10 is 2.9 meters away at (-2.8, -0.8). A unknown object with ID 14 is 3.4 meters away at (1.0, -3.2). A vehicle with ID 12 is 4.1 meters away at (0.5, 4.1). A unknown object with ID 13 is 6.7 meters away at (-6.5, 1.6). A pedestrian with ID 17 is 8.3 meters away at (8.2, 1.5). A vehicle with ID 25 is 13.3 meters away at (-8.9, 9.8). A pedestrian with ID 11 is 13.8 meters away at (11.2, 8.0). A unknown object with ID 18 is 15.6 meters away at (-14.2, 6.6). A vehicle with ID 22 is 20.7 meters away at (7.4, -19.3). A pedestrian with ID 20 is 25.1 meters away at (-23.9, 7.5).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 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 17 is traveling at a (x, y) velocity of [-0.8281045 -1.3014045] m/s.The vehicle with ID 25 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 [-0.45005646 -1.5049422 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.1575155 -0.7654519] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-2.756796  -0.8295047], 2.8788890838623047 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A unknown object with ID 10 is 2.9 meters away at (-2.8, -0.8). A unknown object with ID 14 is 3.4 meters away at (0.9, -3.2). A vehicle with ID 12 is 4.2 meters away at (0.5, 4.1). A pedestrian with ID 17 is 6.5 meters away at (6.5, -0.9). A unknown object with ID 13 is 6.7 meters away at (-6.5, 1.6). A pedestrian with ID 11 is 11.4 meters away at (10.2, 5.0). A vehicle with ID 25 is 13.1 meters away at (-8.8, 9.7). A unknown object with ID 18 is 15.6 meters away at (-14.2, 6.6). A vehicle with ID 22 is 20.7 meters away at (7.4, -19.3). A pedestrian with ID 20 is 22.6 meters away at (-21.7, 6.1).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 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 [-0.9370199 -1.2200515] m/s.The unknown object with ID 13 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 [-0.5502936 -1.475917 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.1291728 -0.7382832] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 2.5) m/s. Its current heading (yaw) is 0.62

The most relevant actors are: A vehicle with ID 1 is 17.7 meters away at (12.3, 12.8). A vehicle with ID 10 is 37.4 meters away at (37.4, 1.1). A vehicle with ID 11 is 41.7 meters away at (41.4, -4.5). A vehicle with ID 5 is 66.0 meters away at (58.9, -29.8).

The vehicle with ID 1 is traveling at a (x, y) velocity of [2.327641  6.1404505] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.0406677  1.3980862] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.9251942  1.1384221] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.5658722  5.050858 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.2) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A vehicle with ID 1 is 21.3 meters away at (3.5, 21.0). A vehicle with ID 10 is 27.8 meters away at (27.3, -5.2). A vehicle with ID 11 is 34.0 meters away at (32.0, -11.6). A vehicle with ID 5 is 52.8 meters away at (44.1, -29.1). A vehicle with ID 8 is 66.0 meters away at (52.0, -40.7). A cyclist with ID 2 is 71.2 meters away at (-41.5, -57.8).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.5112183  8.469506 ] 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.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.1472003  2.9325235] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.430216  4.913917] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-0.05140072  0.17572285] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 7.9) m/s. Its current heading (yaw) is 1.64

The most relevant actors are: A unknown object with ID 4 is 12.9 meters away at (-12.2, 4.3). A vehicle with ID 1 is 27.8 meters away at (-11.6, 25.3). A vehicle with ID 10 is 29.3 meters away at (22.4, -18.8). A vehicle with ID 11 is 36.9 meters away at (26.9, -25.3). A vehicle with ID 7 is 42.6 meters away at (-23.6, 35.4). A vehicle with ID 5 is 53.3 meters away at (36.3, -39.1). A vehicle with ID 8 is 63.1 meters away at (41.9, -47.2). A vehicle with ID 9 is 74.0 meters away at (48.0, -56.3).

The unknown object with ID 4 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 [-7.0249743  9.511155 ] 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.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 5.5789204 -7.652215 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-0.6060074   0.77399606] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.4515007  2.0509183] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.1431475  2.9233518] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-12.150068   4.342018], 12.902607917785645 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 8.5) m/s. Its current heading (yaw) is 2.10

The most relevant actors are: A vehicle with ID 7 is 10.6 meters away at (-8.7, 6.1). A unknown object with ID 4 is 14.0 meters away at (-6.2, -12.5). A vehicle with ID 1 is 36.8 meters away at (-21.8, 29.7). A vehicle with ID 10 is 45.6 meters away at (28.5, -35.5). A vehicle with ID 11 is 53.1 meters away at (32.9, -41.7).

The vehicle with ID 7 is traveling at a (x, y) velocity of [ 3.4150841 -4.6714244] m/s.The unknown object with ID 4 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 [-8.968616 11.772698] 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.

There are active red lights at the following coordinates: [[15.511304 28.630638]
 [12.881655 26.692625]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 0.1) m/s. Its current heading (yaw) is 0.05

The most relevant actors are: A vehicle with ID 72 is 17.5 meters away at (1.1, 17.4). A vehicle with ID 30 is 21.1 meters away at (1.5, 21.0). A vehicle with ID 73 is 22.0 meters away at (-20.3, -8.5). A vehicle with ID 68 is 27.8 meters away at (-16.0, 22.7). A unknown object with ID 77 is 30.2 meters away at (26.0, -15.2). A vehicle with ID 75 is 31.0 meters away at (-21.5, 22.3). A unknown object with ID 82 is 32.8 meters away at (28.2, -16.6). A vehicle with ID 76 is 34.8 meters away at (-26.3, -22.8). A unknown object with ID 84 is 35.5 meters away at (32.0, -15.4). A vehicle with ID 78 is 36.9 meters away at (-29.7, 21.9).

