The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 4.6) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A unknown object with ID 22 is 6.0 meters away at (-2.1, -5.6). A unknown object with ID 14 is 32.9 meters away at (32.8, -2.6). A vehicle with ID 21 is 40.6 meters away at (37.0, -16.6). A unknown object with ID 12 is 41.8 meters away at (-39.6, 13.4). A pedestrian with ID 15 is 45.2 meters away at (41.8, -17.0). A pedestrian with ID 16 is 45.9 meters away at (42.6, -17.1). A pedestrian with ID 17 is 46.2 meters away at (44.0, -14.2). A pedestrian with ID 18 is 47.0 meters away at (44.4, -15.4). A pedestrian with ID 19 is 47.8 meters away at (45.3, -15.1). A vehicle with ID 20 is 52.5 meters away at (43.1, -30.0).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0.2978955 3.5322912] m/s.The unknown object with ID 12 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 [-0.00645    -0.01104345] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.00510487  0.03167291] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.01472604 -0.01619303] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.01933401 -0.00302783] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00664679 -0.01403659] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-2.1096954 -5.5706367], 5.95674467086792 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 5.0) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A unknown object with ID 22 is 19.9 meters away at (13.0, -15.2). A unknown object with ID 12 is 24.9 meters away at (-24.6, 3.9). A pedestrian with ID 2 is 36.7 meters away at (-22.9, 28.7). A vehicle with ID 21 is 58.4 meters away at (54.7, -20.5). A pedestrian with ID 15 is 63.1 meters away at (57.0, -27.0). A pedestrian with ID 16 is 63.6 meters away at (57.7, -26.7). A pedestrian with ID 17 is 63.6 meters away at (59.0, -23.8). A pedestrian with ID 18 is 64.5 meters away at (59.4, -25.1). A pedestrian with ID 19 is 65.3 meters away at (60.4, -24.8). A vehicle with ID 20 is 70.1 meters away at (58.0, -39.4).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.00672692 -0.02479624] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [1.2676305 1.8422765] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.0162311  -0.00231701] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.02083402  0.00889184] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.04358357 0.12823257] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.02862079 -0.00238557] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.0200051   0.01592655] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 12.967623 -15.151538], 19.943126678466797 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 5.3) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A pedestrian with ID 2 is 19.9 meters away at (-7.3, 18.5). A unknown object with ID 10 is 38.4 meters away at (29.0, -25.2). A unknown object with ID 22 is 38.5 meters away at (28.8, -25.5). A unknown object with ID 7 is 67.5 meters away at (63.7, -22.4). A vehicle with ID 5 is 77.3 meters away at (74.1, -22.2).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.06113283  0.0042108 ] 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.66

The most relevant actors are: A pedestrian with ID 50 is 13.7 meters away at (-13.5, 2.2). A vehicle with ID 51 is 16.3 meters away at (-0.2, -16.3). A vehicle with ID 9 is 20.4 meters away at (20.2, 2.5). A vehicle with ID 52 is 20.8 meters away at (-4.0, -20.4). A vehicle with ID 53 is 25.4 meters away at (5.7, -24.7). A unknown object with ID 16 is 25.7 meters away at (17.7, 18.7). A vehicle with ID 54 is 26.6 meters away at (-8.1, -25.3). A vehicle with ID 55 is 28.0 meters away at (2.0, -27.9). A pedestrian with ID 40 is 31.8 meters away at (1.2, 31.8). A vehicle with ID 56 is 32.4 meters away at (-1.6, -32.4).

The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 1.0541672  -0.80354095] m/s.The vehicle with ID 51 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 [-0.5841064  -0.55349934] m/s.The vehicle with ID 52 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.09808685 -0.09312867] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -2.1) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A unknown object with ID 45 is 4.4 meters away at (-3.0, -3.2). A pedestrian with ID 50 is 14.1 meters away at (-13.9, 2.6). A vehicle with ID 51 is 14.5 meters away at (-2.9, -14.2). A vehicle with ID 9 is 17.6 meters away at (17.1, 4.1). A vehicle with ID 52 is 19.5 meters away at (-6.7, -18.3). A unknown object with ID 24 is 21.2 meters away at (-20.0, 6.8). A vehicle with ID 53 is 22.8 meters away at (2.9, -22.6). A vehicle with ID 54 is 25.6 meters away at (-10.8, -23.2). A vehicle with ID 55 is 25.9 meters away at (-0.8, -25.8). A vehicle with ID 56 is 30.6 meters away at (-4.3, -30.3).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 1.3008494 -0.858031 ] m/s.The vehicle with ID 51 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.9771488 -3.176778 ], 4.353772163391113 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -3.7) m/s. Its current heading (yaw) is -0.64

The most relevant actors are: A vehicle with ID 9 is 13.2 meters away at (8.9, 9.8). A vehicle with ID 51 is 13.7 meters away at (-10.9, -8.4). A vehicle with ID 53 is 17.4 meters away at (-5.0, -16.7). A vehicle with ID 52 is 19.2 meters away at (-14.6, -12.5). A pedestrian with ID 50 is 20.5 meters away at (-19.3, 6.9). A pedestrian with ID 41 is 21.1 meters away at (12.9, -16.7). A vehicle with ID 55 is 21.8 meters away at (-8.7, -19.9). A vehicle with ID 54 is 25.6 meters away at (-18.7, -17.5). A unknown object with ID 44 is 25.8 meters away at (16.4, -19.9). A pedestrian with ID 49 is 26.7 meters away at (17.7, -20.0).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.38086918 -0.6664734 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 1.2078097 -1.0591367] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.00093831  0.00085873] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.01122082 0.00044768] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -4.4) m/s. Its current heading (yaw) is -0.64

The most relevant actors are: A pedestrian with ID 41 is 9.2 meters away at (2.3, -8.9). A pedestrian with ID 49 is 14.3 meters away at (7.2, -12.4). A vehicle with ID 9 is 16.3 meters away at (-2.8, 16.0). A vehicle with ID 53 is 17.9 meters away at (-15.5, -9.0). A vehicle with ID 51 is 21.5 meters away at (-21.4, -0.7). A vehicle with ID 55 is 22.9 meters away at (-19.3, -12.3). A vehicle with ID 52 is 25.5 meters away at (-25.1, -4.7). A unknown object with ID 26 is 27.3 meters away at (16.9, -21.4). A vehicle with ID 56 is 28.2 meters away at (-22.7, -16.7). A pedestrian with ID 50 is 30.6 meters away at (-27.8, 12.8).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.01986761 -0.00401647] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.010736   -0.04596326] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.60695755 -0.9905399 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 1.0624855 -1.0027045] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 5.9) m/s. Its current heading (yaw) is 2.23

The most relevant actors are: A vehicle with ID 55 is 14.2 meters away at (7.9, -11.7). A vehicle with ID 68 is 18.5 meters away at (-15.6, 9.9). A vehicle with ID 65 is 20.5 meters away at (-9.3, 18.2). A unknown object with ID 54 is 23.1 meters away at (11.3, -20.2). A vehicle with ID 58 is 23.4 meters away at (16.4, -16.7). A unknown object with ID 56 is 24.0 meters away at (19.7, -13.8). A pedestrian with ID 61 is 25.0 meters away at (-3.4, -24.7). A vehicle with ID 63 is 25.3 meters away at (-9.8, -23.4). A vehicle with ID 67 is 25.9 meters away at (-12.5, 22.7). A pedestrian with ID 62 is 25.9 meters away at (-2.2, -25.9).

