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 -0.40

The most relevant actors are: A pedestrian with ID 11 is 9.4 meters away at (6.6, 6.7). A vehicle with ID 73 is 11.5 meters away at (-11.4, -1.7). A unknown object with ID 36 is 23.3 meters away at (-15.8, -17.2). A vehicle with ID 63 is 24.3 meters away at (-3.9, -24.0). A unknown object with ID 75 is 24.4 meters away at (-22.7, -8.9). A unknown object with ID 74 is 25.6 meters away at (-24.2, -8.2). A unknown object with ID 72 is 27.1 meters away at (-26.1, -7.4). A unknown object with ID 71 is 28.7 meters away at (-27.9, -6.6). A unknown object with ID 69 is 30.7 meters away at (-30.2, -5.7). A unknown object with ID 68 is 33.2 meters away at (-32.9, -4.5).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.0101924 -1.1471437] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [ 5.229292  -3.0342302] m/s.The unknown object with ID 36 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 [-2.5891187  7.1218443] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [6.568077 6.666921], 9.358818054199219 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, -1.1) m/s. Its current heading (yaw) is -2.93

The most relevant actors are: A pedestrian with ID 20 is 24.5 meters away at (-24.0, -5.1). A pedestrian with ID 10 is 71.0 meters away at (-71.0, -1.4).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.30334276 1.6409954 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.1478446 0.6242641] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -0.8) m/s. Its current heading (yaw) is -2.96

The most relevant actors are: A pedestrian with ID 20 is 13.3 meters away at (-13.3, -0.3). A pedestrian with ID 2 is 43.4 meters away at (-28.8, -32.4). A pedestrian with ID 10 is 59.2 meters away at (-59.2, 2.1).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.8916732  0.99391276] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.52887934 -0.99750334] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.0353914 0.8500147] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -0.8) m/s. Its current heading (yaw) is -2.96

The most relevant actors are: A pedestrian with ID 20 is 4.4 meters away at (-3.2, 3.0). A pedestrian with ID 2 is 39.1 meters away at (-21.7, -32.5). A cyclist with ID 14 is 39.2 meters away at (-21.6, -32.8). A vehicle with ID 1 is 41.8 meters away at (-17.3, -38.0). A pedestrian with ID 10 is 49.8 meters away at (-49.5, 5.5).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [1.0220824 0.7634015] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.4577466  -0.97431487] m/s.The cyclist with ID 14 is traveling at a (x, y) velocity of [ 0.2404969 -1.5535507] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.5091609 1.0048318] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [-3.197485   3.0251808], 4.40177583694458 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -1.1) m/s. Its current heading (yaw) is -2.91

The most relevant actors are: A pedestrian with ID 20 is 10.0 meters away at (7.7, 6.4). A unknown object with ID 18 is 33.2 meters away at (13.2, 30.5). A pedestrian with ID 2 is 35.0 meters away at (-13.6, -32.3). A vehicle with ID 1 is 37.2 meters away at (-8.4, -36.3). A pedestrian with ID 10 is 42.4 meters away at (-41.4, 9.3).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.79603666 0.75128686] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.6221226 -0.8406961] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.57546175  0.7592144 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.3) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A vehicle with ID 41 is 4.3 meters away at (-4.3, -0.3). A vehicle with ID 47 is 8.6 meters away at (-6.2, -5.9). A vehicle with ID 31 is 12.9 meters away at (11.0, -6.6). A vehicle with ID 34 is 13.3 meters away at (13.2, -1.8). A unknown object with ID 36 is 14.5 meters away at (13.6, 5.0). A vehicle with ID 28 is 14.5 meters away at (-8.2, -11.9). A vehicle with ID 32 is 15.0 meters away at (9.6, -11.6). A vehicle with ID 53 is 16.8 meters away at (8.9, -14.2). A unknown object with ID 37 is 16.8 meters away at (16.0, 5.1). A unknown object with ID 39 is 19.2 meters away at (18.6, 5.1).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.6) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 28 is 3.5 meters away at (-3.3, 1.2). A vehicle with ID 47 is 7.2 meters away at (-1.3, 7.1). A vehicle with ID 41 is 12.8 meters away at (0.6, 12.8). A vehicle with ID 53 is 13.9 meters away at (13.8, -1.1). A vehicle with ID 32 is 14.6 meters away at (14.6, 1.5). A vehicle with ID 9 is 16.7 meters away at (-8.8, -14.2). A vehicle with ID 31 is 17.3 meters away at (16.0, 6.5). A vehicle with ID 34 is 21.4 meters away at (18.2, 11.3). A unknown object with ID 36 is 26.0 meters away at (18.5, 18.2). A unknown object with ID 37 is 27.8 meters away at (21.0, 18.3).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -5.1) m/s. Its current heading (yaw) is -1.95

The most relevant actors are: A unknown object with ID 11 is 4.7 meters away at (-4.2, 2.0). A vehicle with ID 9 is 4.9 meters away at (-4.4, -2.2). A vehicle with ID 28 is 13.2 meters away at (1.0, 13.1). A vehicle with ID 30 is 16.2 meters away at (-0.1, -16.2). A vehicle with ID 47 is 19.3 meters away at (3.1, 19.1). A vehicle with ID 53 is 21.5 meters away at (18.3, 11.2). A vehicle with ID 38 is 21.6 meters away at (-1.7, -21.5). A vehicle with ID 32 is 23.2 meters away at (18.8, 13.6). A vehicle with ID 41 is 25.3 meters away at (5.0, 24.8). A vehicle with ID 42 is 26.0 meters away at (-11.7, -23.3).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 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 38 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-4.223711   2.0115547], 4.678256988525391 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.7) m/s. Its current heading (yaw) is -2.20

The most relevant actors are: A vehicle with ID 9 is 5.5 meters away at (-0.6, 5.5). A vehicle with ID 30 is 9.3 meters away at (3.8, -8.4). A vehicle with ID 3 is 13.3 meters away at (-12.3, 5.0). A vehicle with ID 38 is 14.0 meters away at (2.2, -13.8). A vehicle with ID 42 is 17.4 meters away at (-7.7, -15.6). A vehicle with ID 14 is 20.1 meters away at (-18.8, 7.1). A vehicle with ID 51 is 20.8 meters away at (-0.2, -20.8). A vehicle with ID 4 is 20.8 meters away at (20.6, -3.0). A vehicle with ID 28 is 21.5 meters away at (4.8, 20.9). A vehicle with ID 55 is 23.7 meters away at (-9.6, -21.7).

The vehicle with ID 9 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.5) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A unknown object with ID 22 is 23.3 meters away at (17.6, -15.3). A unknown object with ID 24 is 25.1 meters away at (19.0, -16.4). A pedestrian with ID 30 is 36.3 meters away at (-35.3, -8.3). A vehicle with ID 26 is 42.2 meters away at (-36.2, -21.7). A vehicle with ID 27 is 64.4 meters away at (-51.2, 39.0). A vehicle with ID 33 is 75.1 meters away at (58.5, -47.2). A vehicle with ID 3 is 75.9 meters away at (-60.8, 45.4). A vehicle with ID 34 is 77.9 meters away at (30.3, -71.8).

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 pedestrian with ID 30 is traveling at a (x, y) velocity of [0.97016025 0.7127645 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 [ 17.62171  -15.306902], 23.341506958007812 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 2.58

The most relevant actors are: A unknown object with ID 22 is 23.7 meters away at (17.9, -15.5). A unknown object with ID 5 is 33.4 meters away at (-24.6, 22.6). A pedestrian with ID 30 is 33.4 meters away at (-32.8, -6.7). A vehicle with ID 26 is 42.4 meters away at (-36.5, -21.5). A vehicle with ID 27 is 64.0 meters away at (-50.8, 38.8). A vehicle with ID 20 is 72.1 meters away at (-68.5, -22.6). A vehicle with ID 3 is 75.4 meters away at (-60.3, 45.2). A vehicle with ID 33 is 75.5 meters away at (58.8, -47.4). A pedestrian with ID 11 is 77.6 meters away at (-75.1, -19.7).