The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 2.8) m/s. Its current heading (yaw) is 0.61

The most relevant actors are: A unknown object with ID 39 is 7.9 meters away at (-3.4, 7.1). A vehicle with ID 72 is 16.2 meters away at (-4.9, 15.5). A vehicle with ID 30 is 19.6 meters away at (-4.5, 19.1). A unknown object with ID 77 is 26.3 meters away at (19.7, -17.4). A vehicle with ID 73 is 28.4 meters away at (-26.5, -10.3). A unknown object with ID 82 is 28.9 meters away at (21.9, -18.8). A vehicle with ID 68 is 30.4 meters away at (-22.1, 20.9). A unknown object with ID 34 is 30.8 meters away at (13.9, -27.5). A unknown object with ID 84 is 31.1 meters away at (25.7, -17.6). A unknown object with ID 85 is 33.8 meters away at (28.0, -18.9).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 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 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-3.3577614  7.1460567], 7.895611763000488 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 6.4) m/s. Its current heading (yaw) is 1.36

The most relevant actors are: A vehicle with ID 72 is 12.4 meters away at (-10.9, 5.9). A vehicle with ID 30 is 14.2 meters away at (-10.5, 9.5). A unknown object with ID 45 is 27.8 meters away at (7.7, -26.8). A unknown object with ID 51 is 29.8 meters away at (9.8, -28.1). A unknown object with ID 77 is 30.2 meters away at (13.8, -26.8). A vehicle with ID 68 is 30.3 meters away at (-28.2, 11.1). A unknown object with ID 82 is 32.5 meters away at (16.0, -28.2). A unknown object with ID 84 is 33.5 meters away at (19.8, -27.0). A vehicle with ID 66 is 34.0 meters away at (-24.9, 23.1). A vehicle with ID 75 is 35.4 meters away at (-33.7, 10.7).

The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 7.8) m/s. Its current heading (yaw) is 1.58

The most relevant actors are: A pedestrian with ID 11 is 12.4 meters away at (-11.3, 5.1). A vehicle with ID 30 is 12.6 meters away at (-11.6, -4.8). A vehicle with ID 72 is 14.6 meters away at (-11.9, -8.5). A vehicle with ID 66 is 27.4 meters away at (-25.9, 8.8). A vehicle with ID 68 is 29.5 meters away at (-29.3, -3.3). A vehicle with ID 67 is 30.0 meters away at (-26.2, 14.7). A vehicle with ID 69 is 30.4 meters away at (-28.8, 9.8). A vehicle with ID 13 is 32.5 meters away at (-28.9, 14.9). A vehicle with ID 2 is 34.5 meters away at (-11.4, 32.5). A vehicle with ID 75 is 35.0 meters away at (-34.8, -3.6).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.4537106  0.02681212] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 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 75 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 (-2.0, 1.6) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A vehicle with ID 54 is 4.0 meters away at (3.8, 1.0). A unknown object with ID 56 is 11.8 meters away at (10.9, -4.5). A vehicle with ID 14 is 12.6 meters away at (9.7, -7.9). A vehicle with ID 57 is 13.7 meters away at (-5.1, -12.6). A vehicle with ID 59 is 14.1 meters away at (-7.9, -11.7). A vehicle with ID 58 is 15.5 meters away at (13.8, -7.1). A vehicle with ID 60 is 18.0 meters away at (0.3, -18.0). A vehicle with ID 61 is 19.8 meters away at (2.5, -19.7). A unknown object with ID 47 is 21.3 meters away at (5.9, -20.5). A vehicle with ID 62 is 21.6 meters away at (-19.1, -10.1).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.7862036  2.3864176] 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 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 (-5.2, 2.7) m/s. Its current heading (yaw) is 2.66

The most relevant actors are: A vehicle with ID 54 is 12.3 meters away at (11.7, -3.9). A vehicle with ID 14 is 15.3 meters away at (12.6, -8.7). A vehicle with ID 72 is 15.9 meters away at (-7.5, -14.0). A vehicle with ID 63 is 16.2 meters away at (-0.9, 16.2). A vehicle with ID 59 is 16.4 meters away at (-0.1, -16.4). A vehicle with ID 57 is 17.7 meters away at (2.5, -17.5). A vehicle with ID 62 is 18.6 meters away at (-11.2, -14.8). A unknown object with ID 56 is 21.1 meters away at (18.8, -9.4). A vehicle with ID 66 is 22.1 meters away at (1.1, 22.1). A vehicle with ID 65 is 23.2 meters away at (-12.7, -19.4).

The vehicle with ID 54 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 [-2.1439884  1.8912675] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [1.1984504 4.56576  ] m/s.The vehicle with ID 63 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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 (-6.8, 2.4) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A vehicle with ID 50 is 11.3 meters away at (-11.0, -2.5). A vehicle with ID 72 is 15.3 meters away at (5.8, -14.2). A vehicle with ID 51 is 15.6 meters away at (-15.5, -1.1). A vehicle with ID 63 is 15.9 meters away at (11.0, 11.5). A vehicle with ID 62 is 19.5 meters away at (0.9, -19.5). A unknown object with ID 27 is 20.3 meters away at (12.8, -15.8). A vehicle with ID 53 is 20.9 meters away at (-20.9, 0.5). A vehicle with ID 66 is 21.7 meters away at (13.0, 17.4). A vehicle with ID 65 is 24.0 meters away at (-0.7, -24.0). A vehicle with ID 59 is 24.3 meters away at (12.0, -21.1).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0.38936085 1.2894773 ] m/s.The vehicle with ID 51 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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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.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 (-6.8, 2.3) m/s. Its current heading (yaw) is 2.82

The most relevant actors are: A vehicle with ID 51 is 5.9 meters away at (-1.8, -5.6). A vehicle with ID 50 is 7.5 meters away at (2.7, -7.0). A vehicle with ID 53 is 8.1 meters away at (-7.1, -4.0). A vehicle with ID 52 is 11.8 meters away at (-11.6, -2.3). A vehicle with ID 48 is 12.4 meters away at (-10.5, 6.6). A vehicle with ID 49 is 17.3 meters away at (-15.3, 8.0). A vehicle with ID 72 is 26.5 meters away at (21.8, -15.1). A vehicle with ID 14 is 36.0 meters away at (33.4, -13.4). A vehicle with ID 55 is 36.3 meters away at (-35.9, 5.5). A vehicle with ID 59 is 36.4 meters away at (25.9, -25.6).