The vehicle with ID 55 is traveling at a (x, y) velocity of [-5.5970063  2.721009 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 2.5488982 -3.6015873] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-3.995377   2.5488002] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.8139673 1.1465743] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [0.5642658 1.3038565] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 6.6) m/s. Its current heading (yaw) is 2.22

The most relevant actors are: A vehicle with ID 65 is 5.7 meters away at (0.2, 5.7). A vehicle with ID 68 is 9.2 meters away at (-2.1, -9.0). A vehicle with ID 67 is 10.5 meters away at (-2.9, 10.1). A vehicle with ID 70 is 15.8 meters away at (-6.2, 14.5). A vehicle with ID 55 is 23.5 meters away at (4.8, -23.0). A vehicle with ID 73 is 24.7 meters away at (-11.7, 21.8). A vehicle with ID 58 is 30.9 meters away at (18.9, -24.5). A vehicle with ID 29 is 31.1 meters away at (-15.5, 27.0). A vehicle with ID 63 is 36.1 meters away at (-0.5, -36.1). A pedestrian with ID 61 is 36.3 meters away at (8.2, -35.3).

The vehicle with ID 65 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 [ 1.3043252 -2.7003493] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-6.351069  -1.9402397] m/s.The vehicle with ID 73 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 [-3.382841  2.379045] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.95285374 0.9127893 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 6.6) m/s. Its current heading (yaw) is 2.30

The most relevant actors are: A vehicle with ID 70 is 5.1 meters away at (4.9, 1.5). A vehicle with ID 73 is 8.6 meters away at (-0.5, 8.6). A vehicle with ID 67 is 8.7 meters away at (8.2, -3.0). A vehicle with ID 65 is 13.4 meters away at (11.2, -7.4). A vehicle with ID 29 is 14.5 meters away at (-4.3, 13.8). A vehicle with ID 25 is 20.0 meters away at (-7.7, 18.5). A vehicle with ID 24 is 25.2 meters away at (-11.0, 22.7). A vehicle with ID 68 is 29.9 meters away at (10.5, -28.0). A vehicle with ID 52 is 31.4 meters away at (-14.5, 27.8). A vehicle with ID 10 is 37.7 meters away at (-18.3, 32.9).

The vehicle with ID 70 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 0.01068044 -3.5253332 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 6.3) m/s. Its current heading (yaw) is 2.26

The most relevant actors are: A vehicle with ID 25 is 6.4 meters away at (3.3, 5.5). A vehicle with ID 29 is 6.7 meters away at (6.7, 1.0). A vehicle with ID 24 is 9.8 meters away at (0.0, 9.8). A vehicle with ID 73 is 11.1 meters away at (10.3, -4.2). A vehicle with ID 52 is 15.3 meters away at (-3.5, 14.9). A vehicle with ID 70 is 19.6 meters away at (15.9, -11.5). A vehicle with ID 10 is 21.3 meters away at (-7.2, 20.0). A vehicle with ID 9 is 21.7 meters away at (-10.3, 19.1). A vehicle with ID 67 is 25.0 meters away at (19.2, -16.0). A vehicle with ID 7 is 29.1 meters away at (-12.0, 26.5).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 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 52 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 10 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 67 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 [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 (1.3, -1.0) m/s. Its current heading (yaw) is -0.64

The most relevant actors are: A pedestrian with ID 22 is 18.5 meters away at (-11.7, 14.4). A unknown object with ID 25 is 28.6 meters away at (-27.8, 6.6). A unknown object with ID 26 is 29.1 meters away at (-28.7, 5.1). A vehicle with ID 1 is 29.7 meters away at (-14.2, -26.0). A unknown object with ID 27 is 30.4 meters away at (-29.4, 7.6). A unknown object with ID 28 is 32.1 meters away at (-31.1, 7.8). A unknown object with ID 29 is 32.3 meters away at (-31.1, 8.7). A unknown object with ID 31 is 33.4 meters away at (-32.5, 7.4). A unknown object with ID 32 is 37.1 meters away at (-35.2, 11.9). A unknown object with ID 34 is 41.3 meters away at (-39.7, 11.3).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.04157371 -0.02170484] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 unknown object with ID 27 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 -0.72

The most relevant actors are: A pedestrian with ID 22 is 19.4 meters away at (-12.4, 14.9). A unknown object with ID 25 is 29.5 meters away at (-28.7, 7.0). A vehicle with ID 1 is 29.8 meters away at (-15.2, -25.6). A unknown object with ID 26 is 30.0 meters away at (-29.4, 5.5). A unknown object with ID 27 is 31.2 meters away at (-30.2, 8.1). A unknown object with ID 29 is 33.2 meters away at (-31.8, 9.3). A unknown object with ID 31 is 34.3 meters away at (-33.3, 8.2). A unknown object with ID 32 is 38.0 meters away at (-36.0, 12.4). A unknown object with ID 34 is 42.1 meters away at (-40.4, 11.8). A unknown object with ID 36 is 44.1 meters away at (-41.4, 15.0).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.06034466  0.0429051 ] m/s.The unknown object with ID 25 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 unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -1.0) m/s. Its current heading (yaw) is -0.57

The most relevant actors are: A pedestrian with ID 22 is 21.6 meters away at (-14.3, 16.2). A vehicle with ID 1 is 29.8 meters away at (-17.0, -24.4). A unknown object with ID 25 is 31.6 meters away at (-30.4, 8.4). A unknown object with ID 26 is 32.1 meters away at (-31.3, 6.9). A unknown object with ID 27 is 33.4 meters away at (-32.1, 9.4). A unknown object with ID 15 is 35.1 meters away at (-33.7, 9.6). A unknown object with ID 29 is 35.3 meters away at (-33.7, 10.5). A unknown object with ID 13 is 36.4 meters away at (-35.2, 9.3). A unknown object with ID 32 is 40.2 meters away at (-37.8, 13.7). A unknown object with ID 34 is 44.3 meters away at (-42.4, 13.1).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.03466946 -0.00128394] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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, -2.0) m/s. Its current heading (yaw) is -0.93

The most relevant actors are: A pedestrian with ID 22 is 25.7 meters away at (-17.6, 18.7). A vehicle with ID 1 is 29.8 meters away at (-20.3, -21.9). A unknown object with ID 25 is 35.4 meters away at (-33.7, 10.9). A unknown object with ID 26 is 35.8 meters away at (-34.5, 9.5). A unknown object with ID 27 is 37.3 meters away at (-35.3, 12.0). A unknown object with ID 15 is 38.9 meters away at (-36.9, 12.2). A unknown object with ID 29 is 39.2 meters away at (-37.0, 13.1). A unknown object with ID 13 is 40.2 meters away at (-38.4, 11.9). A unknown object with ID 32 is 44.2 meters away at (-41.1, 16.2). A unknown object with ID 16 is 47.1 meters away at (-43.6, 17.9).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.10150407 -0.03909833] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -8.8) m/s. Its current heading (yaw) is -1.32

The most relevant actors are: A unknown object with ID 61 is 15.1 meters away at (-11.1, -10.2). A unknown object with ID 79 is 15.8 meters away at (-15.3, 3.7). A unknown object with ID 51 is 15.8 meters away at (-10.7, -11.7). A unknown object with ID 84 is 18.9 meters away at (-11.0, -15.4). A unknown object with ID 85 is 19.9 meters away at (-10.3, -17.0). A unknown object with ID 82 is 35.5 meters away at (-18.4, 30.4). A vehicle with ID 36 is 67.5 meters away at (2.7, -67.4). A pedestrian with ID 49 is 70.7 meters away at (18.4, -68.3). A pedestrian with ID 50 is 72.4 meters away at (19.2, -69.8). A pedestrian with ID 68 is 72.5 meters away at (20.0, -69.7).