The unknown object with ID 22 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 pedestrian with ID 30 is traveling at a (x, y) velocity of [1.1785748 0.8558918] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 [-0.02407933 -0.05361952] m/s.

Instruction: Slight 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 2.73

The most relevant actors are: A unknown object with ID 22 is 25.3 meters away at (19.2, -16.4). A pedestrian with ID 8 is 26.2 meters away at (-9.2, 24.6). A unknown object with ID 15 is 27.1 meters away at (20.6, -17.6). A vehicle with ID 1 is 34.2 meters away at (-20.9, 27.1). A vehicle with ID 26 is 42.1 meters away at (-36.4, -21.1). A vehicle with ID 27 is 62.4 meters away at (-49.2, 38.4). A vehicle with ID 20 is 71.0 meters away at (-67.1, -23.0). A vehicle with ID 3 is 73.9 meters away at (-58.9, 44.6). A pedestrian with ID 11 is 77.0 meters away at (-74.1, -20.9). A vehicle with ID 33 is 77.1 meters away at (59.9, -48.5).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.02278857 0.00993178] m/s.The unknown object with ID 15 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.04903018 -0.07584884] m/s.The vehicle with ID 33 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 [ 19.23115  -16.417004], 25.285472869873047 meters away.)


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 2.73

The most relevant actors are: A pedestrian with ID 8 is 23.0 meters away at (-4.0, 22.7). A vehicle with ID 1 is 29.4 meters away at (-15.5, 24.9). A unknown object with ID 22 is 30.6 meters away at (24.7, -18.0). A unknown object with ID 15 is 32.4 meters away at (26.0, -19.3). A vehicle with ID 26 is 39.0 meters away at (-32.2, -22.0). A unknown object with ID 6 is 51.1 meters away at (7.9, -50.5). A vehicle with ID 27 is 57.2 meters away at (-44.2, 36.2). A vehicle with ID 20 is 66.5 meters away at (-61.5, -25.2). A vehicle with ID 3 is 68.6 meters away at (-53.8, 42.6). A vehicle with ID 18 is 71.4 meters away at (-64.9, -29.8).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.01612052 -0.00898887] m/s.The vehicle 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.5) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A vehicle with ID 62 is 8.1 meters away at (2.9, -7.6). A pedestrian with ID 72 is 9.4 meters away at (-5.6, -7.5). A vehicle with ID 67 is 11.6 meters away at (11.1, -3.6). A unknown object with ID 63 is 11.7 meters away at (11.7, 0.5). A vehicle with ID 64 is 12.1 meters away at (7.7, -9.3). A pedestrian with ID 65 is 14.6 meters away at (6.2, -13.2). A vehicle with ID 70 is 16.0 meters away at (-2.5, -15.8). A vehicle with ID 68 is 17.3 meters away at (13.2, -11.2). A vehicle with ID 71 is 20.9 meters away at (20.5, -4.1). A vehicle with ID 69 is 22.0 meters away at (-16.9, -14.2).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 0.03487248 -0.01248127] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.6227403  0.5969225] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.04310088 -0.01041547] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 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 [ -3.4499366 -10.858821 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 3.2) m/s. Its current heading (yaw) is 2.18

The most relevant actors are: A pedestrian with ID 72 is 10.8 meters away at (-1.5, -10.7). A vehicle with ID 62 is 12.7 meters away at (6.9, -10.7). A vehicle with ID 67 is 13.5 meters away at (12.3, -5.6). A unknown object with ID 63 is 15.9 meters away at (15.7, -2.5). A vehicle with ID 17 is 16.2 meters away at (-16.2, -0.1). A vehicle with ID 64 is 17.0 meters away at (11.8, -12.3). A vehicle with ID 75 is 21.6 meters away at (-20.2, 7.6). A vehicle with ID 68 is 22.3 meters away at (17.2, -14.2). A vehicle with ID 61 is 22.7 meters away at (-3.3, 22.5). A vehicle with ID 71 is 25.5 meters away at (24.5, -7.1).

The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 0.01162203 -0.00467873] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.7252322  0.632896 ] m/s.The unknown object with ID 63 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 [ 1.1696206  -0.33713722] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 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 71 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 (1.5, 6.0) m/s. Its current heading (yaw) is 1.32

The most relevant actors are: A vehicle with ID 61 is 12.9 meters away at (-2.0, 12.8). A vehicle with ID 17 is 14.5 meters away at (-10.3, -10.1). A vehicle with ID 67 is 16.9 meters away at (9.5, -14.0). A vehicle with ID 60 is 19.0 meters away at (0.3, 19.0). A vehicle with ID 75 is 19.0 meters away at (-18.9, -1.9). A pedestrian with ID 72 is 20.4 meters away at (-0.4, -20.4). A unknown object with ID 63 is 20.9 meters away at (16.9, -12.2). A vehicle with ID 62 is 21.9 meters away at (8.0, -20.4). A vehicle with ID 58 is 23.6 meters away at (-22.5, -7.2). A vehicle with ID 14 is 25.2 meters away at (2.3, 25.1).

The vehicle with ID 61 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 [3.4070342 0.7877826] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.3666861   0.42350453] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.16978714 -0.1536344 ] m/s.The unknown object 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 vehicle with ID 58 is traveling at a (x, y) velocity of [ 4.6529355 -1.4927481] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.5) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A vehicle with ID 61 is 6.4 meters away at (-6.4, -0.9). A vehicle with ID 60 is 6.7 meters away at (-4.1, 5.3). A vehicle with ID 14 is 11.5 meters away at (-2.1, 11.3). A vehicle with ID 17 is 19.9 meters away at (-7.4, -18.5). A vehicle with ID 67 is 27.5 meters away at (3.6, -27.2). A vehicle with ID 5 is 30.4 meters away at (12.7, 27.7). A vehicle with ID 58 is 30.8 meters away at (-20.1, -23.3). A vehicle with ID 7 is 33.3 meters away at (-5.1, 33.0). A vehicle with ID 62 is 34.4 meters away at (3.6, -34.2). A vehicle with ID 4 is 34.5 meters away at (5.7, 34.0).

The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [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 17 is traveling at a (x, y) velocity of [3.4103339 4.825146 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.4439123  0.5332355] m/s.The vehicle with ID 5 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 [ 3.1027288 -1.0061616] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.4) m/s. Its current heading (yaw) is -0.75

The most relevant actors are: A pedestrian with ID 11 is 17.5 meters away at (-8.1, -15.5). A vehicle with ID 15 is 36.9 meters away at (12.2, -34.8). A vehicle with ID 14 is 39.0 meters away at (-5.7, -38.6). A pedestrian with ID 18 is 46.2 meters away at (22.6, -40.3). A vehicle with ID 12 is 48.1 meters away at (-11.5, -46.7). A vehicle with ID 21 is 77.7 meters away at (62.2, -46.6).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.2255743  -0.15034227] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.861015  -3.9106286] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [3.3510282 4.512923 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.25962245 -1.1738127 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [3.4495168 4.4440804] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 2.3145413 -1.9921699] 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 -0.75

The most relevant actors are: A vehicle with ID 14 is 31.0 meters away at (-0.4, -31.0). A vehicle with ID 12 is 39.9 meters away at (-6.2, -39.4). A vehicle with ID 15 is 44.6 meters away at (2.8, -44.5). A pedestrian with ID 18 is 48.3 meters away at (23.1, -42.4). A unknown object with ID 6 is 60.3 meters away at (41.1, -44.1).