The vehicle with ID 51 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 53 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 48 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 72 is traveling at a (x, y) velocity of [2.7087533 2.0545704] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.9400353  1.7325354] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -5.8) m/s. Its current heading (yaw) is -0.85

The most relevant actors are: A vehicle with ID 65 is 4.4 meters away at (1.2, 4.3). A vehicle with ID 74 is 7.7 meters away at (7.4, 2.1). A vehicle with ID 63 is 8.7 meters away at (1.8, 8.5). A pedestrian with ID 71 is 9.7 meters away at (-5.6, -8.0). A vehicle with ID 57 is 11.0 meters away at (-4.0, 10.3). A vehicle with ID 84 is 13.1 meters away at (12.7, -3.1). A vehicle with ID 68 is 14.1 meters away at (2.8, 13.8). A vehicle with ID 59 is 14.2 meters away at (-2.6, 13.9). A vehicle with ID 18 is 14.2 meters away at (-9.2, 10.9). A pedestrian with ID 80 is 15.4 meters away at (1.1, -15.4).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.9213115 -1.2437446] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-0.8050754   0.92902744] m/s.The vehicle with ID 59 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 [ 5.753833  -5.8325143] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.862039 -1.150985] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -6.1) m/s. Its current heading (yaw) is -0.78

The most relevant actors are: A vehicle with ID 84 is 8.7 meters away at (1.3, 8.6). A pedestrian with ID 80 is 10.5 meters away at (-8.8, -5.7). A pedestrian with ID 81 is 10.9 meters away at (-9.0, -6.1). A vehicle with ID 18 is 12.9 meters away at (-9.0, 9.3). A vehicle with ID 74 is 14.5 meters away at (-3.9, 13.9). A pedestrian with ID 71 is 15.3 meters away at (-15.2, 1.9). A pedestrian with ID 89 is 17.5 meters away at (17.0, 4.4). A vehicle with ID 65 is 19.1 meters away at (-10.1, 16.2). A vehicle with ID 63 is 22.4 meters away at (-9.5, 20.3). A vehicle with ID 57 is 27.1 meters away at (-15.4, 22.3).

The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.8925319  -0.98045295] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.9347647 -0.9780067] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 6.0727057 -6.8079314] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.9520589 -1.0537413] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.9832078 -0.9984698] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.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 (7.2, -6.0) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A vehicle with ID 18 is 12.5 meters away at (-9.3, 8.3). A pedestrian with ID 89 is 15.8 meters away at (5.5, 14.8). A pedestrian with ID 54 is 17.1 meters away at (5.3, -16.2). A pedestrian with ID 80 is 20.9 meters away at (-20.3, 4.7). A pedestrian with ID 81 is 21.1 meters away at (-20.7, 4.1). A pedestrian with ID 104 is 23.3 meters away at (23.0, 3.6). A pedestrian with ID 105 is 23.4 meters away at (23.2, 2.4). A vehicle with ID 84 is 24.2 meters away at (-12.1, 20.9). A pedestrian with ID 103 is 28.5 meters away at (28.4, -2.7). A pedestrian with ID 71 is 29.2 meters away at (-26.6, 12.0).

The vehicle with ID 18 is traveling at a (x, y) velocity of [ 6.856515 -6.317648] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 1.0894371  -0.85693955] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-2.8105514  2.1492763] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.97852963 -0.94823724] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.9366446 -0.9827455] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [-1.0502601  0.7539718] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [-0.8842498   0.72785515] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [ 1.1470402 -0.7495629] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.9923637 -1.1582594] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -5.7) m/s. Its current heading (yaw) is -0.62

The most relevant actors are: A vehicle with ID 18 is 13.6 meters away at (-10.8, 8.1). A pedestrian with ID 54 is 15.5 meters away at (-15.5, -0.1). A pedestrian with ID 105 is 16.9 meters away at (6.1, 15.8). A pedestrian with ID 103 is 17.0 meters away at (15.4, 7.3). A pedestrian with ID 104 is 17.9 meters away at (5.8, 16.9). A pedestrian with ID 48 is 26.0 meters away at (25.9, 1.9). A pedestrian with ID 89 is 26.2 meters away at (-7.8, 25.0). A pedestrian with ID 36 is 30.9 meters away at (30.6, -4.0). A pedestrian with ID 37 is 31.2 meters away at (31.0, -3.3). A pedestrian with ID 80 is 36.7 meters away at (-33.7, 14.6).

The vehicle with ID 18 is traveling at a (x, y) velocity of [ 7.3613653 -6.0360913] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-2.6698225  2.0403037] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [-0.8803582  0.7390589] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [ 1.1131235 -0.8990489] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [-0.9358076  0.741842 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.0230051   0.71230316] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.9392348 -0.8789965] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.0368572  -0.63709694] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.0170753  -0.66089064] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.96188444 -1.0613269 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -4.0) m/s. Its current heading (yaw) is -2.36

The most relevant actors are: A vehicle with ID 27 is 6.9 meters away at (6.5, 2.4). A unknown object with ID 19 is 13.3 meters away at (-1.9, -13.2). A unknown object with ID 10 is 13.3 meters away at (-0.9, -13.3). A unknown object with ID 29 is 13.4 meters away at (-1.1, -13.3). A unknown object with ID 22 is 14.0 meters away at (-10.4, 9.3). A unknown object with ID 23 is 14.1 meters away at (-9.8, 10.1). A unknown object with ID 18 is 14.8 meters away at (-3.4, -14.4). A unknown object with ID 24 is 14.9 meters away at (-11.1, 9.9). A unknown object with ID 25 is 15.1 meters away at (-10.7, 10.7). A unknown object with ID 20 is 16.8 meters away at (-4.3, -16.2).