The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.01580467 -0.01229573] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.01486535 -0.03411186] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.00429789 0.00353324] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-11.122498 -10.217611], 15.10329532623291 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -8.7) m/s. Its current heading (yaw) is -1.23

The most relevant actors are: A unknown object with ID 85 is 15.3 meters away at (-15.3, 0.4). A unknown object with ID 51 is 15.9 meters away at (-14.9, 5.6). A unknown object with ID 84 is 16.2 meters away at (-16.0, 2.0). A unknown object with ID 75 is 16.8 meters away at (-15.8, 5.7). A unknown object with ID 28 is 17.1 meters away at (-16.8, 3.5). A unknown object with ID 46 is 17.4 meters away at (-17.0, 3.9). A unknown object with ID 61 is 17.7 meters away at (-16.2, 7.1). A vehicle with ID 36 is 49.6 meters away at (-2.3, -49.5). A pedestrian with ID 49 is 52.6 meters away at (13.3, -50.9). A pedestrian with ID 68 is 54.4 meters away at (14.8, -52.4).

The unknown object with ID 85 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 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.0119032  0.00527838] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.02025065 -0.00045403] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-15.332842    0.3791008], 15.337528228759766 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -8.5) m/s. Its current heading (yaw) is -1.13

The most relevant actors are: A unknown object with ID 85 is 28.6 meters away at (-22.3, 17.9). A unknown object with ID 56 is 29.5 meters away at (-22.9, 18.7). A unknown object with ID 84 is 30.2 meters away at (-23.0, 19.5). A unknown object with ID 28 is 31.9 meters away at (-23.8, 21.2). A unknown object with ID 75 is 32.5 meters away at (-22.8, 23.2). A vehicle with ID 36 is 33.4 meters away at (-9.5, -32.0). A unknown object with ID 61 is 33.9 meters away at (-23.2, 24.7). A pedestrian with ID 49 is 33.9 meters away at (6.3, -33.3). A pedestrian with ID 68 is 35.7 meters away at (7.9, -34.8). A pedestrian with ID 50 is 35.9 meters away at (7.2, -35.2).

The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 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 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.04653411 -0.02366569] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.05974351 -0.04909124] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.0467041  -0.06448045] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-22.34429  17.89391], 28.626197814941406 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -8.4) m/s. Its current heading (yaw) is -1.03

The most relevant actors are: A pedestrian with ID 49 is 16.4 meters away at (-2.5, -16.2). A unknown object with ID 31 is 16.7 meters away at (-1.5, -16.6). A pedestrian with ID 68 is 17.6 meters away at (-0.9, -17.6). A pedestrian with ID 50 is 18.0 meters away at (-1.6, -18.0). A pedestrian with ID 40 is 19.0 meters away at (-1.9, -18.9). A pedestrian with ID 73 is 20.5 meters away at (-1.1, -20.5). A pedestrian with ID 44 is 23.2 meters away at (17.0, -15.8). A vehicle with ID 36 is 23.5 meters away at (-18.3, -14.7). A unknown object with ID 34 is 27.7 meters away at (-17.0, -21.8). A vehicle with ID 45 is 30.0 meters away at (10.5, -28.1).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.07895321 -0.00536909] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.10468259 -0.09563807] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.0419176  -0.00670435] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.01130542 -0.03144883] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.32459942 0.09457663] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.01332186 0.00553626] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-2.3937387  2.7660048] 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, -4.0) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A vehicle with ID 31 is 7.5 meters away at (-7.2, 2.2). A vehicle with ID 37 is 29.4 meters away at (12.4, -26.7). A vehicle with ID 6 is 31.8 meters away at (-1.7, -31.8). A vehicle with ID 35 is 32.2 meters away at (32.2, 1.2). A vehicle with ID 32 is 32.6 meters away at (-19.6, 26.0). A vehicle with ID 38 is 33.1 meters away at (30.2, -13.7). A vehicle with ID 43 is 34.6 meters away at (29.7, -17.9). A vehicle with ID 41 is 38.4 meters away at (34.2, -17.4). A vehicle with ID 22 is 41.6 meters away at (40.2, 10.7). A vehicle with ID 33 is 44.5 meters away at (-39.9, 19.6).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [1.3889456 1.5493851] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-4.477795  -5.3475747] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [2.8109965 3.3052106] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.3513533  1.9331858] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-3.36194    2.6232505] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.556675   1.3448488] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [1.8636281 2.2542925] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 30.92872  -24.754244]
 [ 32.037    -26.460356]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -4.7) m/s. Its current heading (yaw) is -1.10

The most relevant actors are: A vehicle with ID 43 is 13.0 meters away at (12.8, -2.2). A vehicle with ID 37 is 18.1 meters away at (6.0, -17.0). A vehicle with ID 31 is 18.2 meters away at (-14.9, 10.5). A vehicle with ID 38 is 20.5 meters away at (20.5, 0.7). A vehicle with ID 9 is 20.9 meters away at (-1.6, -20.8). A vehicle with ID 41 is 23.2 meters away at (22.8, -4.6). A vehicle with ID 35 is 32.4 meters away at (28.8, 14.9). A vehicle with ID 25 is 34.3 meters away at (32.2, -11.9). A vehicle with ID 6 is 38.0 meters away at (-17.6, -33.6). A vehicle with ID 17 is 40.0 meters away at (-12.5, -38.0).

The vehicle with ID 43 is traveling at a (x, y) velocity of [-6.0249257  4.651857 ] m/s.The vehicle with ID 37 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 38 is traveling at a (x, y) velocity of [-0.3231517  3.6377974] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [3.3771589 4.024781 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.6843419  2.837676 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [1.4255582 1.8375558] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-3.0523107  1.3444417] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-4.1428094 -5.0715084] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.8046956 5.452633 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -4.4) m/s. Its current heading (yaw) is -2.10

The most relevant actors are: A vehicle with ID 9 is 6.8 meters away at (2.8, -6.2). A vehicle with ID 37 is 9.7 meters away at (6.1, -7.6). A vehicle with ID 43 is 19.0 meters away at (-1.9, 18.9). A vehicle with ID 17 is 21.2 meters away at (-5.5, -20.5). A vehicle with ID 41 is 23.7 meters away at (21.0, 11.0). A vehicle with ID 31 is 24.8 meters away at (-14.8, 19.9). A vehicle with ID 25 is 25.9 meters away at (25.9, 0.8). A vehicle with ID 38 is 27.0 meters away at (21.8, 16.0). A unknown object with ID 29 is 28.8 meters away at (28.6, 2.7). A pedestrian with ID 23 is 30.0 meters away at (-22.1, 20.3).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0.9537544 1.1558459] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-8.503909  7.006366] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.1030734 2.5061278] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0.12767564 2.6558135 ] m/s.The vehicle with ID 31 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 [-2.8519962  1.8641453] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [1.3513076 2.4510195] m/s.The unknown object with ID 29 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 [0.52604413 1.088248  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -5.6) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 17 is 9.4 meters away at (5.1, -7.9). A vehicle with ID 9 is 11.9 meters away at (11.3, 3.9). A vehicle with ID 37 is 14.1 meters away at (14.0, 1.9). A vehicle with ID 12 is 14.7 meters away at (-0.6, -14.7). A vehicle with ID 25 is 32.7 meters away at (29.3, 14.6). A vehicle with ID 41 is 38.7 meters away at (30.0, 24.5). A vehicle with ID 6 is 40.5 meters away at (-24.7, -32.1). A vehicle with ID 7 is 40.7 meters away at (-21.5, -34.6). A vehicle with ID 38 is 43.6 meters away at (32.5, 29.0). A vehicle with ID 35 is 53.1 meters away at (39.0, 36.1).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0.90646315 0.9652982 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [1.6114602 1.7793331] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-1.5739425  2.065388 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0.661316 1.077859] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.9002354 -3.487322 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [4.9025683 5.700866 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0.861796   0.91365737] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 8.0) m/s. Its current heading (yaw) is 1.95

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 8.9) m/s. Its current heading (yaw) is 1.92

The most relevant actors are: A unknown object with ID 13 is 25.6 meters away at (-15.6, 20.3). A unknown object with ID 15 is 26.0 meters away at (-15.6, 20.7).