The vehicle with ID 14 is traveling at a (x, y) velocity of [2.0698786 2.9542186] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.1625671 2.9514515] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.6527214 -5.5443125] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.3078269 -1.1426761] m/s.The unknown object with ID 6 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 -0.75

The most relevant actors are: A vehicle with ID 14 is 26.9 meters away at (2.5, -26.8). A vehicle with ID 12 is 35.4 meters away at (-3.2, -35.2). A vehicle with ID 15 is 56.8 meters away at (-6.6, -56.4). A unknown object with ID 6 is 60.2 meters away at (41.1, -44.1).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0.95264107 1.354485  ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0.9124277 1.2831279] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.7904696 -6.218272 ] m/s.The unknown object with ID 6 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 -0.75

The most relevant actors are: A vehicle with ID 14 is 25.3 meters away at (3.9, -25.0). A vehicle with ID 12 is 33.1 meters away at (-1.7, -33.0). A vehicle with ID 16 is 68.7 meters away at (49.2, -48.0). A vehicle with ID 15 is 71.0 meters away at (-16.0, -69.2).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0.79167414 0.8786765 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0.8222732 1.2350972] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-4.5253744  3.7062914] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.449021  -6.9504848] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -5.1) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 61 is 4.1 meters away at (-1.9, 3.6). A pedestrian with ID 63 is 5.3 meters away at (-5.2, 1.1). A vehicle with ID 64 is 5.8 meters away at (-5.7, -1.0). A vehicle with ID 62 is 6.3 meters away at (3.6, -5.2). A pedestrian with ID 58 is 6.8 meters away at (-2.3, 6.4). A vehicle with ID 59 is 7.8 meters away at (7.7, -0.8). A pedestrian with ID 60 is 8.7 meters away at (-3.5, 8.0). A vehicle with ID 57 is 8.8 meters away at (2.3, 8.5). A vehicle with ID 56 is 10.0 meters away at (-0.3, -10.0). A vehicle with ID 66 is 13.1 meters away at (-11.0, -7.1).

The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.04109809 -0.01738921] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.8686331 -0.5714576] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.7646799 -0.7620832] m/s.The vehicle with ID 57 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 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -5.9) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 66 is 4.2 meters away at (-1.6, 3.9). A vehicle with ID 35 is 6.9 meters away at (-6.6, -2.1). A vehicle with ID 56 is 9.2 meters away at (9.1, 1.1). A vehicle with ID 64 is 10.5 meters away at (3.6, 9.9). A pedestrian with ID 63 is 13.0 meters away at (4.1, 12.3). A vehicle with ID 62 is 14.2 meters away at (12.9, 5.9). A vehicle with ID 61 is 16.6 meters away at (7.5, 14.8). A pedestrian with ID 58 is 17.3 meters away at (5.7, 16.4). A pedestrian with ID 60 is 18.1 meters away at (4.5, 17.6). A vehicle with ID 55 is 19.2 meters away at (-7.0, -17.9).

The vehicle with ID 66 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.02219792  0.02895513] m/s.The vehicle with ID 62 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 58 is traveling at a (x, y) velocity of [-0.7119185 -0.7500937] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.67033243 -0.8311812 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-62.907715 -73.8755  ]
 [-62.976345 -73.51129 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -6.1) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 55 is 6.7 meters away at (3.3, -5.9). A pedestrian with ID 28 is 6.9 meters away at (-6.5, 2.0). A pedestrian with ID 24 is 8.2 meters away at (-8.2, 0.5). A vehicle with ID 35 is 10.6 meters away at (3.6, 9.9). A unknown object with ID 45 is 10.9 meters away at (-9.8, 4.8). A vehicle with ID 66 is 18.1 meters away at (8.6, 15.9). A vehicle with ID 8 is 22.9 meters away at (-21.5, -7.9). A vehicle with ID 56 is 23.4 meters away at (19.3, 13.1). A unknown object with ID 51 is 24.0 meters away at (-23.6, 4.1). A vehicle with ID 64 is 26.0 meters away at (13.9, 21.9).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.7140317 0.9696026] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.8486626 0.8680694] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 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 56 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 vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, -6.0) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 8 is 12.1 meters away at (-11.4, 4.2). A vehicle with ID 55 is 14.7 meters away at (13.4, 6.1). A pedestrian with ID 24 is 14.8 meters away at (3.5, 14.4). A vehicle with ID 34 is 15.7 meters away at (-12.7, -9.2). A unknown object with ID 45 is 16.7 meters away at (0.3, 16.7). A pedestrian with ID 28 is 17.1 meters away at (5.1, 16.3). A vehicle with ID 1 is 22.8 meters away at (-17.3, -14.8). A pedestrian with ID 3 is 22.9 meters away at (-19.6, -11.7). A pedestrian with ID 4 is 23.3 meters away at (-19.1, -13.4). A vehicle with ID 35 is 25.9 meters away at (13.8, 22.0).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.62991476 0.9543375 ] m/s.The vehicle with ID 34 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 pedestrian with ID 28 is traveling at a (x, y) velocity of [0.7487062 1.1510082] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.01009442 0.04838477] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.7774272 0.801824 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -1.7) m/s. Its current heading (yaw) is -2.38

The most relevant actors are: A vehicle with ID 13 is 8.5 meters away at (8.3, -2.0). A vehicle with ID 16 is 14.0 meters away at (2.2, -13.8). A vehicle with ID 14 is 19.4 meters away at (16.6, 10.1). A vehicle with ID 17 is 22.4 meters away at (-17.7, -13.7). A vehicle with ID 22 is 30.1 meters away at (-29.0, -8.0). A vehicle with ID 21 is 60.8 meters away at (48.8, 36.3).

The vehicle with ID 13 is traveling at a (x, y) velocity of [5.0277743 5.3411036] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [1.1569107 5.78199  ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.32587  -4.399207] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.5786963  -0.96627694] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 2.982693  -1.9023727] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-7.7367663 -6.3247333] m/s.

There are active red lights at the following coordinates: [[-16.111454 -13.490765]
 [-15.741325 -14.339286]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.1) m/s. Its current heading (yaw) is -2.40

The most relevant actors are: A vehicle with ID 14 is 10.0 meters away at (9.2, 4.0). A vehicle with ID 16 is 10.1 meters away at (10.1, -0.5). A vehicle with ID 17 is 12.6 meters away at (-5.3, -11.4). A vehicle with ID 22 is 22.7 meters away at (-19.2, -12.1). A vehicle with ID 13 is 23.7 meters away at (21.4, 10.2). A vehicle with ID 21 is 45.1 meters away at (36.5, 26.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-3.219441  -2.8175478] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [5.413677 5.95102 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [6.1489086 2.454307 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 5.3903384 -2.4584465] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [6.525488  5.5352616] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-6.082265 -4.844245] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.40

The most relevant actors are: A vehicle with ID 14 is 4.4 meters away at (4.4, -0.2). A vehicle with ID 17 is 7.7 meters away at (7.3, -2.4). A vehicle with ID 22 is 14.6 meters away at (-6.7, -13.0). A vehicle with ID 16 is 26.7 meters away at (23.8, 12.0). A vehicle with ID 21 is 31.0 meters away at (25.4, 17.8). A vehicle with ID 13 is 42.6 meters away at (36.4, 22.2). A vehicle with ID 3 is 64.0 meters away at (51.2, 38.5). A unknown object with ID 4 is 79.0 meters away at (-39.9, -68.2).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.5374252 -1.3900775] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [6.5739307 5.711849 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [6.30927   1.7759485] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [7.919952 6.59677 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-5.1321917 -4.1931267] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [7.9731894 6.4069805] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.4176497 -5.7767906] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.40