The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.4635625 -7.1002574] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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.

There are active red lights at the following coordinates: [[-47.47491 -51.10681]
 [-47.30726 -50.92136]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -3.6) m/s. Its current heading (yaw) is -2.38

The most relevant actors are: A vehicle with ID 27 is 4.9 meters away at (3.1, -3.8). A unknown object with ID 18 is 8.1 meters away at (4.4, -6.8). A unknown object with ID 19 is 8.1 meters away at (5.9, -5.6). A unknown object with ID 20 is 9.3 meters away at (3.5, -8.6). A unknown object with ID 1 is 10.8 meters away at (2.2, -10.6). A unknown object with ID 22 is 17.0 meters away at (-2.6, 16.8). A unknown object with ID 24 is 17.7 meters away at (-3.3, 17.4). A unknown object with ID 23 is 17.8 meters away at (-2.1, 17.7). A unknown object with ID 25 is 18.5 meters away at (-2.9, 18.2). A vehicle with ID 28 is 32.6 meters away at (-21.5, -24.5).

The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.442435  -6.9241004] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -3.4) m/s. Its current heading (yaw) is -2.34

The most relevant actors are: A unknown object with ID 1 is 10.0 meters away at (9.3, -3.7). A unknown object with ID 20 is 10.8 meters away at (10.6, -1.7). A unknown object with ID 18 is 11.5 meters away at (11.5, 0.1). A vehicle with ID 27 is 11.6 meters away at (1.0, -11.5). A unknown object with ID 19 is 13.1 meters away at (13.0, 1.3). A vehicle with ID 28 is 22.7 meters away at (-14.5, -17.4). A unknown object with ID 22 is 24.2 meters away at (4.6, 23.8). A unknown object with ID 24 is 24.8 meters away at (3.9, 24.5). A unknown object with ID 23 is 25.1 meters away at (5.2, 24.6). A unknown object with ID 25 is 25.5 meters away at (4.3, 25.2).

The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 [-3.379805 -8.054558] m/s.The unknown object with ID 19 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 unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 9.305955 -3.655531], 9.998185157775879 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.3) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A unknown object with ID 1 is 14.6 meters away at (14.5, 2.0). A vehicle with ID 28 is 14.9 meters away at (-9.3, -11.6). A unknown object with ID 15 is 15.6 meters away at (15.2, 3.4). A unknown object with ID 20 is 16.3 meters away at (15.8, 4.0). A unknown object with ID 18 is 17.6 meters away at (16.6, 5.8). A unknown object with ID 19 is 19.5 meters away at (18.2, 7.0). A vehicle with ID 27 is 22.2 meters away at (1.7, -22.1). A unknown object with ID 22 is 31.1 meters away at (9.8, 29.5). A unknown object with ID 24 is 31.6 meters away at (9.3, 30.2). A unknown object with ID 23 is 32.1 meters away at (10.4, 30.3).

The unknown object with ID 1 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 unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.2368723 -7.520366 ] 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [14.459749   1.9886589], 14.59585952758789 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 10 is 6.1 meters away at (-2.1, 5.7). A vehicle with ID 11 is 7.5 meters away at (-6.1, 4.5). A vehicle with ID 13 is 9.4 meters away at (-5.6, -7.6). A vehicle with ID 14 is 9.7 meters away at (8.2, -5.2). A vehicle with ID 15 is 10.5 meters away at (-1.0, -10.4). A vehicle with ID 17 is 11.3 meters away at (-10.4, -4.5). A vehicle with ID 21 is 16.0 meters away at (15.7, -3.1). A pedestrian with ID 16 is 20.5 meters away at (20.4, -1.9). A vehicle with ID 25 is 21.8 meters away at (20.8, -6.3). A vehicle with ID 26 is 23.6 meters away at (21.3, -10.2).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.1583045  1.451448 ] m/s.The vehicle with ID 11 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 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.34369183  0.22143403] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.4594445  -0.19798014] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 11 is 7.5 meters away at (-6.0, 4.5). A vehicle with ID 10 is 8.4 meters away at (-4.3, 7.2). A vehicle with ID 13 is 9.4 meters away at (-5.6, -7.6). A vehicle with ID 14 is 9.7 meters away at (8.2, -5.2). A vehicle with ID 15 is 10.5 meters away at (-1.0, -10.4). A vehicle with ID 17 is 11.3 meters away at (-10.4, -4.5). A vehicle with ID 21 is 16.0 meters away at (15.7, -3.1). A vehicle with ID 26 is 19.0 meters away at (16.5, -9.5). A pedestrian with ID 16 is 19.8 meters away at (19.8, -1.4). A vehicle with ID 25 is 21.8 meters away at (20.8, -6.3).

The vehicle with ID 11 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 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-1.6832311  0.50254  ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.04302106  0.01471272] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 11 is 7.5 meters away at (-6.0, 4.5). A vehicle with ID 10 is 8.4 meters away at (-4.3, 7.2). A vehicle with ID 13 is 9.4 meters away at (-5.6, -7.6). A vehicle with ID 14 is 9.7 meters away at (8.2, -5.2). A vehicle with ID 15 is 10.5 meters away at (-0.9, -10.4). A vehicle with ID 17 is 11.3 meters away at (-10.4, -4.5). A vehicle with ID 21 is 16.0 meters away at (15.7, -3.1). A vehicle with ID 26 is 17.4 meters away at (15.0, -8.8). A pedestrian with ID 16 is 20.1 meters away at (20.0, -1.9). A vehicle with ID 25 is 21.8 meters away at (20.8, -6.3).