The unknown object with ID 13 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [-15.623527  20.317635], 25.630077362060547 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 9.0) m/s. Its current heading (yaw) is 1.79

The most relevant actors are: A unknown object with ID 10 is 29.5 meters away at (7.3, -28.6). A unknown object with ID 12 is 59.0 meters away at (33.8, -48.4). A unknown object with ID 8 is 69.2 meters away at (3.9, 69.1).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  7.320545 -28.625957], 29.54718017578125 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 8.0) m/s. Its current heading (yaw) is 1.64

The most relevant actors are: A unknown object with ID 17 is 20.3 meters away at (-16.8, -11.5).

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

Instruction: Continue straight.

(The closest actor is a unknown object at [-16.765053 -11.460571], 20.30792236328125 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.7) m/s. Its current heading (yaw) is -0.56

The most relevant actors are: A unknown object with ID 58 is 2.2 meters away at (-1.2, -1.9). A unknown object with ID 56 is 4.9 meters away at (-4.9, 0.5). A unknown object with ID 44 is 9.0 meters away at (-8.5, 2.9). A vehicle with ID 57 is 9.1 meters away at (9.0, -0.9). A vehicle with ID 62 is 9.2 meters away at (-5.3, 7.5). A vehicle with ID 59 is 12.3 meters away at (-10.3, 6.8). A unknown object with ID 67 is 15.5 meters away at (8.0, 13.3). A unknown object with ID 64 is 17.8 meters away at (1.6, 17.8). A pedestrian with ID 60 is 18.0 meters away at (-17.4, 4.6). A unknown object with ID 63 is 18.2 meters away at (-16.4, 7.9).

The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [ 6.5872574 -3.6975057] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 3.8923318 -2.7071028] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 1.763813  -1.1344789] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 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 [-1.4141713   0.86565244] m/s.The unknown object with ID 63 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 [-1.1863825 -1.88309  ], 2.2256531715393066 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -3.1) m/s. Its current heading (yaw) is -0.81

The most relevant actors are: A vehicle with ID 62 is 6.0 meters away at (-1.7, 5.8). A unknown object with ID 58 is 7.9 meters away at (-7.3, 2.9). A vehicle with ID 59 is 13.4 meters away at (-10.8, 8.0). A vehicle with ID 26 is 14.2 meters away at (-0.7, -14.2). A unknown object with ID 67 is 18.2 meters away at (1.9, 18.1). A vehicle with ID 57 is 20.0 meters away at (19.2, -5.6). A unknown object with ID 64 is 23.0 meters away at (-4.6, 22.6). A unknown object with ID 63 is 25.9 meters away at (-22.6, 12.7). A vehicle with ID 70 is 26.4 meters away at (26.3, -1.6). A vehicle with ID 69 is 26.9 meters away at (26.2, -6.0).

The vehicle with ID 62 is traveling at a (x, y) velocity of [ 6.162831  -3.8521576] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 4.2404675 -2.680291 ] m/s.The vehicle with ID 26 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 vehicle with ID 57 is traveling at a (x, y) velocity of [ 9.8293495 -5.989226 ] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [-3.8719008  2.6229436] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.0366619  0.6637022] 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, -4.2) m/s. Its current heading (yaw) is -1.40

The most relevant actors are: A vehicle with ID 26 is 8.4 meters away at (-4.8, -6.9). A vehicle with ID 59 is 9.6 meters away at (-3.9, 8.7). A vehicle with ID 62 is 9.6 meters away at (8.4, 4.5). A unknown object with ID 58 is 15.3 meters away at (-11.4, 10.1). A vehicle with ID 70 is 17.2 meters away at (10.9, 13.2). A vehicle with ID 69 is 19.9 meters away at (19.7, 2.8). A vehicle with ID 13 is 22.9 meters away at (-6.3, -22.0). A vehicle with ID 71 is 24.6 meters away at (22.5, -10.0). A vehicle with ID 31 is 25.0 meters away at (24.7, 3.8). A unknown object with ID 67 is 25.4 meters away at (-2.2, 25.3).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 6.871347  -3.9934206] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 8.209541  -5.0526896] m/s.The unknown object with ID 58 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 [-7.231969   4.9217167] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.8275154   0.46442452] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-4.9385357  3.202765 ] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 33.43071  -10.940168]
 [ 32.71238  -12.44669 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -4.0) m/s. Its current heading (yaw) is -1.77

The most relevant actors are: A vehicle with ID 26 is 4.2 meters away at (-4.1, 1.2). A vehicle with ID 59 is 14.7 meters away at (12.3, 8.1). A vehicle with ID 13 is 14.9 meters away at (-5.8, -13.7). A vehicle with ID 10 is 19.3 meters away at (-5.4, -18.6). A vehicle with ID 8 is 20.5 meters away at (-2.4, -20.3). A vehicle with ID 69 is 22.7 meters away at (19.7, 11.3). A vehicle with ID 71 is 23.3 meters away at (23.2, -2.1). A vehicle with ID 7 is 24.1 meters away at (-4.1, -23.8). A vehicle with ID 31 is 24.3 meters away at (12.6, 20.7). A vehicle with ID 62 is 27.3 meters away at (27.3, 1.3).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 8.466444  -4.9524894] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 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 [-7.479943   5.2583094] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 9.787494 -6.093742] m/s.

There are active red lights at the following coordinates: [[ 33.43071  -10.940168]
 [ 32.71238  -12.44669 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 1.3) m/s. Its current heading (yaw) is 1.27

The most relevant actors are: A vehicle with ID 54 is 20.7 meters away at (-14.7, 14.5). A vehicle with ID 53 is 22.6 meters away at (-14.6, -17.2). A vehicle with ID 55 is 27.7 meters away at (-21.9, 17.0). A vehicle with ID 57 is 33.3 meters away at (-16.6, 28.8). A vehicle with ID 24 is 37.9 meters away at (37.6, -5.0). A unknown object with ID 28 is 44.7 meters away at (22.5, 38.7). A vehicle with ID 34 is 45.0 meters away at (44.3, -7.6). A vehicle with ID 52 is 45.7 meters away at (7.3, 45.2). A vehicle with ID 58 is 47.9 meters away at (31.9, 35.7). A pedestrian with ID 46 is 58.2 meters away at (-52.0, 26.2).