The most relevant actors are: A vehicle with ID 14 is 3.2 meters away at (2.6, -1.9). A vehicle with ID 22 is 7.7 meters away at (5.7, -5.3). A vehicle with ID 21 is 18.8 meters away at (15.9, 10.1). A vehicle with ID 17 is 24.1 meters away at (21.8, 10.4). A vehicle with ID 8 is 31.7 meters away at (13.1, -28.8). A vehicle with ID 3 is 47.0 meters away at (37.8, 27.9). A vehicle with ID 16 is 47.7 meters away at (40.5, 25.3). A vehicle with ID 13 is 63.4 meters away at (52.7, 35.2). A unknown object with ID 4 is 79.0 meters away at (-39.9, -68.2).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-0.40266368 -0.39167652] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [6.3853993 5.692242 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.9624746 -3.3537495] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [7.8056154 6.75354  ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.535732   4.2147636] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-6.184947  -4.9390745] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [8.479186 6.689645] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [8.772425 6.870277] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -0.5) m/s. Its current heading (yaw) is -2.33

The most relevant actors are: A vehicle with ID 6 is 7.4 meters away at (-2.1, 7.1). A vehicle with ID 8 is 10.2 meters away at (-10.1, 0.9). A vehicle with ID 13 is 26.1 meters away at (17.7, 19.2). A vehicle with ID 16 is 33.0 meters away at (-17.9, -27.8). A vehicle with ID 12 is 33.4 meters away at (-3.1, -33.3). A pedestrian with ID 17 is 37.0 meters away at (-27.6, -24.7). A vehicle with ID 3 is 42.0 meters away at (10.1, -40.7). A vehicle with ID 20 is 59.1 meters away at (-40.6, -42.9). A vehicle with ID 19 is 59.5 meters away at (11.5, -58.4). A vehicle with ID 15 is 74.4 meters away at (52.6, 52.6).

The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-3.831681 -4.226508] m/s.The vehicle with ID 16 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 [ 6.265934 -5.954587] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.8920165 1.1052599] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.1423173  6.981886 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0.46941227 5.971182  ] m/s.

There are active red lights at the following coordinates: [[-17.921581 -14.51108 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.31

The most relevant actors are: A vehicle with ID 6 is 7.5 meters away at (-1.8, 7.3). A vehicle with ID 8 is 10.0 meters away at (-9.9, 1.1). A vehicle with ID 13 is 16.4 meters away at (11.2, 11.9). A vehicle with ID 3 is 26.1 meters away at (-4.1, -25.8). A vehicle with ID 16 is 32.5 meters away at (-17.5, -27.4). A pedestrian with ID 17 is 33.8 meters away at (-25.5, -22.2). A vehicle with ID 1 is 46.4 meters away at (10.4, -45.2). A vehicle with ID 20 is 58.7 meters away at (-40.3, -42.7). A vehicle with ID 19 is 59.3 meters away at (11.8, -58.2). A unknown object with ID 14 is 61.2 meters away at (49.7, 35.7).

The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-2.71259   -3.0106578] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.465814   7.4689803] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.8366887 1.1429644] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 7.104451  -6.2713656] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-17.921581 -14.51108 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.31

The most relevant actors are: A vehicle with ID 6 is 7.5 meters away at (-1.8, 7.3). A vehicle with ID 8 is 9.9 meters away at (-9.8, 1.2). A vehicle with ID 13 is 10.6 meters away at (7.3, 7.7). A vehicle with ID 3 is 22.0 meters away at (-19.0, -11.1). A pedestrian with ID 17 is 31.2 meters away at (-23.8, -20.1). A vehicle with ID 16 is 32.4 meters away at (-17.5, -27.3). A vehicle with ID 11 is 47.0 meters away at (-25.8, -39.3). A vehicle with ID 20 is 58.6 meters away at (-40.3, -42.6). A vehicle with ID 19 is 59.1 meters away at (11.6, -57.9). A unknown object with ID 14 is 61.3 meters away at (49.8, 35.8).

The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.3941118 -1.4903395] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.727679  7.432507] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.72933537 0.9356186 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [4.622497 4.835902] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-17.921581 -14.51108 ]
 [-18.093725 -31.672066]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.31

The most relevant actors are: A vehicle with ID 6 is 7.5 meters away at (-1.8, 7.3). A vehicle with ID 13 is 7.8 meters away at (5.4, 5.6). A vehicle with ID 8 is 9.9 meters away at (-9.9, 1.2). A pedestrian with ID 17 is 29.0 meters away at (-22.3, -18.5). A vehicle with ID 16 is 32.4 meters away at (-17.5, -27.3). A vehicle with ID 11 is 36.9 meters away at (-18.5, -31.9). A vehicle with ID 20 is 58.5 meters away at (-40.2, -42.5). A vehicle with ID 19 is 59.0 meters away at (11.6, -57.9). A unknown object with ID 14 is 61.3 meters away at (49.8, 35.8).

The vehicle with ID 6 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 [-0.45782647 -0.47983983] m/s.The vehicle with ID 8 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 [0.47593695 0.5620424 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.7598064 2.800483 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-17.921581 -14.51108 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 0.0) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A pedestrian with ID 44 is 3.8 meters away at (-0.7, 3.8). A unknown object with ID 43 is 7.7 meters away at (-4.5, -6.3). A unknown object with ID 50 is 8.2 meters away at (-5.6, -6.0). A unknown object with ID 47 is 12.7 meters away at (-10.0, -7.9). A unknown object with ID 49 is 14.8 meters away at (-11.5, -9.4). A unknown object with ID 28 is 15.3 meters away at (-12.0, -9.4). A unknown object with ID 48 is 15.7 meters away at (-12.6, -9.4). A unknown object with ID 52 is 16.1 meters away at (-13.1, -9.4). A vehicle with ID 55 is 18.3 meters away at (-14.0, -11.8). A vehicle with ID 16 is 19.1 meters away at (-19.1, 0.9).

The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.06267368 0.01156317] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 0.8376438  -0.07190172] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 1.5) m/s. Its current heading (yaw) is 0.53

The most relevant actors are: A pedestrian with ID 44 is 6.0 meters away at (-5.6, 2.0). A unknown object with ID 43 is 12.0 meters away at (-9.4, -7.5). A unknown object with ID 50 is 12.7 meters away at (-10.5, -7.3). A unknown object with ID 47 is 17.5 meters away at (-14.9, -9.1). A unknown object with ID 49 is 19.5 meters away at (-16.4, -10.6). A unknown object with ID 21 is 19.9 meters away at (-16.8, -10.6). A unknown object with ID 28 is 20.1 meters away at (-17.0, -10.6). A unknown object with ID 48 is 20.7 meters away at (-17.8, -10.6). A unknown object with ID 52 is 21.4 meters away at (-18.7, -10.5). A vehicle with ID 55 is 23.2 meters away at (-19.2, -12.9).

The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.01666003 -0.7001037 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 3.4) m/s. Its current heading (yaw) is 1.14

The most relevant actors are: A pedestrian with ID 44 is 10.9 meters away at (-10.1, -4.0). A unknown object with ID 43 is 18.5 meters away at (-13.6, -12.5). A unknown object with ID 50 is 19.2 meters away at (-14.7, -12.3). A unknown object with ID 47 is 23.8 meters away at (-19.2, -14.1). A unknown object with ID 60 is 24.6 meters away at (6.1, 23.8). A unknown object with ID 10 is 25.4 meters away at (7.7, 24.3). A unknown object with ID 34 is 25.7 meters away at (4.6, 25.3). A unknown object with ID 49 is 25.9 meters away at (-20.6, -15.7). A vehicle with ID 16 is 26.3 meters away at (-25.7, -5.5). A unknown object with ID 21 is 26.3 meters away at (-21.0, -15.8).

The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.10006511  0.0928078 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 2.3065882  -0.16524519] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 4.4) m/s. Its current heading (yaw) is 1.19

The most relevant actors are: A unknown object with ID 26 is 14.6 meters away at (2.9, 14.4). A unknown object with ID 60 is 16.3 meters away at (2.6, 16.1). A unknown object with ID 10 is 17.0 meters away at (4.3, 16.4). A pedestrian with ID 44 is 17.5 meters away at (-13.5, -11.2). A unknown object with ID 34 is 17.8 meters away at (1.5, 17.7). A unknown object with ID 29 is 18.9 meters away at (5.0, 18.2). A unknown object with ID 9 is 19.0 meters away at (5.1, 18.3). A unknown object with ID 8 is 21.1 meters away at (5.9, 20.3). A unknown object with ID 7 is 23.1 meters away at (6.6, 22.2). A unknown object with ID 33 is 24.8 meters away at (6.0, 24.0).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.02571009 -0.03613925] 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 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 [ 2.9064703 14.353396 ], 14.644710540771484 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.4) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 40 is 4.9 meters away at (4.9, -0.4). A vehicle with ID 39 is 12.3 meters away at (-6.2, 10.6). A vehicle with ID 6 is 19.4 meters away at (-14.9, 12.4). A vehicle with ID 8 is 25.3 meters away at (19.2, -16.5). A vehicle with ID 41 is 30.2 meters away at (6.2, -29.5). A vehicle with ID 42 is 32.9 meters away at (4.5, -32.5). A vehicle with ID 43 is 35.0 meters away at (1.8, -35.0). A vehicle with ID 50 is 37.0 meters away at (30.4, -21.2). A vehicle with ID 44 is 38.5 meters away at (0.7, -38.5). A vehicle with ID 46 is 42.3 meters away at (-1.0, -42.3).

The vehicle with ID 40 is traveling at a (x, y) velocity of [-7.2606697  6.056904 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-3.7789435  6.407129 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-5.457648  4.733593] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.9234295  4.9734955] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-9.970647  8.473228] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 4.8) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 40 is 4.4 meters away at (4.0, 1.9). A vehicle with ID 39 is 15.6 meters away at (4.1, 15.1). A vehicle with ID 6 is 19.2 meters away at (-14.7, 12.3). A vehicle with ID 8 is 23.5 meters away at (17.8, -15.3). A vehicle with ID 50 is 26.8 meters away at (22.5, -14.5). A vehicle with ID 51 is 32.8 meters away at (-27.2, 18.4). A vehicle with ID 41 is 42.2 meters away at (17.0, -38.6). A vehicle with ID 22 is 44.2 meters away at (-35.8, 26.0). A vehicle with ID 42 is 44.3 meters away at (15.3, -41.6). A vehicle with ID 43 is 45.8 meters away at (12.6, -44.1).

The vehicle with ID 40 is traveling at a (x, y) velocity of [-3.3953643  6.196898 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [3.1250513 6.892998 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-5.245866  4.611134] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.1636395  5.269936 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-8.39638    7.2123485] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-37.682426  28.558489]
 [-38.059402  27.997253]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.4) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 40 is 15.7 meters away at (14.5, 5.9). A vehicle with ID 6 is 18.9 meters away at (-13.8, 12.9). A vehicle with ID 51 is 19.0 meters away at (-16.5, 9.3). A vehicle with ID 8 is 22.1 meters away at (16.7, -14.5). A vehicle with ID 50 is 22.4 meters away at (19.1, -11.7). A vehicle with ID 22 is 30.3 meters away at (-25.2, 16.8). A vehicle with ID 39 is 31.9 meters away at (24.8, 20.0). A vehicle with ID 3 is 37.8 meters away at (-28.9, 24.3). A vehicle with ID 19 is 49.2 meters away at (-37.5, 31.8). A vehicle with ID 2 is 49.8 meters away at (-40.1, 29.5).

The vehicle with ID 40 is traveling at a (x, y) velocity of [3.3646696 6.483969 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-4.2519326  5.2006307] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.629118  4.816732] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-5.375795  4.690804] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [6.3709393 7.763379 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.532813   4.5945535] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.5559945  4.566654 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.0) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 51 is 5.6 meters away at (-5.6, -0.1). A vehicle with ID 22 is 16.1 meters away at (-14.2, 7.5). A vehicle with ID 6 is 17.0 meters away at (-10.7, 13.1). A vehicle with ID 8 is 21.9 meters away at (16.6, -14.3). A vehicle with ID 4 is 26.6 meters away at (-22.3, 14.4). A vehicle with ID 50 is 26.6 meters away at (23.8, -11.9). A vehicle with ID 2 is 35.4 meters away at (-29.2, 20.1). A vehicle with ID 3 is 37.5 meters away at (-28.7, 24.1). A vehicle with ID 40 is 37.5 meters away at (36.0, 10.4). A vehicle with ID 1 is 45.0 meters away at (-36.5, 26.4).

The vehicle with ID 51 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 6 is traveling at a (x, y) velocity of [-3.721656   3.9924943] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.4220715  4.6508393] m/s.The vehicle with ID 4 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 [-0.90299076  4.975529  ] m/s.The vehicle with ID 2 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 [-4.851847  4.076361] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [6.230686 7.532984] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-37.682426  28.558489]
 [-38.059402  27.997253]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.5) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 42 is 9.2 meters away at (-3.2, -8.7). A vehicle with ID 43 is 12.2 meters away at (-11.8, -3.3). A vehicle with ID 44 is 16.8 meters away at (-15.2, -7.2). A pedestrian with ID 13 is 17.7 meters away at (9.7, 14.8). A unknown object with ID 45 is 19.8 meters away at (-1.9, 19.7). A unknown object with ID 46 is 20.0 meters away at (1.2, 20.0). A unknown object with ID 48 is 21.9 meters away at (2.7, 21.7). A vehicle with ID 47 is 22.4 meters away at (-18.9, -11.9). A unknown object with ID 40 is 24.1 meters away at (23.9, 2.8). A vehicle with ID 49 is 24.7 meters away at (-13.5, -20.7).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.10820323 -0.20975636] 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 1.6) m/s. Its current heading (yaw) is 0.46

The most relevant actors are: A vehicle with ID 42 is 13.5 meters away at (-7.1, -11.5). A vehicle with ID 43 is 16.8 meters away at (-15.6, -6.1). A unknown object with ID 46 is 17.3 meters away at (-2.9, 17.1). A unknown object with ID 45 is 17.8 meters away at (-5.9, 16.8). A unknown object with ID 48 is 18.9 meters away at (-1.3, 18.8). A unknown object with ID 40 is 20.0 meters away at (20.0, 0.0). A unknown object with ID 41 is 21.0 meters away at (20.9, 1.1). A vehicle with ID 44 is 21.6 meters away at (-19.1, -10.1). A unknown object with ID 51 is 23.9 meters away at (-11.4, 21.0). A unknown object with ID 50 is 25.0 meters away at (-17.4, 17.9).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.7) m/s. Its current heading (yaw) is -0.37

The most relevant actors are: A unknown object with ID 40 is 12.1 meters away at (12.1, -0.4). A unknown object with ID 41 is 13.0 meters away at (13.0, 0.7). A vehicle with ID 42 is 19.1 meters away at (-14.9, -11.9). A unknown object with ID 46 is 19.9 meters away at (-10.8, 16.7). A unknown object with ID 48 is 20.6 meters away at (-9.2, 18.4). A unknown object with ID 45 is 21.5 meters away at (-13.8, 16.4). A vehicle with ID 53 is 24.1 meters away at (3.8, 23.8). A vehicle with ID 43 is 24.4 meters away at (-23.5, -6.5). A unknown object with ID 51 is 28.2 meters away at (-19.3, 20.6). A vehicle with ID 44 is 28.9 meters away at (-27.0, -10.5).

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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 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 43 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 vehicle with ID 44 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 [12.060153   -0.38225913], 12.06620979309082 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -4.1) m/s. Its current heading (yaw) is -0.67

The most relevant actors are: A unknown object with ID 40 is 6.3 meters away at (2.8, 5.7). A unknown object with ID 41 is 7.8 meters away at (3.7, 6.8). A unknown object with ID 30 is 19.2 meters away at (2.0, -19.1). A vehicle with ID 53 is 30.1 meters away at (-5.2, 29.7). A unknown object with ID 46 is 30.3 meters away at (-20.0, 22.8). A unknown object with ID 48 is 30.7 meters away at (-18.5, 24.5). A vehicle with ID 38 is 31.8 meters away at (28.2, -14.7). A unknown object with ID 45 is 32.3 meters away at (-23.1, 22.6). A vehicle with ID 43 is 32.8 meters away at (-32.8, -0.3). A vehicle with ID 36 is 37.1 meters away at (32.2, -18.4).

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 unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [2.759369  5.6529284], 6.2904462814331055 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -2.5) m/s. Its current heading (yaw) is -1.73

The most relevant actors are: A unknown object with ID 9 is 40.0 meters away at (39.0, 9.1). A vehicle with ID 14 is 47.1 meters away at (10.6, -45.9). A vehicle with ID 6 is 49.5 meters away at (48.3, 11.0). A vehicle with ID 8 is 62.7 meters away at (19.4, -59.6). A vehicle with ID 3 is 71.3 meters away at (25.0, -66.8). A pedestrian with ID 15 is 73.2 meters away at (69.7, 22.2).

The unknown object with ID 9 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 [ 3.8975484 -1.03497  ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.665827   2.8643608] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.1199399  -0.39071018] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [38.997166  9.09444 ], 40.043575286865234 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -4.5) m/s. Its current heading (yaw) is -1.40

The most relevant actors are: A unknown object with ID 11 is 38.4 meters away at (-15.7, 35.1). A vehicle with ID 14 is 47.3 meters away at (17.9, -43.8). A vehicle with ID 4 is 54.2 meters away at (24.5, -48.3). A vehicle with ID 3 is 64.7 meters away at (24.7, -59.8).

The unknown object with ID 11 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 [ 2.9297261 -3.283343 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-15.67894   35.057728], 38.40407943725586 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -6.3) m/s. Its current heading (yaw) is -1.29

The most relevant actors are: A vehicle with ID 12 is 35.6 meters away at (12.4, 33.4). A vehicle with ID 4 is 43.1 meters away at (21.4, -37.5). A vehicle with ID 14 is 46.1 meters away at (18.4, -42.3). A vehicle with ID 3 is 53.5 meters away at (21.5, -49.0).

The vehicle with ID 12 is traveling at a (x, y) velocity of [-5.8938146 -1.0991921] m/s.The vehicle with ID 4 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 [ 0.27439383 -5.6453223 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -7.6) m/s. Its current heading (yaw) is -1.35

The most relevant actors are: A vehicle with ID 4 is 29.4 meters away at (17.8, -23.4). A cyclist with ID 13 is 29.6 meters away at (12.2, -26.9). A vehicle with ID 10 is 29.8 meters away at (12.2, -27.2). A vehicle with ID 3 is 39.3 meters away at (18.0, -35.0). A vehicle with ID 14 is 42.6 meters away at (14.8, -40.0).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [0.10660071 0.06156302] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-0.04760275 -6.274265  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.1) m/s. Its current heading (yaw) is -0.23

The most relevant actors are: A pedestrian with ID 26 is 6.2 meters away at (-4.4, -4.3). A unknown object with ID 21 is 32.8 meters away at (-22.4, 23.9). A pedestrian with ID 30 is 38.6 meters away at (-37.6, -8.8). A unknown object with ID 9 is 38.7 meters away at (-25.7, -29.0). A pedestrian with ID 24 is 45.7 meters away at (21.3, 40.4). A pedestrian with ID 25 is 48.2 meters away at (23.0, 42.4). A pedestrian with ID 31 is 69.9 meters away at (29.0, 63.6). A pedestrian with ID 11 is 75.8 meters away at (31.8, 68.8).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.8799287  -0.31835502] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.02088035 -0.0117873 ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01382211  0.06199553] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.01362289  0.00272762] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.79441565 1.0225394 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.9341438 0.7178478] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.3) m/s. Its current heading (yaw) is -0.22

The most relevant actors are: A pedestrian with ID 26 is 5.6 meters away at (-3.5, -4.4). A unknown object with ID 14 is 16.6 meters away at (-15.1, -6.8). A unknown object with ID 20 is 17.3 meters away at (-15.7, -7.2). A pedestrian with ID 7 is 25.4 meters away at (19.5, -16.3). A unknown object with ID 9 is 39.1 meters away at (-26.7, -28.6). A pedestrian with ID 30 is 39.3 meters away at (-38.4, -8.4). A pedestrian with ID 15 is 40.8 meters away at (-40.1, -7.6). A pedestrian with ID 24 is 45.5 meters away at (20.8, 40.4). A pedestrian with ID 25 is 48.1 meters away at (22.4, 42.5). A pedestrian with ID 31 is 72.2 meters away at (30.0, 65.6).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.68178433 -0.29507804] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.05100718 1.2348464 ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.0584066   0.01936532] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.09306248  0.16143326] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.03260575 -0.0576507 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.04833827  0.00604361] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.4878439 1.1920702] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 0.8) m/s. Its current heading (yaw) is 0.30

The most relevant actors are: A pedestrian with ID 26 is 7.9 meters away at (-5.7, -5.5). A pedestrian with ID 7 is 21.4 meters away at (16.0, -14.2). A pedestrian with ID 30 is 43.3 meters away at (-42.5, -8.3). A pedestrian with ID 24 is 43.6 meters away at (16.6, 40.4). A pedestrian with ID 25 is 46.3 meters away at (18.6, 42.4). A pedestrian with ID 22 is 78.8 meters away at (31.9, 72.1).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0128368 -0.4709137] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.37401083 1.1249443 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.00400166 0.02473246] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01639647 -0.08957121] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.03474795 -0.01262133] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.84953856 0.90926474] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 3.2) m/s. Its current heading (yaw) is 1.07

The most relevant actors are: A pedestrian with ID 26 is 13.5 meters away at (-8.3, -10.6). A pedestrian with ID 7 is 20.5 meters away at (12.5, -16.2). A pedestrian with ID 24 is 38.3 meters away at (12.2, 36.3). A pedestrian with ID 25 is 40.8 meters away at (13.9, 38.3). A pedestrian with ID 30 is 48.6 meters away at (-46.9, -12.7). A pedestrian with ID 8 is 69.8 meters away at (25.2, 65.2). A pedestrian with ID 22 is 75.7 meters away at (29.0, 69.9). A pedestrian with ID 13 is 78.1 meters away at (29.1, 72.5).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0268259 -0.5247965] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.44729793 0.9109461 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.06640092  0.00747977] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.07077393  0.00919399] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.05156045 -0.15753675] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.6270561 1.238545 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.53683436 0.9220128 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.93112236 -0.5600051 ] m/s.

Instruction: right u-turn approaching.

(The closest actor is a pedestrian at [ -8.3447  -10.61646], 13.50345230102539 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 9.5) m/s. Its current heading (yaw) is 1.86

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 9.6) m/s. Its current heading (yaw) is 1.83

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 10.0) m/s. Its current heading (yaw) is 1.77

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 10.1) m/s. Its current heading (yaw) is 1.74

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.3) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A cyclist with ID 59 is 10.3 meters away at (3.0, 9.8). A vehicle with ID 86 is 18.1 meters away at (-3.5, -17.7). A unknown object with ID 60 is 19.8 meters away at (-2.1, 19.7). A unknown object with ID 62 is 20.0 meters away at (-2.2, 19.9). A unknown object with ID 61 is 21.4 meters away at (-0.9, 21.4). A unknown object with ID 41 is 21.4 meters away at (-3.0, 21.2). A unknown object with ID 67 is 22.2 meters away at (-4.0, 21.8). A cyclist with ID 87 is 22.2 meters away at (-1.8, -22.1). A unknown object with ID 64 is 24.1 meters away at (0.3, 24.1). A vehicle with ID 78 is 26.1 meters away at (10.2, 24.0).

The cyclist with ID 59 is traveling at a (x, y) velocity of [-3.0959952 -6.9275684] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 87 is traveling at a (x, y) velocity of [ 0.5483067  -0.96002966] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-2.6484728 -5.574199 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.4) m/s. Its current heading (yaw) is -1.96

The most relevant actors are: A vehicle with ID 86 is 4.1 meters away at (2.8, -2.9). A cyclist with ID 8 is 10.8 meters away at (2.3, -10.6). A cyclist with ID 59 is 11.5 meters away at (3.1, 11.0). A unknown object with ID 24 is 25.1 meters away at (-24.4, -5.8). A unknown object with ID 15 is 27.1 meters away at (-25.7, -8.7). A unknown object with ID 66 is 28.1 meters away at (-25.9, -11.0). A unknown object with ID 65 is 29.3 meters away at (-26.3, -12.9). A vehicle with ID 78 is 30.0 meters away at (11.2, 27.8). A vehicle with ID 90 is 31.0 meters away at (-29.0, -11.0). A pedestrian with ID 89 is 31.9 meters away at (-30.6, -8.9).

The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 8 is traveling at a (x, y) velocity of [-1.55357   -1.0601819] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-2.997196 -6.383259] 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 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 [-2.5841262 -5.784922 ] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.01577239 -0.01877012] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -7.7) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A cyclist with ID 8 is 7.9 meters away at (6.6, 4.4). A vehicle with ID 86 is 15.0 meters away at (8.8, 12.1). A cyclist with ID 59 is 17.6 meters away at (0.3, 17.6). A unknown object with ID 66 is 20.2 meters away at (-19.8, 4.1). A unknown object with ID 65 is 20.4 meters away at (-20.2, 2.3). A unknown object with ID 24 is 20.6 meters away at (-18.4, 9.4). A unknown object with ID 15 is 20.6 meters away at (-19.6, 6.5). A unknown object with ID 30 is 22.4 meters away at (-19.5, 11.1). A unknown object with ID 43 is 31.3 meters away at (-9.0, 30.0). A vehicle with ID 78 is 34.1 meters away at (12.5, 31.7).

The cyclist with ID 8 is traveling at a (x, y) velocity of [-0.47664967 -0.05965364] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-6.00442   -2.2208562] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 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 15 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 43 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 [-2.304226 -5.484716] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -7.5) m/s. Its current heading (yaw) is -1.87

The most relevant actors are: A cyclist with ID 8 is 22.6 meters away at (11.4, 19.5). A unknown object with ID 65 is 23.0 meters away at (-14.9, 17.5). A unknown object with ID 66 is 24.2 meters away at (-14.5, 19.4). A unknown object with ID 15 is 26.0 meters away at (-14.3, 21.7). A unknown object with ID 24 is 27.9 meters away at (-13.1, 24.6). A pedestrian with ID 29 is 28.0 meters away at (-1.7, -28.0). A pedestrian with ID 16 is 28.9 meters away at (-19.2, 21.6). A unknown object with ID 30 is 29.9 meters away at (-14.2, 26.3). A vehicle with ID 86 is 30.9 meters away at (14.2, 27.5). A vehicle with ID 19 is 34.0 meters away at (-6.0, -33.5).

The cyclist with ID 8 is traveling at a (x, y) velocity of [-0.57606184 -0.12697689] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 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 24 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 [-0.13088673  0.18507871] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00526151 0.00587195] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.4576228 -6.1469707] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.6) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A vehicle with ID 6 is 55.9 meters away at (50.5, -23.8).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-8.879388   4.0070724] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 5.7) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A unknown object with ID 4 is 46.3 meters away at (-39.8, 23.6). A vehicle with ID 6 is 52.6 meters away at (45.8, -26.0).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.585512  4.222056] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-39.795166  23.629421], 46.28179931640625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 6.1) m/s. Its current heading (yaw) is 2.41

The most relevant actors are: A unknown object with ID 4 is 28.5 meters away at (-25.9, 11.9). A vehicle with ID 6 is 49.8 meters away at (40.3, -29.4).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.484342   4.6419888] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-25.949352  11.90201 ], 28.548673629760742 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 5.8) m/s. Its current heading (yaw) is 2.39

The most relevant actors are: A unknown object with ID 4 is 12.6 meters away at (-12.6, 0.0). A vehicle with ID 6 is 46.8 meters away at (35.5, -30.5). A vehicle with ID 5 is 78.2 meters away at (-54.6, 55.9).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-8.730336  6.211591] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-1.7628376  3.916725 ] 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, 5.3) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 32 is 23.4 meters away at (-17.4, -15.6). A vehicle with ID 6 is 24.9 meters away at (-4.7, 24.4). A vehicle with ID 1 is 32.9 meters away at (21.2, 25.1). A vehicle with ID 27 is 37.6 meters away at (-18.2, 32.9). A vehicle with ID 33 is 41.6 meters away at (-15.1, 38.8). A vehicle with ID 7 is 46.2 meters away at (30.0, 35.2). A vehicle with ID 10 is 49.5 meters away at (29.7, 39.6). A vehicle with ID 11 is 54.6 meters away at (-22.9, 49.5). A vehicle with ID 34 is 64.3 meters away at (-46.3, -44.7). A vehicle with ID 35 is 74.4 meters away at (-52.8, -52.3).

The vehicle with ID 32 is traveling at a (x, y) velocity of [-7.785028 -9.092696] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 2.8988783 -2.9367704] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [5.9218073 6.9514446] m/s.The vehicle with ID 27 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 [-4.684689  3.85747 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [4.8854947 5.8193893] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.300526 -6.37399 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 6.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 6 is 13.9 meters away at (-10.6, 9.1). A vehicle with ID 10 is 22.3 meters away at (12.0, 18.8). A vehicle with ID 1 is 33.7 meters away at (21.8, 25.7). A vehicle with ID 27 is 35.3 meters away at (-27.8, 21.8). A vehicle with ID 25 is 41.8 meters away at (-32.7, 26.1). A vehicle with ID 7 is 45.9 meters away at (29.9, 34.9). A vehicle with ID 33 is 49.4 meters away at (-34.2, 35.5). A unknown object with ID 14 is 49.4 meters away at (46.9, -15.7). A vehicle with ID 11 is 50.2 meters away at (-32.5, 38.3). A vehicle with ID 31 is 57.3 meters away at (-37.9, 43.0).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 0.88221306 -0.99550813] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.7258875 -3.150704 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [4.284131  5.0918374] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [4.2651105 5.1606703] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-4.915817   4.2659764] m/s.The unknown object with ID 14 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.3) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 10 is 2.9 meters away at (-2.3, 1.7). A vehicle with ID 6 is 21.0 meters away at (-20.6, -4.2). A vehicle with ID 1 is 28.9 meters away at (18.7, 22.0). A vehicle with ID 3 is 34.4 meters away at (17.2, 29.7). A vehicle with ID 27 is 39.5 meters away at (-38.4, 9.3). A vehicle with ID 7 is 40.6 meters away at (26.6, 30.7). A vehicle with ID 25 is 45.3 meters away at (-43.2, 13.7). A vehicle with ID 11 is 50.3 meters away at (-43.1, 25.8). A unknown object with ID 20 is 62.4 meters away at (41.4, 46.7). A vehicle with ID 17 is 68.6 meters away at (66.4, -17.2).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.4419217 -2.3952725] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.4377723 4.008985 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.7031584 -6.613536 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [2.7995718 3.3720756] m/s.The vehicle with ID 25 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.4) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 3 is 6.6 meters away at (-3.4, 5.6). A vehicle with ID 1 is 21.9 meters away at (14.2, 16.7). A vehicle with ID 10 is 22.3 meters away at (-13.4, -17.8). A vehicle with ID 7 is 31.5 meters away at (20.7, 23.8). A vehicle with ID 6 is 34.3 meters away at (-30.5, -15.9). A unknown object with ID 20 is 47.2 meters away at (31.6, 35.0). A vehicle with ID 2 is 56.9 meters away at (36.9, 43.3). A vehicle with ID 4 is 70.3 meters away at (45.8, 53.4).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.791302  -5.4975257] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [1.7787815 2.1237974] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 1.2419945 -5.2618637] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.3815157 1.5939094] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[19.371918 33.66109 ]
 [19.696526 33.317284]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 0.8) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A vehicle with ID 27 is 3.7 meters away at (3.5, 1.2). A vehicle with ID 39 is 6.9 meters away at (-3.8, 5.7). A cyclist with ID 43 is 7.1 meters away at (3.1, -6.4). A vehicle with ID 38 is 10.0 meters away at (8.2, 5.7). A vehicle with ID 56 is 14.8 meters away at (-10.3, 10.7). A vehicle with ID 45 is 17.3 meters away at (-14.2, 10.0). A vehicle with ID 44 is 18.8 meters away at (-5.9, 17.9). A vehicle with ID 30 is 21.4 meters away at (21.4, 1.2). A vehicle with ID 33 is 22.3 meters away at (-5.6, -21.6). A pedestrian with ID 46 is 25.2 meters away at (-24.6, 5.2).

The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.7075858   0.44411278] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.80277365  0.54861665] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-11.636227   6.461929] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 8.97883  -5.176236] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-0.59194314  0.69770074] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-1.0364738  1.0488604] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 6.1845117 -4.196092 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 9.272898  -5.0409207] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-6.1804    -3.5849626] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.3584323   0.82383114] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.1) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A vehicle with ID 27 is 4.0 meters away at (3.8, 1.2). A vehicle with ID 39 is 7.0 meters away at (-3.8, 5.9). A vehicle with ID 44 is 12.3 meters away at (8.9, 8.6). A vehicle with ID 56 is 14.8 meters away at (-9.9, 10.9). A vehicle with ID 45 is 17.5 meters away at (-14.0, 10.5). A cyclist with ID 43 is 17.7 meters away at (-16.7, 6.1). A pedestrian with ID 46 is 26.5 meters away at (-25.8, 6.1). A pedestrian with ID 42 is 28.1 meters away at (0.2, -28.1). A vehicle with ID 38 is 29.2 meters away at (28.7, -5.7). A vehicle with ID 47 is 30.2 meters away at (-29.7, -5.7).

The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.7841974  0.5323239] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.58409935  0.40835777] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 7.1151466 -4.30005  ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-0.4686651   0.45450807] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-10.038773    6.3438096] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.3732933   0.81378585] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [1.3005166 0.4617104] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 9.668036  -5.0419917] m/s.The vehicle with ID 47 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 2.59

The most relevant actors are: A vehicle with ID 27 is 3.1 meters away at (2.0, 2.3). A vehicle with ID 39 is 7.7 meters away at (-4.4, 6.4). A vehicle with ID 56 is 16.1 meters away at (-10.8, 12.0). A vehicle with ID 45 is 17.5 meters away at (-13.9, 10.5). A vehicle with ID 44 is 24.0 meters away at (24.0, -0.1). A pedestrian with ID 10 is 26.4 meters away at (6.5, 25.6). A pedestrian with ID 42 is 27.8 meters away at (2.8, -27.7). A vehicle with ID 51 is 28.6 meters away at (-24.4, 14.9). A pedestrian with ID 46 is 29.2 meters away at (-28.2, 7.7). A vehicle with ID 47 is 30.2 meters away at (-29.6, -5.8).

The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.6375262   0.40373155] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.41208908  0.29471335] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-0.8557975  0.9649911] m/s.The vehicle with ID 45 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 [ 8.098477 -4.28179 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00603816  0.01458348] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [1.1217743  0.06486859] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 1.7516493 -4.449895 ] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.2554078   0.91371626] m/s.The vehicle with ID 47 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 2.59

The most relevant actors are: A vehicle with ID 27 is 3.2 meters away at (1.0, 3.0). A vehicle with ID 39 is 9.3 meters away at (-5.8, 7.4). A vehicle with ID 45 is 18.5 meters away at (-14.6, 11.3). A vehicle with ID 51 is 20.8 meters away at (-20.7, 1.6). A vehicle with ID 56 is 21.4 meters away at (-13.8, 16.4). A pedestrian with ID 10 is 26.4 meters away at (6.5, 25.5). A pedestrian with ID 42 is 28.2 meters away at (5.3, -27.7). A vehicle with ID 47 is 30.1 meters away at (-29.6, -5.9). A vehicle with ID 49 is 30.8 meters away at (-3.2, 30.6). A cyclist with ID 48 is 31.1 meters away at (-31.0, 1.7).

The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.8233698  0.5412536] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-1.2932043  0.9712296] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-0.88290626  1.1254381 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 1.2909337 -8.521016 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-1.8724396  3.4769983] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00594595 -0.00225248] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 1.3616349  -0.06158243] m/s.The vehicle 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 cyclist with ID 48 is traveling at a (x, y) velocity of [-0.00760021 -0.05004651] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 1.8) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 66 is 9.0 meters away at (-3.0, -8.4). A vehicle with ID 68 is 11.0 meters away at (-10.8, -2.1). A vehicle with ID 70 is 16.1 meters away at (-14.7, -6.5). A vehicle with ID 71 is 17.9 meters away at (-9.1, -15.4). A vehicle with ID 67 is 20.5 meters away at (-1.1, 20.5). A vehicle with ID 73 is 20.9 meters away at (-18.0, -10.7). A vehicle with ID 74 is 22.7 meters away at (-12.4, -19.0). A vehicle with ID 77 is 23.3 meters away at (-6.4, 22.4). A vehicle with ID 69 is 24.6 meters away at (24.6, 1.0). A vehicle with ID 88 is 25.4 meters away at (23.7, 9.1).

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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [-2.6234438  0.7452449] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 3.7) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 66 is 16.0 meters away at (-7.8, -14.0). A vehicle with ID 67 is 16.1 meters away at (-5.9, 15.0). A vehicle with ID 68 is 17.4 meters away at (-15.6, -7.7). A vehicle with ID 88 is 17.4 meters away at (16.9, 4.2). A vehicle with ID 69 is 20.3 meters away at (19.8, -4.4). A vehicle with ID 77 is 20.3 meters away at (-11.2, 16.9). A vehicle with ID 70 is 22.9 meters away at (-19.5, -12.0). A pedestrian with ID 23 is 23.3 meters away at (7.5, 22.1). A vehicle with ID 71 is 25.1 meters away at (-13.9, -20.9). A pedestrian with ID 65 is 26.1 meters away at (24.9, 7.7).

The vehicle with ID 66 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [-1.0128012   0.13060659] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01300013 -0.00056611] m/s.The vehicle with ID 71 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 [ 1.0020368  -0.27292827] m/s.

Instruction: right u-turn approaching.