The vehicle with ID 11 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 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 [ 0.39950934 -0.33955917] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 11 is 7.5 meters away at (-6.0, 4.5). A vehicle with ID 10 is 8.4 meters away at (-4.4, 7.2). A vehicle with ID 13 is 9.4 meters away at (-5.6, -7.6). A vehicle with ID 14 is 9.7 meters away at (8.2, -5.2). A vehicle with ID 15 is 10.5 meters away at (-0.9, -10.4). A vehicle with ID 17 is 11.3 meters away at (-10.4, -4.5). A vehicle with ID 21 is 16.0 meters away at (15.7, -3.1). A vehicle with ID 26 is 17.3 meters away at (14.9, -8.8). A pedestrian with ID 16 is 20.8 meters away at (20.7, -2.5). A vehicle with ID 25 is 21.8 meters away at (20.9, -6.3).

The vehicle with ID 11 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 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 [ 0.33139768 -0.24277242] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -3.7) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 8 is 16.2 meters away at (-12.0, 10.8). A vehicle with ID 7 is 39.4 meters away at (-30.9, 24.5). A unknown object with ID 9 is 49.9 meters away at (-43.4, 24.6).

The vehicle with ID 8 is traveling at a (x, y) velocity of [ 4.049081  -3.7416217] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-6.189543  5.361223] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -3.2) m/s. Its current heading (yaw) is -0.60

The most relevant actors are: A vehicle with ID 8 is 17.3 meters away at (-13.8, 10.5). A vehicle with ID 6 is 46.4 meters away at (-34.7, 30.9).

The vehicle with ID 8 is traveling at a (x, y) velocity of [ 3.0518746 -3.802849 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.8089814 -5.3235593] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -2.8) m/s. Its current heading (yaw) is -0.48

The most relevant actors are: A vehicle with ID 8 is 21.3 meters away at (-19.7, 8.1). A vehicle with ID 6 is 43.8 meters away at (-34.1, 27.5).

The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.63517636 -4.732748  ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.7892056 -4.3898263] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -2.7) m/s. Its current heading (yaw) is -0.42

The most relevant actors are: A vehicle with ID 8 is 32.5 meters away at (-32.4, 2.2). A vehicle with ID 6 is 43.8 meters away at (-36.4, 24.3).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.5035586 -6.6072536] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 3.5831938 -3.808675 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -1.5) m/s. Its current heading (yaw) is -0.42

The most relevant actors are: A vehicle with ID 18 is 6.8 meters away at (1.2, 6.7). A vehicle with ID 22 is 8.8 meters away at (8.2, 3.1). A vehicle with ID 19 is 8.8 meters away at (8.8, -0.3). A vehicle with ID 23 is 12.4 meters away at (-6.7, 10.4). A unknown object with ID 25 is 14.3 meters away at (-5.5, -13.2). A unknown object with ID 4 is 15.2 meters away at (-7.4, -13.2). A pedestrian with ID 27 is 19.1 meters away at (18.8, 3.4). A pedestrian with ID 33 is 19.5 meters away at (-4.6, 19.0). A pedestrian with ID 29 is 20.6 meters away at (20.1, 4.4). A vehicle with ID 31 is 21.2 meters away at (-7.7, -19.8).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.02040553  0.00336162] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.1964049   0.42337996] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01202234  0.00155297] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -0.7) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A vehicle with ID 19 is 4.2 meters away at (3.7, 1.9). A vehicle with ID 22 is 6.1 meters away at (3.0, 5.3). A unknown object with ID 9 is 9.4 meters away at (8.1, 4.9). A vehicle with ID 18 is 9.7 meters away at (-4.0, 8.9). A pedestrian with ID 27 is 14.6 meters away at (13.5, 5.6). A pedestrian with ID 29 is 16.2 meters away at (14.8, 6.6). A vehicle with ID 23 is 17.4 meters away at (-12.0, 12.7). A vehicle with ID 60 is 18.7 meters away at (18.3, -3.8). A vehicle with ID 32 is 21.8 meters away at (-10.7, -19.0). A vehicle with ID 31 is 21.9 meters away at (-12.9, -17.7).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 pedestrian with ID 27 is traveling at a (x, y) velocity of [0.01248475 0.0061118 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.00683624 0.00801039] m/s.The vehicle with ID 23 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 [-4.544319  -3.1859636] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.48

The most relevant actors are: A vehicle with ID 19 is 3.4 meters away at (2.6, 2.3). A vehicle with ID 22 is 6.0 meters away at (1.8, 5.8). A vehicle with ID 60 is 8.8 meters away at (5.7, -6.7). A vehicle with ID 18 is 10.7 meters away at (-5.2, 9.3). A pedestrian with ID 27 is 13.7 meters away at (12.3, 6.1). A pedestrian with ID 29 is 15.4 meters away at (13.7, 7.1). A cyclist with ID 38 is 15.6 meters away at (-12.7, 9.1). A vehicle with ID 23 is 18.6 meters away at (-13.2, 13.2). A vehicle with ID 32 is 22.0 meters away at (-11.9, -18.5). A vehicle with ID 31 is 22.2 meters away at (-14.1, -17.2).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-6.19652     0.36145514] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00073448 -0.00371892] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00082572 -0.01027389] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 5.2585173 -2.8316276] m/s.The vehicle with ID 23 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48

The most relevant actors are: A vehicle with ID 19 is 3.4 meters away at (2.4, 2.3). A vehicle with ID 22 is 6.0 meters away at (1.7, 5.8). A vehicle with ID 60 is 6.6 meters away at (-5.9, -3.0). A cyclist with ID 38 is 7.2 meters away at (-5.1, 5.1). A vehicle with ID 18 is 10.8 meters away at (-5.3, 9.4). A vehicle with ID 42 is 12.3 meters away at (11.2, -5.3). A pedestrian with ID 27 is 13.6 meters away at (12.1, 6.2). A pedestrian with ID 29 is 15.3 meters away at (13.6, 7.1). A unknown object with ID 17 is 17.4 meters away at (-13.9, -10.5). A vehicle with ID 23 is 18.7 meters away at (-13.3, 13.2).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-5.9863853  2.5159748] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 2.8455021 -1.2875905] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-6.8855314 -2.0728471] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00572556  0.00094279] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00442709  0.0006386 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 3.6) m/s. Its current heading (yaw) is 0.99

The most relevant actors are: A vehicle with ID 20 is 2.9 meters away at (2.0, -2.1). A vehicle with ID 61 is 6.5 meters away at (-0.7, -6.4). A vehicle with ID 54 is 7.5 meters away at (6.2, 4.2). A unknown object with ID 79 is 8.4 meters away at (5.9, 6.0). A vehicle with ID 57 is 11.5 meters away at (-3.7, -10.9). A pedestrian with ID 78 is 11.6 meters away at (-6.1, 9.9). A unknown object with ID 76 is 12.5 meters away at (-8.1, 9.5). A pedestrian with ID 82 is 12.6 meters away at (-6.1, 11.0). A vehicle with ID 7 is 12.9 meters away at (-7.2, -10.7). A unknown object with ID 55 is 14.4 meters away at (9.9, 10.5).

The vehicle with ID 20 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 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.1349846  -0.03108316] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-0.94676703 -0.3634405 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [2.5918767 3.9963276] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 2.2) m/s. Its current heading (yaw) is 1.01

The most relevant actors are: A unknown object with ID 79 is 2.4 meters away at (2.3, 0.6). A vehicle with ID 54 is 2.7 meters away at (2.5, -1.2). A vehicle with ID 20 is 7.6 meters away at (-1.7, -7.4). A unknown object with ID 55 is 8.0 meters away at (6.2, 5.1). A vehicle with ID 7 is 11.5 meters away at (-6.5, -9.5). A pedestrian with ID 78 is 11.7 meters away at (-11.1, 3.7). A unknown object with ID 76 is 12.5 meters away at (-11.8, 4.1). A vehicle with ID 61 is 12.8 meters away at (-4.5, -12.0). A pedestrian with ID 82 is 13.0 meters away at (-12.2, 4.4). A vehicle with ID 83 is 13.9 meters away at (8.5, 11.0).

The unknown object with ID 79 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.8845874 2.9404888] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.1633756  -0.48968565] m/s.The unknown object with ID 76 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 82 is traveling at a (x, y) velocity of [-1.1454228  -0.42199796] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [2.304018   0.56317997], 2.371849536895752 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.6) m/s. Its current heading (yaw) is 0.99

The most relevant actors are: A unknown object with ID 79 is 2.8 meters away at (-0.1, -2.8). A unknown object with ID 55 is 4.1 meters away at (3.7, 1.7). A vehicle with ID 54 is 4.6 meters away at (0.1, -4.6). A vehicle with ID 7 is 9.8 meters away at (-5.6, -8.1). A unknown object with ID 42 is 9.9 meters away at (-5.7, 8.1). A vehicle with ID 20 is 11.6 meters away at (-4.1, -10.9). A vehicle with ID 83 is 12.1 meters away at (7.5, 9.5). A pedestrian with ID 65 is 12.6 meters away at (1.4, 12.5). A pedestrian with ID 67 is 13.2 meters away at (1.4, 13.1). A unknown object with ID 76 is 14.3 meters away at (-14.3, 0.6).

The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.3300333 2.1350641] m/s.The unknown object with ID 42 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 83 is traveling at a (x, y) velocity of [1.4626601 2.3861399] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.02090465  0.00031235] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.0175912   0.00857364] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 1.9) m/s. Its current heading (yaw) is 0.91

The most relevant actors are: A unknown object with ID 55 is 2.2 meters away at (1.0, -1.9). A unknown object with ID 79 is 7.1 meters away at (-2.9, -6.5). A vehicle with ID 54 is 8.6 meters away at (-2.6, -8.2). A pedestrian with ID 65 is 9.0 meters away at (-1.3, 8.9). A unknown object with ID 42 is 9.5 meters away at (-8.4, 4.4). A pedestrian with ID 67 is 9.6 meters away at (-1.2, 9.5). A vehicle with ID 7 is 9.9 meters away at (-5.9, -8.0). A pedestrian with ID 69 is 11.3 meters away at (-0.9, 11.3). A pedestrian with ID 93 is 11.4 meters away at (-0.9, 11.4). A pedestrian with ID 71 is 12.0 meters away at (-0.6, 11.9).

The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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 [-0.01078139  0.0060474 ] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.00752463  0.00293556] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.1905117 1.8218842] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.01913529 -0.01168604] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.01056996 -0.06578633] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.01356844  0.00042247] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 1.0287952 -1.9318485], 2.188711643218994 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 2.4) m/s. Its current heading (yaw) is 2.63

The most relevant actors are: A unknown object with ID 39 is 9.3 meters away at (-8.3, -4.1). A vehicle with ID 38 is 9.6 meters away at (4.0, -8.7). A pedestrian with ID 27 is 24.6 meters away at (10.0, -22.5). A unknown object with ID 40 is 30.1 meters away at (24.2, -17.9). A unknown object with ID 41 is 31.9 meters away at (25.5, -19.1). A vehicle with ID 45 is 48.1 meters away at (36.5, -31.3). A vehicle with ID 43 is 49.8 meters away at (-46.3, -18.4). A vehicle with ID 44 is 57.4 meters away at (40.9, -40.3). A vehicle with ID 11 is 58.9 meters away at (-56.6, -16.6). A vehicle with ID 37 is 60.8 meters away at (-45.4, 40.5).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 5.259117  -4.8633423] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.08521174  0.10261404] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 4.8053727 -4.1877875] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-8.313259 -4.097708], 9.268305778503418 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 3.4) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 39 is 10.2 meters away at (-0.0, -10.2). A unknown object with ID 33 is 16.7 meters away at (0.5, 16.7). A unknown object with ID 17 is 28.8 meters away at (-13.1, 25.6). A vehicle with ID 38 is 34.0 meters away at (23.3, -24.8). A unknown object with ID 40 is 40.4 meters away at (32.5, -24.0). A vehicle with ID 43 is 45.1 meters away at (-37.9, -24.5). A vehicle with ID 37 is 50.4 meters away at (-37.0, 34.2). A vehicle with ID 11 is 53.2 meters away at (-48.1, -22.7). A vehicle with ID 45 is 58.5 meters away at (44.9, -37.5). A vehicle with ID 24 is 63.6 meters away at (-49.6, -39.9).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 5.5267167 -5.0361447] m/s.The unknown object with ID 40 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 37 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 3.6) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A unknown object with ID 39 is 19.1 meters away at (8.2, -17.3). A vehicle with ID 37 is 39.6 meters away at (-28.8, 27.1). A vehicle with ID 43 is 43.2 meters away at (-29.6, -31.4). A vehicle with ID 11 is 49.8 meters away at (-40.0, -29.7). A vehicle with ID 38 is 59.6 meters away at (42.6, -41.6). A vehicle with ID 35 is 62.1 meters away at (-48.3, -39.1). A vehicle with ID 24 is 62.5 meters away at (-41.2, -46.9). A vehicle with ID 10 is 63.3 meters away at (-63.2, 2.5). A vehicle with ID 12 is 69.0 meters away at (-52.7, -44.5). A vehicle with ID 45 is 69.3 meters away at (53.2, -44.5).

The unknown object with ID 39 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 43 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 38 is traveling at a (x, y) velocity of [ 5.2367277 -4.586134 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 8.507548 -5.902364] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [  8.166517 -17.259964], 19.094459533691406 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 4.0) m/s. Its current heading (yaw) is 2.48

The most relevant actors are: A unknown object with ID 22 is 17.7 meters away at (7.4, -16.1). A vehicle with ID 37 is 27.6 meters away at (-19.4, 19.6). A vehicle with ID 10 is 41.7 meters away at (-38.4, -16.1). A unknown object with ID 26 is 43.6 meters away at (-39.1, -19.3). A vehicle with ID 43 is 43.9 meters away at (-20.2, -39.0). A vehicle with ID 11 is 48.2 meters away at (-30.6, -37.2). A unknown object with ID 25 is 60.3 meters away at (-46.0, 39.0). A vehicle with ID 35 is 60.7 meters away at (-38.9, -46.6). A vehicle with ID 24 is 63.1 meters away at (-32.0, -54.4). A vehicle with ID 12 is 67.7 meters away at (-43.3, -52.0).

The unknown object with ID 22 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 10 is traveling at a (x, y) velocity of [ 6.285826  -4.5339074] m/s.The unknown object 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 11 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 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 [  7.396929 -16.087097], 17.706193923950195 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.3) m/s. Its current heading (yaw) is 2.80

The most relevant actors are: A vehicle with ID 24 is 3.4 meters away at (1.5, 3.0). A vehicle with ID 28 is 5.1 meters away at (-4.3, -2.7). A vehicle with ID 22 is 6.8 meters away at (-4.5, 5.1). A vehicle with ID 2 is 11.8 meters away at (-11.2, 3.6). A vehicle with ID 25 is 12.2 meters away at (-11.9, -2.7). A vehicle with ID 23 is 15.0 meters away at (-13.0, 7.6). A vehicle with ID 26 is 17.7 meters away at (-17.6, -1.1). A vehicle with ID 54 is 21.8 meters away at (-19.4, 10.0). A vehicle with ID 31 is 22.3 meters away at (0.4, -22.3). A vehicle with ID 27 is 23.9 meters away at (-23.9, 1.1).

The vehicle with ID 24 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 [ 2.647414  -1.0578891] m/s.The vehicle with ID 22 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.1) m/s. Its current heading (yaw) is 2.82

The most relevant actors are: A vehicle with ID 24 is 4.0 meters away at (3.0, 2.6). A vehicle with ID 28 is 4.3 meters away at (-0.0, -4.3). A vehicle with ID 22 is 5.5 meters away at (-2.9, 4.6). A vehicle with ID 2 is 10.1 meters away at (-9.6, 3.1). A vehicle with ID 25 is 10.8 meters away at (-10.3, -3.2). A vehicle with ID 23 is 13.4 meters away at (-11.4, 7.1). A vehicle with ID 26 is 16.2 meters away at (-16.1, -1.6). A vehicle with ID 54 is 20.2 meters away at (-17.9, 9.5). A pedestrian with ID 29 is 21.3 meters away at (-16.6, 13.4). A vehicle with ID 27 is 22.4 meters away at (-22.4, 0.6).

The vehicle with ID 24 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 [ 0.9416566  -0.36930406] m/s.The vehicle with ID 22 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.93895155 -0.29686326] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82

The most relevant actors are: A vehicle with ID 24 is 4.1 meters away at (3.2, 2.5). A vehicle with ID 22 is 5.3 meters away at (-2.7, 4.6). A vehicle with ID 28 is 5.6 meters away at (2.1, -5.2). A vehicle with ID 2 is 9.9 meters away at (-9.4, 3.0). A vehicle with ID 25 is 10.6 meters away at (-10.1, -3.2). A vehicle with ID 23 is 13.2 meters away at (-11.2, 7.0). A vehicle with ID 26 is 15.9 meters away at (-15.9, -1.7). A pedestrian with ID 29 is 19.1 meters away at (-14.4, 12.6). A vehicle with ID 40 is 19.6 meters away at (17.0, -9.7). A vehicle with ID 54 is 20.0 meters away at (-17.7, 9.4).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 1.2926021  -0.57753295] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.9843473  -0.28532928] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-4.5592318 -3.3360312] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The 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 2.82

The most relevant actors are: A vehicle with ID 24 is 4.1 meters away at (3.3, 2.5). A vehicle with ID 22 is 5.3 meters away at (-2.7, 4.5). A vehicle with ID 28 is 9.6 meters away at (6.1, -7.4). A vehicle with ID 2 is 9.8 meters away at (-9.4, 3.1). A vehicle with ID 25 is 10.6 meters away at (-10.1, -3.2). A vehicle with ID 23 is 13.2 meters away at (-11.1, 7.0). A vehicle with ID 26 is 15.9 meters away at (-15.8, -1.7). A pedestrian with ID 29 is 17.2 meters away at (-12.4, 12.0). A vehicle with ID 54 is 20.1 meters away at (-17.8, 9.4). A vehicle with ID 27 is 22.1 meters away at (-22.1, 0.5).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 2.3959873 -1.9357351] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.034088   -0.27688932] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 0.6) m/s. Its current heading (yaw) is 2.88

The most relevant actors are: A unknown object with ID 47 is 11.9 meters away at (-11.5, -3.0). A vehicle with ID 49 is 16.5 meters away at (2.6, -16.3). A vehicle with ID 48 is 17.5 meters away at (13.8, -10.7). A vehicle with ID 50 is 23.0 meters away at (8.3, -21.4). A vehicle with ID 46 is 25.6 meters away at (15.1, -20.7). A unknown object with ID 13 is 27.1 meters away at (20.5, -17.8). A unknown object with ID 24 is 38.3 meters away at (-21.2, 32.0). A vehicle with ID 55 is 41.7 meters away at (-36.6, -20.0). A vehicle with ID 56 is 54.0 meters away at (-52.9, -10.5). A vehicle with ID 30 is 61.5 meters away at (-47.2, 39.3).

The unknown object with ID 47 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 48 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 46 is traveling at a (x, y) velocity of [ 5.6482987 -4.798939 ] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [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 30 is traveling at a (x, y) velocity of [-0.18381569 -0.3355595 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 1.9) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A unknown object with ID 41 is 2.6 meters away at (1.4, 2.2). A unknown object with ID 47 is 7.6 meters away at (-5.5, -5.3). A vehicle with ID 49 is 20.5 meters away at (8.8, -18.5). A pedestrian with ID 20 is 21.9 meters away at (-1.7, 21.8). A vehicle with ID 48 is 23.6 meters away at (19.9, -12.7). A vehicle with ID 50 is 27.8 meters away at (14.7, -23.5). A unknown object with ID 13 is 33.2 meters away at (26.7, -19.7). A pedestrian with ID 35 is 33.9 meters away at (-32.3, -10.2). A unknown object with ID 19 is 35.0 meters away at (28.0, -20.9). A vehicle with ID 55 is 37.8 meters away at (-30.2, -22.6).

The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00461354 -0.00432292] m/s.The vehicle with ID 48 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.00348202 0.90617645] m/s.The unknown object with ID 19 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [1.3596568 2.18564  ], 2.5740413665771484 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 3.4) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A unknown object with ID 47 is 10.9 meters away at (1.8, -10.8). A vehicle with ID 49 is 28.9 meters away at (16.0, -24.0). A pedestrian with ID 35 is 29.1 meters away at (-25.2, -14.5). A vehicle with ID 48 is 32.7 meters away at (27.1, -18.3). A vehicle with ID 55 is 36.4 meters away at (-23.1, -28.1). A vehicle with ID 50 is 36.5 meters away at (22.0, -29.1). A vehicle with ID 56 is 43.7 meters away at (-39.5, -18.7). A vehicle with ID 30 is 46.3 meters away at (-34.1, 31.3). A vehicle with ID 58 is 51.6 meters away at (-38.6, 34.1). A vehicle with ID 59 is 56.7 meters away at (-43.3, 36.6).

The unknown object with ID 47 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 pedestrian with ID 35 is traveling at a (x, y) velocity of [0.31535238 0.5397264 ] m/s.The vehicle with ID 48 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 50 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 30 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 closest actor is a unknown object at [  1.7700157 -10.805092 ], 10.949108123779297 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.2) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 47 is 21.3 meters away at (10.6, -18.5). A pedestrian with ID 35 is 26.0 meters away at (-15.9, -20.5). A vehicle with ID 30 is 34.5 meters away at (-25.2, 23.7). A vehicle with ID 55 is 38.4 meters away at (-14.2, -35.7). A vehicle with ID 58 is 39.9 meters away at (-29.8, 26.5). A vehicle with ID 49 is 40.2 meters away at (24.8, -31.6). A vehicle with ID 56 is 40.4 meters away at (-30.7, -26.3). A vehicle with ID 48 is 44.4 meters away at (36.0, -26.0). A vehicle with ID 59 is 44.9 meters away at (-34.3, 28.9). A vehicle with ID 50 is 48.0 meters away at (30.9, -36.7).

The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.3502106 0.9310558] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 10.615005 -18.463871], 21.297718048095703 meters away.)