The vehicle with ID 54 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 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.05696604 -0.8956351 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 3.7) m/s. Its current heading (yaw) is 1.26

The most relevant actors are: A unknown object with ID 33 is 18.5 meters away at (15.8, 9.6). A vehicle with ID 54 is 19.0 meters away at (-16.1, 10.1). A vehicle with ID 55 is 26.5 meters away at (-23.4, 12.5). A vehicle with ID 53 is 26.9 meters away at (-16.0, -21.6). A vehicle with ID 57 is 30.3 meters away at (-18.1, 24.4). A pedestrian with ID 47 is 35.0 meters away at (33.5, -10.0). A vehicle with ID 24 is 37.5 meters away at (36.3, -9.5). A unknown object with ID 28 is 40.1 meters away at (20.8, 34.3). A vehicle with ID 52 is 41.1 meters away at (5.8, 40.7). A vehicle with ID 34 is 44.5 meters away at (42.8, -12.0).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.06060411 -0.1605493 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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 [15.828676  9.578785], 18.501354217529297 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 6.6) m/s. Its current heading (yaw) is 1.29

The most relevant actors are: A unknown object with ID 33 is 12.6 meters away at (12.6, -0.7). A vehicle with ID 54 is 19.4 meters away at (-19.4, -0.2). A vehicle with ID 57 is 25.6 meters away at (-21.3, 14.1). A vehicle with ID 55 is 26.7 meters away at (-26.6, 2.3). A vehicle with ID 52 is 30.5 meters away at (2.6, 30.4). A pedestrian with ID 47 is 36.7 meters away at (30.4, -20.6). A vehicle with ID 53 is 37.3 meters away at (-19.3, -32.0). A vehicle with ID 24 is 38.6 meters away at (33.1, -19.9). A vehicle with ID 34 is 45.5 meters away at (39.7, -22.2). A vehicle with ID 43 is 48.0 meters away at (-45.8, 14.5).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.50218713 0.22240478] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 [ 5.7723455 -1.9231706] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 8.1) m/s. Its current heading (yaw) is 1.27

The most relevant actors are: A vehicle with ID 52 is 15.9 meters away at (-2.0, 15.7). A unknown object with ID 33 is 17.3 meters away at (8.0, -15.3). A vehicle with ID 23 is 25.1 meters away at (24.3, 6.5). A vehicle with ID 57 is 25.9 meters away at (-25.9, -0.5). A vehicle with ID 54 is 28.2 meters away at (-24.0, -14.7). A vehicle with ID 55 is 33.5 meters away at (-31.1, -12.4). A vehicle with ID 21 is 33.9 meters away at (2.6, -33.8). A vehicle with ID 43 is 39.1 meters away at (-38.9, -4.1). A vehicle with ID 51 is 41.5 meters away at (16.1, 38.2). A vehicle with ID 24 is 44.7 meters away at (28.5, -34.5).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 5.0251927 -1.7872089] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -2.9) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A unknown object with ID 6 is 7.7 meters away at (5.2, 5.7). A unknown object with ID 5 is 8.5 meters away at (7.0, 4.8). A unknown object with ID 4 is 10.0 meters away at (9.2, 3.9). A unknown object with ID 33 is 12.4 meters away at (7.3, 10.0). A unknown object with ID 36 is 12.8 meters away at (8.7, 9.5). A unknown object with ID 37 is 13.4 meters away at (9.9, 9.0). A vehicle with ID 21 is 15.6 meters away at (1.0, -15.5). A pedestrian with ID 31 is 23.3 meters away at (-17.4, 15.5). A pedestrian with ID 26 is 28.0 meters away at (27.8, -3.6). A vehicle with ID 19 is 30.5 meters away at (-5.8, -30.0).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.426283   1.8167301] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.03823178 -0.00738764] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 3.435232  -1.0476527] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [5.1757307 5.6506243], 7.662750244140625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -2.4) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A unknown object with ID 4 is 9.5 meters away at (-2.9, 9.1). A unknown object with ID 5 is 11.2 meters away at (-5.0, 10.0). A unknown object with ID 6 is 12.9 meters away at (-6.9, 10.9). A unknown object with ID 37 is 14.3 meters away at (-2.1, 14.2). A unknown object with ID 36 is 15.1 meters away at (-3.4, 14.7). A pedestrian with ID 26 is 15.8 meters away at (15.7, 1.6). A unknown object with ID 33 is 16.0 meters away at (-4.7, 15.3). A vehicle with ID 21 is 21.0 meters away at (-19.9, -6.7). A vehicle with ID 19 is 27.7 meters away at (-12.4, -24.8). A vehicle with ID 45 is 33.9 meters away at (-31.8, 11.8).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 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 pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00246107 -0.010649  ] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-5.243756   2.0617943] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [1.7999254 0.572114 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [11.593838  -5.4912167] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-2.8748398  9.08708  ], 9.530987739562988 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -1.5) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A unknown object with ID 4 is 17.6 meters away at (-12.0, 12.9). A vehicle with ID 45 is 19.6 meters away at (-18.9, 5.1). A unknown object with ID 5 is 19.8 meters away at (-14.1, 13.9). A unknown object with ID 10 is 20.0 meters away at (-9.9, 17.4). A unknown object with ID 37 is 21.2 meters away at (-11.2, 18.0). A unknown object with ID 6 is 21.7 meters away at (-16.0, 14.7). A unknown object with ID 36 is 22.3 meters away at (-12.5, 18.5). A unknown object with ID 33 is 23.5 meters away at (-13.8, 19.1). A pedestrian with ID 34 is 25.8 meters away at (25.7, -1.5). A pedestrian with ID 35 is 26.5 meters away at (26.5, -1.1).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [10.847976  -5.1517262] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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 6 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.0786595   0.49782142] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.1329213  0.5385874] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-11.983486  12.881725], 17.593828201293945 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -0.0) m/s. Its current heading (yaw) is -0.01

The most relevant actors are: A vehicle with ID 45 is 4.8 meters away at (-3.7, -3.1). A unknown object with ID 13 is 12.7 meters away at (-12.5, -1.9). A pedestrian with ID 34 is 17.4 meters away at (17.3, 1.1). A pedestrian with ID 35 is 17.9 meters away at (17.8, 1.6). A pedestrian with ID 32 is 23.0 meters away at (16.3, 16.2). A unknown object with ID 4 is 23.5 meters away at (-18.2, 14.8). A unknown object with ID 5 is 25.8 meters away at (-20.5, 15.7). A unknown object with ID 37 is 26.5 meters away at (-17.7, 19.7). A cyclist with ID 44 is 27.6 meters away at (-26.3, 8.4). A unknown object with ID 36 is 27.8 meters away at (-19.0, 20.3).

The vehicle with ID 45 is traveling at a (x, y) velocity of [10.951894 -4.903216] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.9983796  0.5309047] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.006424   0.5383699] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.4886643  -0.30668426] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 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 cyclist with ID 44 is traveling at a (x, y) velocity of [10.804343 -5.199339] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -0.1) m/s. Its current heading (yaw) is -0.01

The most relevant actors are: A vehicle with ID 46 is 7.6 meters away at (6.0, -4.6). A vehicle with ID 44 is 12.9 meters away at (12.4, 3.6). A vehicle with ID 49 is 15.7 meters away at (13.8, -7.4). A vehicle with ID 43 is 19.3 meters away at (19.3, 1.2). A cyclist with ID 45 is 21.5 meters away at (-18.3, -11.2). A vehicle with ID 52 is 22.3 meters away at (20.1, -9.6). A vehicle with ID 53 is 23.9 meters away at (2.7, 23.8). A vehicle with ID 48 is 25.2 meters away at (-24.2, 7.1). A vehicle with ID 42 is 25.7 meters away at (25.7, -0.9). A vehicle with ID 34 is 30.4 meters away at (5.3, 30.0).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 cyclist with ID 45 is traveling at a (x, y) velocity of [-0.7941309 -3.8880665] m/s.The vehicle with ID 52 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 48 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -1.7) m/s. Its current heading (yaw) is -0.29

The most relevant actors are: A vehicle with ID 46 is 4.9 meters away at (-4.2, -2.5). A vehicle with ID 44 is 6.2 meters away at (2.2, 5.8). A vehicle with ID 49 is 6.4 meters away at (3.6, -5.3). A vehicle with ID 43 is 9.6 meters away at (9.0, 3.3). A vehicle with ID 52 is 12.4 meters away at (9.9, -7.5). A vehicle with ID 42 is 15.4 meters away at (15.4, 1.2). A vehicle with ID 41 is 22.2 meters away at (22.1, -1.4). A vehicle with ID 20 is 24.6 meters away at (21.9, -11.2). A vehicle with ID 53 is 26.9 meters away at (-7.4, 25.9). A vehicle with ID 40 is 33.1 meters away at (32.7, -5.1).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 52 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 41 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -2.3) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 52 is 4.2 meters away at (-2.5, -3.4). A vehicle with ID 42 is 6.1 meters away at (2.9, 5.4). A vehicle with ID 43 is 8.2 meters away at (-3.4, 7.4). A vehicle with ID 49 is 8.9 meters away at (-8.8, -1.2). A vehicle with ID 41 is 10.0 meters away at (9.6, 2.8). A vehicle with ID 20 is 11.6 meters away at (9.3, -7.0). A vehicle with ID 44 is 14.3 meters away at (-10.3, 9.9). A vehicle with ID 46 is 16.8 meters away at (-16.7, 1.6). A vehicle with ID 40 is 20.4 meters away at (20.3, -0.9). A unknown object with ID 36 is 23.6 meters away at (-23.4, -3.0).

The vehicle with ID 52 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 49 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, -2.6) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A vehicle with ID 20 is 4.8 meters away at (-4.3, -2.1). A vehicle with ID 40 is 7.7 meters away at (6.5, 4.1). A vehicle with ID 41 is 8.8 meters away at (-4.1, 7.8). A vehicle with ID 42 is 14.9 meters away at (-10.8, 10.3). A vehicle with ID 52 is 16.3 meters away at (-16.2, 1.6). A unknown object with ID 23 is 20.9 meters away at (6.5, -19.9). A vehicle with ID 43 is 21.1 meters away at (-17.2, 12.4). A vehicle with ID 49 is 23.0 meters away at (-22.6, 3.8). A vehicle with ID 44 is 28.5 meters away at (-24.3, 14.9). A vehicle with ID 46 is 31.3 meters away at (-30.6, 6.6).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -1.9) m/s. Its current heading (yaw) is -2.40

The most relevant actors are: A pedestrian with ID 16 is 23.2 meters away at (1.7, -23.2). A vehicle with ID 17 is 24.0 meters away at (1.0, -24.0). A cyclist with ID 2 is 29.9 meters away at (25.6, 15.5). A vehicle with ID 19 is 30.3 meters away at (14.4, -26.6). A unknown object with ID 20 is 37.7 meters away at (0.8, 37.7). A vehicle with ID 21 is 39.9 meters away at (-2.5, -39.8). A unknown object with ID 11 is 44.8 meters away at (-4.9, -44.6). A vehicle with ID 23 is 50.3 meters away at (49.5, 8.7). A vehicle with ID 24 is 65.8 meters away at (65.6, -5.2). A vehicle with ID 26 is 70.4 meters away at (69.9, -8.0).

The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.05351128 0.01824601] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-4.7883368  3.7533379] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 (-4.0, 1.2) m/s. Its current heading (yaw) is 2.84

The most relevant actors are: A pedestrian with ID 16 is 23.1 meters away at (8.5, -21.5). A vehicle with ID 17 is 23.6 meters away at (7.6, -22.4). A cyclist with ID 2 is 32.6 meters away at (22.2, 23.9). A vehicle with ID 19 is 32.7 meters away at (21.0, -25.1). A vehicle with ID 21 is 38.5 meters away at (4.2, -38.2). A unknown object with ID 20 is 39.9 meters away at (7.3, 39.3). A unknown object with ID 11 is 43.0 meters away at (1.9, -42.9). A vehicle with ID 23 is 57.0 meters away at (56.1, 10.2). A vehicle with ID 24 is 72.3 meters away at (72.2, -3.5). A vehicle with ID 26 is 76.7 meters away at (76.5, -6.3).

The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00966193 0.01207334] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-5.269115   3.1052644] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 3.0) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A pedestrian with ID 16 is 31.6 meters away at (17.3, -26.4). A vehicle with ID 17 is 31.8 meters away at (16.3, -27.3). A cyclist with ID 2 is 31.9 meters away at (20.5, 24.4). A unknown object with ID 20 is 38.2 meters away at (16.6, 34.4). A vehicle with ID 19 is 42.3 meters away at (29.7, -30.1). A vehicle with ID 21 is 44.9 meters away at (12.8, -43.1). A vehicle with ID 4 is 63.4 meters away at (63.0, 7.4). A vehicle with ID 23 is 65.3 meters away at (65.1, 5.0). A vehicle with ID 24 is 81.5 meters away at (81.0, -9.3).

The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.03843039 -0.03271015] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-5.553083   2.7819028] m/s.The unknown object 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 21 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 3.5) m/s. Its current heading (yaw) is 2.63

The most relevant actors are: A cyclist with ID 2 is 32.1 meters away at (21.4, 23.9). A unknown object with ID 20 is 39.3 meters away at (28.0, 27.5). A pedestrian with ID 16 is 43.8 meters away at (28.6, -33.2). A vehicle with ID 17 is 43.9 meters away at (27.6, -34.1). A vehicle with ID 19 is 55.2 meters away at (41.1, -36.9). A vehicle with ID 4 is 74.4 meters away at (74.4, 0.5). A vehicle with ID 23 is 76.6 meters away at (76.5, -1.7).

The cyclist with ID 2 is traveling at a (x, y) velocity of [-5.0030007  2.932283 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.02028419 -0.03193162] m/s.The vehicle with ID 17 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.2) m/s. Its current heading (yaw) is 0.60

The most relevant actors are: A vehicle with ID 5 is 59.2 meters away at (-16.4, 56.9).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 5.387626  -7.0884933] m/s.

There are active red lights at the following coordinates: [[8.660237  7.9324613]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 2.5) m/s. Its current heading (yaw) is 0.74

The most relevant actors are: A vehicle with ID 5 is 44.3 meters away at (-10.8, 42.9).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 3.0052848 -4.0483127] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 5.5) m/s. Its current heading (yaw) is 1.21

The most relevant actors are: A unknown object with ID 3 is 17.1 meters away at (10.6, 13.5). A vehicle with ID 5 is 32.8 meters away at (-13.0, 30.1).

The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 0.887818  -1.1306537] m/s.

There are active red lights at the following coordinates: [[ 5.832056 21.8276  ]
 [ 8.461705 23.765614]]

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [10.584637 13.464816], 17.12704849243164 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 6.6) m/s. Its current heading (yaw) is 1.79

The most relevant actors are: A unknown object with ID 2 is 11.6 meters away at (-11.6, -0.5). A vehicle with ID 5 is 20.5 meters away at (-12.6, 16.2).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 0.294593   -0.44001386] m/s.

There are active red lights at the following coordinates: [[ 5.832056 21.8276  ]
 [ 8.461705 23.765614]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -2.2) m/s. Its current heading (yaw) is -1.69

The most relevant actors are: A unknown object with ID 17 is 2.4 meters away at (-2.3, 0.8). A unknown object with ID 16 is 3.8 meters away at (-2.2, -3.1). A unknown object with ID 18 is 4.2 meters away at (-2.3, 3.5). A pedestrian with ID 19 is 6.0 meters away at (-5.9, -1.0). A unknown object with ID 20 is 6.5 meters away at (-2.4, 6.0). A unknown object with ID 12 is 6.8 meters away at (-6.7, 1.5). A unknown object with ID 15 is 7.6 meters away at (-2.1, -7.3). A unknown object with ID 7 is 7.7 meters away at (-7.3, 2.3). A unknown object with ID 21 is 8.9 meters away at (-2.5, 8.5). A unknown object with ID 14 is 11.6 meters away at (-2.0, -11.4).

The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00799691 -0.00682235] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 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 7 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -2.4) m/s. Its current heading (yaw) is -1.56

The most relevant actors are: A unknown object with ID 16 is 2.4 meters away at (-2.0, 1.3). A unknown object with ID 15 is 3.3 meters away at (-1.9, -2.7). A unknown object with ID 17 is 5.7 meters away at (-2.1, 5.3). A pedestrian with ID 19 is 6.7 meters away at (-5.7, 3.6). A unknown object with ID 14 is 7.1 meters away at (-1.8, -6.9). A unknown object with ID 18 is 8.3 meters away at (-2.2, 8.0). A unknown object with ID 7 is 9.8 meters away at (-7.1, 6.8). A unknown object with ID 20 is 10.8 meters away at (-2.2, 10.5). A unknown object with ID 23 is 12.9 meters away at (-1.7, -12.8). A unknown object with ID 21 is 13.3 meters away at (-2.3, 13.1).

The unknown object with ID 16 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00296006 -0.00261066] 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 [-1.9957453  1.3478289], 2.4082446098327637 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -2.5) m/s. Its current heading (yaw) is -1.54

The most relevant actors are: A unknown object with ID 14 is 2.8 meters away at (-1.9, -2.0). A unknown object with ID 15 is 2.9 meters away at (-2.0, 2.1). A unknown object with ID 16 is 6.6 meters away at (-2.1, 6.2). A unknown object with ID 23 is 8.1 meters away at (-1.8, -7.9). A pedestrian with ID 19 is 10.2 meters away at (-5.8, 8.4). A unknown object with ID 17 is 10.4 meters away at (-2.2, 10.2). A unknown object with ID 18 is 13.1 meters away at (-2.3, 12.9). A unknown object with ID 7 is 13.8 meters away at (-7.3, 11.7). A unknown object with ID 20 is 15.6 meters away at (-2.4, 15.4). A unknown object with ID 21 is 18.1 meters away at (-2.4, 18.0).

The unknown object with ID 14 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.0038204  0.00145521] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -1.8) m/s. Its current heading (yaw) is -1.51

The most relevant actors are: A unknown object with ID 14 is 3.2 meters away at (-2.1, 2.4). A unknown object with ID 23 is 4.0 meters away at (-2.0, -3.5). A unknown object with ID 15 is 6.9 meters away at (-2.3, 6.5). A unknown object with ID 16 is 10.9 meters away at (-2.4, 10.7). A pedestrian with ID 19 is 14.2 meters away at (-6.1, 12.9). A unknown object with ID 17 is 14.8 meters away at (-2.5, 14.6). A unknown object with ID 18 is 17.6 meters away at (-2.5, 17.4). A unknown object with ID 20 is 20.0 meters away at (-2.6, 19.9). A pedestrian with ID 25 is 20.5 meters away at (-20.5, -0.3). A unknown object with ID 21 is 22.6 meters away at (-2.6, 22.4).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.01619416 -0.01064181] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.4575535  0.3952179] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-2.102463   2.3522768], 3.154925584793091 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -8.0) m/s. Its current heading (yaw) is -1.58

The most relevant actors are: A unknown object with ID 32 is 33.2 meters away at (33.2, 0.9). A unknown object with ID 33 is 33.8 meters away at (33.8, -1.3). A unknown object with ID 31 is 33.9 meters away at (33.8, 3.0). A unknown object with ID 34 is 35.5 meters away at (35.5, -1.8). A unknown object with ID 35 is 38.2 meters away at (38.1, -2.7). A unknown object with ID 17 is 40.2 meters away at (40.0, -3.4). A unknown object with ID 11 is 42.2 meters away at (42.0, -4.3). A unknown object with ID 12 is 44.3 meters away at (44.1, -5.1). A unknown object with ID 2 is 46.0 meters away at (-3.8, -45.9). A pedestrian with ID 36 is 55.8 meters away at (-36.3, 42.4).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.7129578 -0.9179586] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [33.20831    0.9412279], 33.22164535522461 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -7.8) m/s. Its current heading (yaw) is -1.59

The most relevant actors are: A unknown object with ID 2 is 30.2 meters away at (-3.6, -30.0). A unknown object with ID 29 is 31.9 meters away at (-4.2, -31.6). A unknown object with ID 33 is 36.9 meters away at (33.9, 14.6). A unknown object with ID 32 is 37.5 meters away at (33.4, 17.2). A unknown object with ID 34 is 38.3 meters away at (35.6, 14.1). A unknown object with ID 31 is 38.9 meters away at (34.0, 19.1). A unknown object with ID 35 is 40.5 meters away at (38.3, 13.2). A unknown object with ID 17 is 42.4 meters away at (40.5, 12.6). A pedestrian with ID 3 is 57.4 meters away at (-21.1, -53.3). A pedestrian with ID 5 is 69.1 meters away at (8.3, -68.6).

The unknown object with ID 2 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 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 [-0.51648927 -0.6296194 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.01566168 -0.00431545] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ -3.5798864 -29.989458 ], 30.20237159729004 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -6.5) m/s. Its current heading (yaw) is -1.58

The most relevant actors are: A unknown object with ID 2 is 15.8 meters away at (-3.5, -15.4). A unknown object with ID 29 is 17.4 meters away at (-4.2, -16.9). A unknown object with ID 1 is 17.7 meters away at (-4.3, -17.2). A pedestrian with ID 14 is 44.4 meters away at (-20.6, -39.3). A pedestrian with ID 3 is 44.6 meters away at (-21.3, -39.2). A pedestrian with ID 5 is 54.7 meters away at (8.4, -54.1). A pedestrian with ID 21 is 77.8 meters away at (-2.8, -77.8).

The unknown object with ID 2 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.3118579  0.84284914] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.22203934  0.01084415] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.03698343  0.00130149] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.10413508 -0.16222851] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ -3.545869 -15.395409], 15.798474311828613 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -4.2) m/s. Its current heading (yaw) is -1.58

The most relevant actors are: A unknown object with ID 2 is 6.0 meters away at (-3.5, -4.8). A unknown object with ID 29 is 7.6 meters away at (-4.2, -6.4). A unknown object with ID 1 is 7.8 meters away at (-4.2, -6.6). A pedestrian with ID 3 is 35.8 meters away at (-21.6, -28.6). A pedestrian with ID 5 is 44.3 meters away at (8.4, -43.5). A pedestrian with ID 21 is 67.1 meters away at (-2.6, -67.1).

The unknown object with ID 2 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 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 [-0.3879399  -0.21838485] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.03511916  0.01284002] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.04745782 0.02896197] m/s.

There are active red lights at the following coordinates: [[ -0.84065807 -78.56464   ]
 [ -3.9386368  -77.6586    ]]

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-3.544371 -4.796852], 5.964256763458252 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.2) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 64 is 4.5 meters away at (-2.0, 4.0). A vehicle with ID 72 is 13.2 meters away at (4.1, 12.5). A unknown object with ID 68 is 13.8 meters away at (0.4, 13.7). A unknown object with ID 69 is 16.0 meters away at (0.5, 16.0). A vehicle with ID 76 is 16.4 meters away at (-15.6, -4.9). A vehicle with ID 27 is 17.9 meters away at (-13.3, -12.0). A vehicle with ID 70 is 17.9 meters away at (2.8, 17.7). A vehicle with ID 77 is 19.5 meters away at (1.5, -19.4). A vehicle with ID 71 is 21.3 meters away at (-21.1, -2.9). A vehicle with ID 34 is 27.8 meters away at (-26.7, -7.7).

The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-1.4354924 -4.318356 ] m/s.The unknown object with ID 68 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 vehicle with ID 76 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 [ 0.601203   -0.19817586] m/s.The vehicle with ID 70 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 [4.3041086 1.2310351] m/s.The vehicle with ID 71 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 [ 2.2881474  -0.72261846] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.88

The most relevant actors are: A vehicle with ID 64 is 5.0 meters away at (-1.7, 4.7). A vehicle with ID 72 is 8.2 meters away at (2.5, 7.8). A unknown object with ID 68 is 14.5 meters away at (0.7, 14.4). A vehicle with ID 27 is 15.3 meters away at (-8.1, -13.0). A vehicle with ID 76 is 16.0 meters away at (-15.4, -4.1). A vehicle with ID 70 is 18.7 meters away at (3.0, 18.5). A pedestrian with ID 24 is 18.8 meters away at (14.9, -11.5). A vehicle with ID 71 is 21.1 meters away at (-21.0, -2.2). A vehicle with ID 77 is 23.2 meters away at (12.3, -19.7). A vehicle with ID 34 is 23.2 meters away at (-21.5, -8.8).

The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.40622413 -1.1273613 ] m/s.The unknown object with ID 68 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 [ 4.334285  -1.3325825] m/s.The vehicle with ID 76 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 24 is traveling at a (x, y) velocity of [-1.0753659   0.40490812] m/s.The vehicle with ID 71 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 [ 6.164427  -1.7130647] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 2.908715  -0.9370142] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -3.2) m/s. Its current heading (yaw) is -1.82

The most relevant actors are: A vehicle with ID 64 is 7.6 meters away at (-0.8, 7.6). A vehicle with ID 72 is 9.1 meters away at (2.7, 8.7). A vehicle with ID 27 is 14.6 meters away at (4.2, -13.9). A vehicle with ID 76 is 14.6 meters away at (-14.5, -1.2). A pedestrian with ID 24 is 15.6 meters away at (13.6, -7.5). A vehicle with ID 34 is 17.2 meters away at (-15.3, -8.0). A vehicle with ID 71 is 20.1 meters away at (-20.1, 0.8). A vehicle with ID 70 is 21.7 meters away at (4.0, 21.3). A vehicle with ID 78 is 26.1 meters away at (-11.4, -23.4). A vehicle with ID 79 is 27.1 meters away at (2.8, -26.9).

The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.5819351 -1.7449701] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 6.7964106 -2.2788646] m/s.The vehicle with ID 76 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 [-1.0366355  0.4743745] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 2.2265334  -0.83391446] m/s.The vehicle with ID 71 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 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -5.2) m/s. Its current heading (yaw) is -1.07

The most relevant actors are: A pedestrian with ID 24 is 10.9 meters away at (10.7, 2.5). A vehicle with ID 34 is 12.8 meters away at (-12.8, -0.2). A vehicle with ID 72 is 13.2 meters away at (0.3, 13.2). A vehicle with ID 64 is 17.0 meters away at (-1.6, 16.9). A vehicle with ID 76 is 17.4 meters away at (-15.5, 8.1). A vehicle with ID 79 is 17.7 meters away at (1.9, -17.6). A vehicle with ID 78 is 18.7 meters away at (-12.3, -14.1). A unknown object with ID 28 is 19.3 meters away at (19.2, -2.4). A vehicle with ID 66 is 20.0 meters away at (15.6, -12.5). A vehicle with ID 27 is 21.1 meters away at (18.5, -10.0).

The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0695508  0.3343323] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.9461104 -1.2704747] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.7564177 -2.191481 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 27 is traveling at a (x, y) velocity of [ 7.89214   -2.7269444] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -2.5) m/s. Its current heading (yaw) is -1.74

The most relevant actors are: A unknown object with ID 42 is 19.4 meters away at (-9.9, -16.7). A vehicle with ID 26 is 25.5 meters away at (16.2, -19.7). A vehicle with ID 44 is 26.4 meters away at (10.5, -24.2). A cyclist with ID 41 is 27.3 meters away at (21.4, -16.9). A vehicle with ID 23 is 31.7 meters away at (21.1, -23.7). A pedestrian with ID 40 is 31.8 meters away at (3.9, -31.6). A pedestrian with ID 43 is 32.7 meters away at (4.7, -32.3). A vehicle with ID 24 is 38.4 meters away at (26.0, -28.3). A vehicle with ID 25 is 44.5 meters away at (30.7, -32.2). A unknown object with ID 9 is 44.5 meters away at (22.5, -38.4).

The unknown object with ID 42 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 44 is traveling at a (x, y) velocity of [-7.3489966  5.9024158] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [ 2.9644299 -2.2845955] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.01440484 0.01142025] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.00687626 0.01576204] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 [ -9.89481  -16.687668], 19.400657653808594 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -3.8) m/s. Its current heading (yaw) is -1.12

The most relevant actors are: A vehicle with ID 44 is 7.6 meters away at (-5.7, -4.9). A unknown object with ID 42 is 14.7 meters away at (-11.0, -9.8). A vehicle with ID 26 is 19.8 meters away at (15.1, -12.9). A pedestrian with ID 40 is 24.8 meters away at (2.8, -24.7). A pedestrian with ID 43 is 25.7 meters away at (3.5, -25.5). A vehicle with ID 23 is 26.1 meters away at (19.8, -17.0). A pedestrian with ID 33 is 32.0 meters away at (-3.6, -31.8). A vehicle with ID 24 is 32.7 meters away at (24.5, -21.6). A unknown object with ID 13 is 36.6 meters away at (18.6, -31.6). A unknown object with ID 12 is 36.6 meters away at (20.2, -30.6).

The vehicle with ID 44 is traveling at a (x, y) velocity of [-7.794802   6.4412236] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.00276327 0.00038412] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.01432733 -0.00493416] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.09750909 0.04836969] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -3.5) m/s. Its current heading (yaw) is -0.87

The most relevant actors are: A vehicle with ID 26 is 11.6 meters away at (10.1, -5.6). A unknown object with ID 42 is 16.2 meters away at (-16.0, -2.8). A pedestrian with ID 40 is 17.7 meters away at (-2.1, -17.5). A vehicle with ID 23 is 17.7 meters away at (14.8, -9.7). A pedestrian with ID 43 is 18.2 meters away at (-1.3, -18.2). A pedestrian with ID 32 is 20.0 meters away at (-2.8, -19.8). A vehicle with ID 24 is 24.2 meters away at (19.5, -14.3). A unknown object with ID 12 is 27.8 meters away at (15.1, -23.3). A unknown object with ID 13 is 28.0 meters away at (13.8, -24.4). A unknown object with ID 9 is 29.4 meters away at (16.5, -24.4).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.02884907 -0.02135022] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.02647427 0.0445787 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00391673 -0.00033412] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -3.6) m/s. Its current heading (yaw) is -0.77

The most relevant actors are: A vehicle with ID 26 is 3.8 meters away at (3.4, 1.6). A vehicle with ID 23 is 8.5 meters away at (8.1, -2.5). A unknown object with ID 17 is 13.3 meters away at (4.2, -12.6). A pedestrian with ID 43 is 13.4 meters away at (-7.9, -10.8). A pedestrian with ID 40 is 13.6 meters away at (-8.8, -10.3). A vehicle with ID 24 is 14.5 meters away at (12.8, -7.0). A pedestrian with ID 27 is 15.3 meters away at (-10.2, -11.5). A pedestrian with ID 32 is 15.7 meters away at (-9.6, -12.5). A unknown object with ID 12 is 18.1 meters away at (8.3, -16.0). A unknown object with ID 13 is 18.5 meters away at (7.0, -17.1).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.0250129  -0.03367419] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.01581815  0.01605194] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.04135264  0.02363907] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00078822  0.00644692] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching