The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -3.1) m/s. Its current heading (yaw) is -2.24

The most relevant actors are: A pedestrian with ID 33 is 9.7 meters away at (4.8, -8.4). A unknown object with ID 34 is 25.1 meters away at (-17.5, 18.0). A pedestrian with ID 26 is 27.5 meters away at (-23.0, -15.1). A pedestrian with ID 36 is 28.3 meters away at (-22.9, -16.7). A pedestrian with ID 37 is 56.5 meters away at (-27.6, -49.3). A pedestrian with ID 38 is 62.3 meters away at (-29.7, -54.7). A pedestrian with ID 35 is 63.3 meters away at (-30.0, -55.8).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00921062 -1.4024644 ] m/s.The unknown object with ID 34 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 [2.7552003e-04 9.3185163e-06] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.0040486  -0.01628188] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.60242254 1.1961062 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.48395604 0.91714185] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.6321903  0.98936814] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -4.8) m/s. Its current heading (yaw) is -1.75

The most relevant actors are: A pedestrian with ID 33 is 8.5 meters away at (7.8, -3.3). A pedestrian with ID 29 is 20.9 meters away at (-19.5, -7.4). A pedestrian with ID 26 is 21.2 meters away at (-19.6, -8.1). A pedestrian with ID 36 is 21.3 meters away at (-19.4, -9.0). A unknown object with ID 34 is 29.5 meters away at (-14.3, 25.8). A pedestrian with ID 37 is 45.2 meters away at (-23.0, -38.9). A pedestrian with ID 38 is 51.5 meters away at (-25.1, -44.9). A pedestrian with ID 35 is 52.7 meters away at (-25.5, -46.1). A pedestrian with ID 1 is 61.0 meters away at (-20.4, -57.5). A unknown object with ID 28 is 74.2 meters away at (-26.9, -69.2).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.3040952 -1.3659463] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.01581897 -0.01307037] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.01580287 -0.01856005] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.01947583 -0.01082105] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.5604694 1.2297904] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.6019825  0.97897935] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.5626154  0.93724823] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.28307065 -0.04831117] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -5.8) m/s. Its current heading (yaw) is -1.70

The most relevant actors are: A pedestrian with ID 37 is 33.1 meters away at (-20.9, -25.7). A unknown object with ID 34 is 38.6 meters away at (-12.8, 36.4). A pedestrian with ID 38 is 39.4 meters away at (-22.8, -32.1). A pedestrian with ID 35 is 40.6 meters away at (-23.3, -33.2). A pedestrian with ID 1 is 50.6 meters away at (-18.9, -46.9).

The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.26866692 1.2062315 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.44247022 1.0865169 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.47080255 1.093366  ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.00413828 -0.01293102] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -6.6) m/s. Its current heading (yaw) is -1.78

The most relevant actors are: A pedestrian with ID 37 is 21.6 meters away at (-18.5, -11.2). A pedestrian with ID 38 is 26.9 meters away at (-20.2, -17.8). A pedestrian with ID 35 is 27.6 meters away at (-20.2, -18.8). A unknown object with ID 10 is 30.6 meters away at (-22.9, -20.2). A pedestrian with ID 8 is 35.1 meters away at (-26.5, -23.0). A pedestrian with ID 1 is 38.3 meters away at (-16.6, -34.4). A unknown object with ID 2 is 40.5 meters away at (-27.6, -29.6). A unknown object with ID 34 is 50.0 meters away at (-11.0, 48.8). A vehicle with ID 15 is 67.5 meters away at (-16.7, -65.4).

The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.2146275  0.7099883] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.38996384 0.9588882 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.6039038 1.0375648] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.02550668 -0.03126719] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00686022 0.00751784] m/s.The unknown object with ID 2 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 15 is traveling at a (x, y) velocity of [-3.4056098  -0.15993392] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.2) m/s. Its current heading (yaw) is -0.64

The most relevant actors are: A vehicle with ID 35 is 7.0 meters away at (1.1, 6.9). A vehicle with ID 29 is 8.7 meters away at (-0.4, -8.7). A vehicle with ID 32 is 8.8 meters away at (-3.3, -8.2). A unknown object with ID 31 is 9.2 meters away at (6.8, 6.1). A vehicle with ID 36 is 9.7 meters away at (-9.4, -2.6). A vehicle with ID 27 is 10.4 meters away at (9.8, 3.4). A vehicle with ID 37 is 11.6 meters away at (-0.1, 11.6). A vehicle with ID 22 is 11.8 meters away at (9.0, -7.6). A vehicle with ID 26 is 14.3 meters away at (14.3, -0.4). A vehicle with ID 23 is 17.0 meters away at (12.9, -11.1).

The vehicle with ID 35 is traveling at a (x, y) velocity of [-3.9014149  3.2793436] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 22 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.64

The most relevant actors are: A vehicle with ID 29 is 8.6 meters away at (-0.5, -8.6). A vehicle with ID 32 is 8.7 meters away at (-3.4, -8.1). A unknown object with ID 31 is 9.1 meters away at (6.7, 6.2). A vehicle with ID 36 is 9.8 meters away at (-9.5, -2.5). A unknown object with ID 19 is 9.9 meters away at (1.8, -9.7). A vehicle with ID 27 is 10.3 meters away at (9.7, 3.5). A vehicle with ID 22 is 11.6 meters away at (8.9, -7.5). A vehicle with ID 37 is 11.7 meters away at (-0.2, 11.7). A vehicle with ID 35 is 12.5 meters away at (-4.5, 11.7). A vehicle with ID 26 is 14.2 meters away at (14.2, -0.3).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.0465865  1.6788638] m/s.The vehicle with ID 26 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 -0.64

The most relevant actors are: A vehicle with ID 29 is 8.6 meters away at (-0.5, -8.6). A vehicle with ID 32 is 8.7 meters away at (-3.4, -8.0). A unknown object with ID 31 is 9.1 meters away at (6.7, 6.2). A vehicle with ID 36 is 9.8 meters away at (-9.5, -2.5). A unknown object with ID 19 is 9.8 meters away at (1.7, -9.7). A vehicle with ID 27 is 10.3 meters away at (9.7, 3.5). A vehicle with ID 22 is 11.6 meters away at (8.9, -7.5). A vehicle with ID 37 is 11.7 meters away at (-0.2, 11.7). A vehicle with ID 26 is 14.2 meters away at (14.2, -0.3). A unknown object with ID 10 is 16.5 meters away at (-15.7, 5.3).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 (0.0, -0.0) m/s. Its current heading (yaw) is -0.64

The most relevant actors are: A vehicle with ID 29 is 8.6 meters away at (-0.5, -8.6). A vehicle with ID 32 is 8.7 meters away at (-3.4, -8.0). A unknown object with ID 31 is 9.1 meters away at (6.6, 6.2). A unknown object with ID 19 is 9.8 meters away at (1.7, -9.7). A vehicle with ID 36 is 9.8 meters away at (-9.5, -2.5). A vehicle with ID 27 is 10.3 meters away at (9.7, 3.5). A vehicle with ID 22 is 11.6 meters away at (8.8, -7.5). A vehicle with ID 37 is 11.7 meters away at (-0.2, 11.7). A vehicle with ID 26 is 14.1 meters away at (14.1, -0.3). A unknown object with ID 10 is 16.5 meters away at (-15.7, 5.2).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The 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 -0.70

The most relevant actors are: A vehicle with ID 75 is 4.8 meters away at (-4.8, -0.1). A vehicle with ID 77 is 5.8 meters away at (4.2, 3.9). A vehicle with ID 80 is 8.9 meters away at (-8.4, 2.9). A unknown object with ID 82 is 12.7 meters away at (1.2, 12.6). A unknown object with ID 38 is 15.4 meters away at (7.9, -13.2). A unknown object with ID 85 is 16.9 meters away at (-2.3, 16.8). A unknown object with ID 86 is 18.2 meters away at (-3.3, 17.9). A unknown object with ID 88 is 18.6 meters away at (-3.7, 18.2). A vehicle with ID 96 is 18.6 meters away at (-5.8, -17.7). A vehicle with ID 73 is 20.2 meters away at (17.7, 9.9).

The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 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 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -1.1) m/s. Its current heading (yaw) is -0.52

The most relevant actors are: A vehicle with ID 77 is 5.7 meters away at (3.1, 4.7). A vehicle with ID 75 is 6.0 meters away at (-6.0, 0.8). A vehicle with ID 80 is 10.3 meters away at (-9.6, 3.8). A unknown object with ID 82 is 13.6 meters away at (-0.1, 13.6). A unknown object with ID 85 is 18.0 meters away at (-3.3, 17.7). A vehicle with ID 96 is 18.2 meters away at (-7.1, -16.8). A unknown object with ID 88 is 19.3 meters away at (-4.4, 18.8). A unknown object with ID 86 is 19.7 meters away at (-4.7, 19.1). A vehicle with ID 73 is 19.8 meters away at (16.6, 10.7). A vehicle with ID 90 is 22.8 meters away at (-19.2, 12.4).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 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 90 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 (4.8, 1.2) m/s. Its current heading (yaw) is 0.25

The most relevant actors are: A vehicle with ID 77 is 7.2 meters away at (-4.2, 5.9). A vehicle with ID 75 is 13.4 meters away at (-13.3, 1.9). A vehicle with ID 73 is 15.0 meters away at (9.3, 11.7). A vehicle with ID 114 is 15.6 meters away at (11.0, -11.0). A vehicle with ID 80 is 17.6 meters away at (-16.9, 4.9). A vehicle with ID 96 is 21.3 meters away at (-14.4, -15.7). A vehicle with ID 72 is 21.7 meters away at (13.8, 16.7). A unknown object with ID 85 is 21.7 meters away at (-10.6, 18.9). A vehicle with ID 94 is 23.3 meters away at (18.6, -14.0). A unknown object with ID 68 is 23.3 meters away at (-11.8, 20.1).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [-2.7905688  2.4847906] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 4.4) m/s. Its current heading (yaw) is 0.77

The most relevant actors are: A vehicle with ID 73 is 5.7 meters away at (0.3, 5.7). A vehicle with ID 72 is 11.7 meters away at (4.7, 10.7). A vehicle with ID 77 is 13.2 meters away at (-13.2, -0.1). A vehicle with ID 114 is 14.3 meters away at (-1.1, -14.2). A vehicle with ID 15 is 17.4 meters away at (8.3, 15.3). A vehicle with ID 94 is 22.1 meters away at (9.7, -19.9). A vehicle with ID 75 is 22.7 meters away at (-22.4, -4.1). A vehicle with ID 76 is 25.4 meters away at (21.7, 13.2). A vehicle with ID 80 is 26.0 meters away at (-26.0, -1.2). A vehicle with ID 79 is 26.8 meters away at (24.1, 11.7).

The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [-1.5073545  1.3716133] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (-4.4, -0.2) m/s. Its current heading (yaw) is -3.09

The most relevant actors are: A unknown object with ID 22 is 12.9 meters away at (3.8, 12.4). A unknown object with ID 24 is 17.3 meters away at (8.7, 15.0). A unknown object with ID 26 is 17.5 meters away at (10.1, 14.3). A unknown object with ID 29 is 18.0 meters away at (2.4, 17.8). A unknown object with ID 27 is 18.0 meters away at (7.5, 16.4). A unknown object with ID 28 is 18.4 meters away at (12.1, 13.9). A unknown object with ID 31 is 23.5 meters away at (7.0, 22.4). A unknown object with ID 23 is 28.0 meters away at (-26.0, -10.4). A unknown object with ID 2 is 29.8 meters away at (-28.3, -9.4). A unknown object with ID 39 is 42.5 meters away at (-40.4, 13.2).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 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 31 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 3.8353252 12.356546 ], 12.938081741333008 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -0.0) m/s. Its current heading (yaw) is -3.14

The most relevant actors are: A unknown object with ID 7 is 16.0 meters away at (11.4, 11.3). A unknown object with ID 22 is 16.4 meters away at (10.5, 12.7). A unknown object with ID 29 is 20.2 meters away at (9.0, 18.1). A unknown object with ID 24 is 21.6 meters away at (15.3, 15.3). A unknown object with ID 18 is 21.7 meters away at (10.0, 19.2). A unknown object with ID 23 is 21.8 meters away at (-19.3, -10.1). A unknown object with ID 27 is 21.9 meters away at (14.1, 16.7). A unknown object with ID 26 is 22.2 meters away at (16.8, 14.6). A unknown object with ID 2 is 23.4 meters away at (-21.6, -9.1). A unknown object with ID 28 is 23.5 meters away at (18.8, 14.2).

The unknown object with ID 7 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 27 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 2 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [11.403777 11.284549], 16.043291091918945 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.0) m/s. Its current heading (yaw) is -3.11

The most relevant actors are: A unknown object with ID 7 is 17.2 meters away at (13.0, 11.3). A unknown object with ID 22 is 17.5 meters away at (12.1, 12.6). A unknown object with ID 17 is 19.3 meters away at (10.1, 16.5). A unknown object with ID 23 is 20.3 meters away at (-17.7, -10.1). A unknown object with ID 29 is 21.1 meters away at (10.6, 18.2). A unknown object with ID 2 is 21.9 meters away at (-19.9, -9.1). A unknown object with ID 18 is 22.5 meters away at (11.6, 19.3). A unknown object with ID 24 is 22.8 meters away at (17.0, 15.3). A unknown object with ID 27 is 23.0 meters away at (15.8, 16.7). A unknown object with ID 26 is 23.5 meters away at (18.5, 14.6).

The unknown object with ID 7 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 17 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 29 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 unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [12.983423 11.337443], 17.23678970336914 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.11

The most relevant actors are: A unknown object with ID 7 is 17.3 meters away at (13.1, 11.3). A unknown object with ID 22 is 17.6 meters away at (12.3, 12.6). A unknown object with ID 17 is 19.3 meters away at (10.1, 16.4). A unknown object with ID 23 is 20.2 meters away at (-17.5, -10.1). A unknown object with ID 29 is 21.1 meters away at (10.7, 18.2). A unknown object with ID 2 is 21.8 meters away at (-19.8, -9.1). A unknown object with ID 24 is 22.9 meters away at (17.1, 15.3). A unknown object with ID 27 is 23.0 meters away at (15.9, 16.7). A unknown object with ID 26 is 23.6 meters away at (18.6, 14.6). A unknown object with ID 28 is 25.0 meters away at (20.5, 14.2).

The unknown object with ID 7 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 17 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 29 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 unknown object with ID 24 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 26 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [13.121307 11.307853], 17.32155418395996 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.5) m/s. Its current heading (yaw) is -2.22

The most relevant actors are: A vehicle with ID 73 is 4.4 meters away at (4.0, -1.7). A unknown object with ID 64 is 7.6 meters away at (7.6, 0.5). A unknown object with ID 42 is 7.8 meters away at (7.7, -1.2). A pedestrian with ID 74 is 12.7 meters away at (11.6, 5.1). A vehicle with ID 75 is 17.3 meters away at (8.5, 15.1). A vehicle with ID 77 is 23.3 meters away at (6.8, -22.3). A vehicle with ID 76 is 23.3 meters away at (12.3, 19.8). A vehicle with ID 78 is 23.4 meters away at (-23.4, -1.7). A unknown object with ID 63 is 24.2 meters away at (19.4, 14.4). A vehicle with ID 72 is 27.3 meters away at (12.9, -24.1).

The vehicle with ID 73 is traveling at a (x, y) velocity of [1.4192721 3.431785 ] 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.2899906  -0.44203323] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -4.5) m/s. Its current heading (yaw) is -1.60

The most relevant actors are: A vehicle with ID 73 is 14.7 meters away at (10.2, 10.5). A pedestrian with ID 74 is 16.6 meters away at (13.1, 10.3). A vehicle with ID 77 is 18.6 meters away at (9.0, -16.3). A vehicle with ID 78 is 21.5 meters away at (-21.0, 4.4). A vehicle with ID 72 is 23.6 meters away at (15.1, -18.1). A vehicle with ID 75 is 23.8 meters away at (10.9, 21.1). A pedestrian with ID 80 is 27.4 meters away at (-26.4, -7.0). A pedestrian with ID 81 is 27.7 meters away at (-26.6, -7.8). A vehicle with ID 71 is 29.5 meters away at (21.2, -20.5). A vehicle with ID 76 is 29.7 meters away at (14.7, 25.8).

The vehicle with ID 73 is traveling at a (x, y) velocity of [1.6791822 2.2763114] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.45763838 -0.36681148] m/s.The vehicle with ID 77 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-1.3588123   0.22434674] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-1.3201083   0.17396607] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -3.8) m/s. Its current heading (yaw) is -0.68

The most relevant actors are: A vehicle with ID 77 is 8.6 meters away at (4.7, -7.2). A pedestrian with ID 67 is 14.1 meters away at (-3.5, -13.6). A vehicle with ID 72 is 14.1 meters away at (10.8, -9.0). A vehicle with ID 71 is 20.4 meters away at (16.9, -11.4). A pedestrian with ID 74 is 21.2 meters away at (7.9, 19.7). A vehicle with ID 73 is 22.7 meters away at (7.3, 21.5). A vehicle with ID 69 is 25.8 meters away at (21.9, -13.6). A vehicle with ID 90 is 27.0 meters away at (-20.9, -17.1). A vehicle with ID 78 is 28.8 meters away at (-25.6, 13.3). A vehicle with ID 89 is 29.7 meters away at (-27.9, -10.3).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.09737502 -0.07706133] m/s.The vehicle with ID 72 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 pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.5235877   0.34462744] m/s.The vehicle with ID 73 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 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 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 (6.9, -2.8) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A vehicle with ID 72 is 3.0 meters away at (-0.8, -2.9). A vehicle with ID 77 is 7.1 meters away at (-7.0, -1.1). A vehicle with ID 71 is 7.3 meters away at (5.1, -5.2). A vehicle with ID 69 is 12.6 meters away at (10.1, -7.5). A vehicle with ID 68 is 18.7 meters away at (15.7, -10.1). A pedestrian with ID 17 is 22.8 meters away at (22.8, 1.1). A pedestrian with ID 19 is 23.3 meters away at (23.2, 2.1). A vehicle with ID 27 is 23.9 meters away at (20.4, -12.5). A pedestrian with ID 33 is 25.4 meters away at (20.3, -15.3). A pedestrian with ID 8 is 25.6 meters away at (20.0, -15.9).

The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.2572429  0.5345707] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.2094446   0.55849516] m/s.The vehicle with ID 27 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 [0.03221808 0.00561799] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.05881288 -0.06594122] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, 6.3) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 28 is 6.1 meters away at (-6.0, -0.9). A unknown object with ID 29 is 19.9 meters away at (18.6, 7.1). A unknown object with ID 30 is 21.0 meters away at (19.2, 8.4). A unknown object with ID 31 is 22.8 meters away at (20.8, 9.4). A pedestrian with ID 26 is 23.0 meters away at (-11.3, -20.0). A unknown object with ID 33 is 23.9 meters away at (21.0, 11.4). A unknown object with ID 34 is 24.3 meters away at (21.5, 11.5). A pedestrian with ID 27 is 49.7 meters away at (-28.2, -40.9). A unknown object with ID 19 is 54.1 meters away at (-43.7, -31.8). A vehicle with ID 35 is 57.9 meters away at (-28.0, -50.6).

The vehicle with ID 28 is traveling at a (x, y) velocity of [-7.519259 -8.516414] 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 30 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 pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0066011 -1.0671445] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.8646814 -1.0271974] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-31.065413 -34.871464]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 7.1) m/s. Its current heading (yaw) is 1.04

The most relevant actors are: A unknown object with ID 30 is 10.9 meters away at (9.8, -4.8). A unknown object with ID 29 is 11.0 meters away at (9.1, -6.1). A unknown object with ID 33 is 11.6 meters away at (11.5, -1.8). A unknown object with ID 31 is 12.0 meters away at (11.4, -3.7). A unknown object with ID 34 is 12.1 meters away at (12.0, -1.7). A unknown object with ID 17 is 17.7 meters away at (17.5, -2.8). A pedestrian with ID 26 is 42.2 meters away at (-22.9, -35.5). A vehicle with ID 28 is 42.9 meters away at (-30.3, -30.4). A vehicle with ID 15 is 50.7 meters away at (-32.9, -38.6). A vehicle with ID 3 is 67.9 meters away at (30.1, 60.9).

The unknown object with ID 30 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 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 17 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 [-1.0506101 -1.0794947] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-7.4000316 -7.8316307] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.075596 9.673702] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-32.54642  -28.37894 ]
 [-33.79026  -26.563543]]

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 9.7835655 -4.809353 ], 10.90174388885498 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 7.6) m/s. Its current heading (yaw) is 1.12

The most relevant actors are: A unknown object with ID 10 is 14.5 meters away at (10.6, 9.9). A unknown object with ID 34 is 16.8 meters away at (4.2, -16.3). A unknown object with ID 33 is 16.9 meters away at (3.7, -16.4). A unknown object with ID 31 is 18.7 meters away at (3.5, -18.3). A unknown object with ID 30 is 19.5 meters away at (1.9, -19.4). A unknown object with ID 29 is 20.7 meters away at (1.3, -20.7). A pedestrian with ID 18 is 40.2 meters away at (-14.4, -37.5). A vehicle with ID 15 is 40.6 meters away at (-22.7, -33.6). A vehicle with ID 3 is 51.6 meters away at (22.4, 46.5). A pedestrian with ID 26 is 61.8 meters away at (-32.9, -52.3).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 30 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 pedestrian with ID 18 is traveling at a (x, y) velocity of [0.92013615 0.9987084 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [8.567611  9.8448715] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0.0834441  0.32456413] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.013008  -1.2169331] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [10.558643  9.908863], 14.48000431060791 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 7.3) m/s. Its current heading (yaw) is 1.15

The most relevant actors are: A unknown object with ID 10 is 5.9 meters away at (3.4, -4.8). A unknown object with ID 34 is 31.2 meters away at (-2.9, -31.1). A unknown object with ID 33 is 31.5 meters away at (-3.4, -31.3). A vehicle with ID 15 is 31.9 meters away at (-14.7, -28.3). A unknown object with ID 31 is 33.3 meters away at (-3.4, -33.1). A unknown object with ID 30 is 34.6 meters away at (-5.1, -34.2). A unknown object with ID 29 is 36.0 meters away at (-5.7, -35.5). A vehicle with ID 3 is 37.7 meters away at (16.1, 34.1). A unknown object with ID 21 is 43.5 meters away at (-6.5, -43.0). A vehicle with ID 22 is 44.6 meters away at (1.5, -44.6).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 6.4073086 10.3074665] 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0.8873218 2.4659078] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 3.4229202 -4.7970695], 5.893068790435791 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.1) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A pedestrian with ID 57 is 10.7 meters away at (2.0, -10.5). A vehicle with ID 11 is 35.0 meters away at (26.7, -22.6). A vehicle with ID 58 is 36.6 meters away at (34.0, 13.6). A unknown object with ID 21 is 47.1 meters away at (38.6, -27.1). A unknown object with ID 36 is 52.2 meters away at (-52.1, 1.5). A unknown object with ID 23 is 53.5 meters away at (-51.2, 15.4). A vehicle with ID 63 is 57.4 meters away at (-55.4, -15.1). A vehicle with ID 62 is 59.2 meters away at (48.0, -34.7). A vehicle with ID 56 is 61.9 meters away at (-60.5, -13.1). A pedestrian with ID 60 is 62.7 meters away at (11.2, -61.7).

The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.9654719  -0.90315044] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.2528543  5.6537447] m/s.The vehicle with ID 58 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 36 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-8.784212   4.1631923] m/s.The vehicle with ID 56 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 [-1.6812534   0.29390523] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 2.9) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A unknown object with ID 49 is 15.2 meters away at (-9.3, 12.1). A pedestrian with ID 57 is 24.5 meters away at (13.4, -20.5). A vehicle with ID 11 is 29.2 meters away at (22.1, -19.1). A unknown object with ID 32 is 43.2 meters away at (-43.0, -4.4). A unknown object with ID 36 is 43.3 meters away at (-42.8, -6.5). A vehicle with ID 58 is 43.7 meters away at (43.4, 5.6). A vehicle with ID 63 is 51.5 meters away at (-46.0, -23.2). A vehicle with ID 62 is 52.0 meters away at (40.0, -33.2). A vehicle with ID 56 is 55.4 meters away at (-51.2, -21.2).

The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 1.0001587 -0.8714555] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.7987704  5.739817 ] 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-8.555169   5.8236914] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-9.285692 12.087711], 15.242599487304688 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.7) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 11 is 18.1 meters away at (13.7, -11.8). A pedestrian with ID 57 is 32.9 meters away at (20.1, -26.0). A unknown object with ID 32 is 39.5 meters away at (-38.6, -8.2). A unknown object with ID 36 is 39.8 meters away at (-38.5, -10.2). A vehicle with ID 58 is 47.8 meters away at (47.8, 1.6). A vehicle with ID 63 is 49.6 meters away at (-41.6, -27.0). A vehicle with ID 56 is 53.1 meters away at (-46.9, -25.0).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-5.5282326  4.8440733] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 1.1701348 -0.8125308] 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 3.7) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A cyclist with ID 14 is 13.0 meters away at (-7.3, 10.7). A vehicle with ID 11 is 13.5 meters away at (10.2, -8.8). A unknown object with ID 32 is 35.0 meters away at (-32.2, -13.6). A unknown object with ID 36 is 35.7 meters away at (-32.1, -15.6). A pedestrian with ID 57 is 42.9 meters away at (29.0, -31.6). A vehicle with ID 63 is 47.9 meters away at (-35.3, -32.3). A vehicle with ID 56 is 50.6 meters away at (-40.6, -30.2). A vehicle with ID 58 is 54.1 meters away at (54.0, -4.0). A vehicle with ID 33 is 56.1 meters away at (-1.4, -56.1). A vehicle with ID 13 is 66.5 meters away at (-50.0, -43.8).

The cyclist with ID 14 is traveling at a (x, y) velocity of [-6.5320847e-09  8.4034006e-08] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-4.2000494  3.6772418] 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [1.2055304  0.09267419] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 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, -7.8) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 37 is 4.0 meters away at (-3.0, 2.7). A vehicle with ID 34 is 5.3 meters away at (2.5, -4.6). A vehicle with ID 71 is 7.8 meters away at (-6.2, -4.8). A vehicle with ID 77 is 10.0 meters away at (-0.2, 10.0). A vehicle with ID 72 is 11.8 meters away at (0.3, -11.8). A vehicle with ID 88 is 12.4 meters away at (11.7, -4.1). A unknown object with ID 53 is 12.5 meters away at (-11.3, -5.4). A vehicle with ID 85 is 13.1 meters away at (13.0, -1.9). A vehicle with ID 82 is 13.5 meters away at (13.5, 0.7). A vehicle with ID 80 is 15.0 meters away at (14.7, 2.9).

The vehicle with ID 37 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 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 [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -7.6) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A vehicle with ID 72 is 6.9 meters away at (5.9, 3.6). A vehicle with ID 71 is 10.6 meters away at (-0.6, 10.5). A unknown object with ID 53 is 11.4 meters away at (-5.6, 9.9). A vehicle with ID 34 is 13.5 meters away at (8.1, 10.8). A pedestrian with ID 67 is 13.7 meters away at (-7.8, 11.2). A vehicle with ID 66 is 13.7 meters away at (-13.4, -3.1). A pedestrian with ID 51 is 13.9 meters away at (-9.5, 10.1). A pedestrian with ID 38 is 14.7 meters away at (-10.4, 10.3). A vehicle with ID 35 is 15.5 meters away at (-8.9, -12.7). A pedestrian with ID 39 is 15.6 meters away at (-10.9, 11.2).

The vehicle with ID 72 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 unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.00911138 -0.0125163 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.01436277 -0.02862017] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.0239866 -0.0221087] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.0122005  -0.02411294] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -7.3) m/s. Its current heading (yaw) is -1.92

The most relevant actors are: A vehicle with ID 35 is 3.9 meters away at (-3.4, 1.8). A vehicle with ID 73 is 5.0 meters away at (4.0, -3.0). A vehicle with ID 8 is 8.5 meters away at (2.3, -8.1). A vehicle with ID 36 is 11.1 meters away at (-6.9, -8.7). A vehicle with ID 66 is 14.1 meters away at (-8.0, 11.6). A vehicle with ID 70 is 17.3 meters away at (-9.1, -14.7). A vehicle with ID 55 is 17.4 meters away at (17.3, -1.2). A vehicle with ID 64 is 18.3 meters away at (-12.9, 13.1). A vehicle with ID 74 is 19.3 meters away at (-1.7, -19.3). A vehicle with ID 72 is 21.7 meters away at (11.4, 18.5).

The vehicle with ID 35 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 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 [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.0) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 70 is 4.3 meters away at (-4.0, -1.4). A vehicle with ID 36 is 4.8 meters away at (-1.9, 4.4). A vehicle with ID 74 is 6.8 meters away at (3.4, -5.9). A vehicle with ID 8 is 9.0 meters away at (7.4, 5.0). A vehicle with ID 1 is 9.1 meters away at (-6.1, -6.8). A pedestrian with ID 3 is 9.3 meters away at (-8.9, -2.8). A vehicle with ID 75 is 10.7 meters away at (1.8, -10.6). A vehicle with ID 73 is 13.7 meters away at (9.1, 10.2). A vehicle with ID 76 is 15.2 meters away at (-0.0, -15.2). A vehicle with ID 35 is 15.3 meters away at (1.7, 15.2).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 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 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 [0.48504856 1.245378  ] m/s.The vehicle with ID 75 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 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.2, -0.1) m/s. Its current heading (yaw) is -0.01

The most relevant actors are: A vehicle with ID 18 is 12.4 meters away at (-2.5, -12.2). A vehicle with ID 19 is 20.2 meters away at (-2.4, -20.0). A vehicle with ID 17 is 29.9 meters away at (-29.4, -5.7). A vehicle with ID 22 is 40.4 meters away at (-15.3, -37.4). A vehicle with ID 26 is 48.9 meters away at (-15.3, -46.4). A unknown object with ID 20 is 53.2 meters away at (-53.2, 2.1). A unknown object with ID 12 is 53.2 meters away at (-53.2, 2.4). A vehicle with ID 27 is 53.8 meters away at (-15.3, -51.6). A vehicle with ID 21 is 56.2 meters away at (-56.2, 0.0). A vehicle with ID 23 is 59.1 meters away at (-59.1, 0.7).

The vehicle with ID 18 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.6, 0.5) m/s. Its current heading (yaw) is 0.05

The most relevant actors are: A vehicle with ID 18 is 26.3 meters away at (-23.1, -12.4). A unknown object with ID 10 is 42.1 meters away at (38.8, 16.2). A vehicle with ID 17 is 50.5 meters away at (-50.1, -6.0). A unknown object with ID 20 is 74.0 meters away at (-74.0, 1.9). A vehicle with ID 21 is 77.0 meters away at (-77.0, -0.3).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.9, 0.9) m/s. Its current heading (yaw) is 0.08

The most relevant actors are: A unknown object with ID 10 is 22.8 meters away at (17.4, 14.8). A vehicle with ID 9 is 42.1 meters away at (-14.8, -39.4). A vehicle with ID 18 is 46.7 meters away at (-44.6, -13.9). A vehicle with ID 17 is 71.9 meters away at (-71.5, -7.5).

The unknown object 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [17.441864 14.761185], 22.84975242614746 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.6, 0.9) m/s. Its current heading (yaw) is 0.08

The most relevant actors are: A vehicle with ID 18 is 67.8 meters away at (-65.9, -15.7). A vehicle with ID 1 is 72.8 meters away at (72.7, -4.1).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -4.6) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A vehicle with ID 3 is 15.0 meters away at (-9.9, -11.3). A unknown object with ID 70 is 18.4 meters away at (13.5, -12.4). A unknown object with ID 101 is 18.9 meters away at (14.0, -12.7). A unknown object with ID 57 is 19.2 meters away at (13.5, -13.7). A vehicle with ID 37 is 22.8 meters away at (-19.6, -11.6). A vehicle with ID 97 is 23.6 meters away at (23.0, 5.3). A vehicle with ID 39 is 36.1 meters away at (-35.8, 4.1). A unknown object with ID 126 is 42.6 meters away at (14.9, 39.9). A unknown object with ID 76 is 53.5 meters away at (-17.3, -50.6). A vehicle with ID 1 is 57.2 meters away at (-56.6, -8.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.1545954 -1.3676767] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-4.270286   2.3787932] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -3.4) m/s. Its current heading (yaw) is -2.24

The most relevant actors are: A vehicle with ID 3 is 14.8 meters away at (-14.6, -2.2). A unknown object with ID 70 is 18.7 meters away at (18.3, -4.1). A unknown object with ID 57 is 18.9 meters away at (18.1, -5.4). A unknown object with ID 101 is 19.1 meters away at (18.6, -4.6). A unknown object with ID 74 is 20.3 meters away at (19.4, -6.1). A vehicle with ID 37 is 24.4 meters away at (-24.2, 2.8). A vehicle with ID 39 is 33.6 meters away at (-31.4, 12.0). A vehicle with ID 48 is 37.5 meters away at (23.1, -29.6). A unknown object with ID 76 is 44.4 meters away at (-12.5, -42.6). A unknown object with ID 45 is 47.8 meters away at (21.5, -42.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7312584  1.8133531] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-4.92316    3.3376393] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight 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 -3.11

The most relevant actors are: A vehicle with ID 3 is 18.9 meters away at (-17.4, 7.4). A unknown object with ID 101 is 24.9 meters away at (24.8, -0.4). A unknown object with ID 57 is 25.3 meters away at (25.2, -1.0). A unknown object with ID 70 is 25.4 meters away at (25.4, 0.1). A unknown object with ID 94 is 25.7 meters away at (25.7, -1.0). A unknown object with ID 74 is 26.6 meters away at (26.5, -1.9). A vehicle with ID 39 is 29.2 meters away at (-24.3, 16.2). A vehicle with ID 37 is 31.1 meters away at (-27.7, 14.2). A unknown object with ID 55 is 36.8 meters away at (23.3, -28.6). A pedestrian with ID 103 is 37.4 meters away at (33.2, 17.2).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.1472     3.2289603] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-5.0787787  3.5644746] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [0.08665995 0.24072237] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 2.8) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A vehicle with ID 39 is 19.9 meters away at (-14.8, 13.3). A vehicle with ID 3 is 21.0 meters away at (-17.9, 11.0). A unknown object with ID 107 is 30.0 meters away at (20.4, 22.0). A vehicle with ID 37 is 32.3 meters away at (-27.1, 17.5). A unknown object with ID 101 is 34.4 meters away at (34.2, -3.7). A pedestrian with ID 4 is 34.7 meters away at (-33.8, -7.7). A unknown object with ID 57 is 34.8 meters away at (34.5, -4.1). A unknown object with ID 70 is 34.9 meters away at (34.8, -2.6). A unknown object with ID 94 is 35.0 meters away at (34.8, -4.2). A pedestrian with ID 5 is 35.1 meters away at (-34.1, -8.2).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.4368854  2.9834309] m/s.The unknown object with ID 107 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 [-3.5585594  2.5598814] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.008685   -0.73691934] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.9834345 -0.7469906] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -6.5) m/s. Its current heading (yaw) is -1.96

The most relevant actors are: A vehicle with ID 58 is 27.9 meters away at (-26.8, -7.6). A vehicle with ID 60 is 30.4 meters away at (-28.6, -10.3). A vehicle with ID 62 is 30.6 meters away at (5.4, -30.1). A vehicle with ID 63 is 32.0 meters away at (-28.9, -13.8). A vehicle with ID 29 is 36.1 meters away at (2.8, -36.0). A pedestrian with ID 66 is 36.3 meters away at (-5.9, -35.8). A vehicle with ID 64 is 37.2 meters away at (-36.4, -7.3). A vehicle with ID 68 is 40.6 meters away at (-40.5, -2.2). A pedestrian with ID 18 is 41.9 meters away at (-8.8, -41.0). A pedestrian with ID 69 is 42.9 meters away at (-41.8, 9.5).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.5386144 -1.0825025] m/s.The vehicle with ID 64 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 [ 0.5461557  -0.20320758] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.7455065 -1.2589473] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.284472   -0.39564443] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -6.6) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A vehicle with ID 62 is 20.2 meters away at (10.8, -17.0). A vehicle with ID 58 is 22.1 meters away at (-21.3, 5.6). A vehicle with ID 60 is 23.4 meters away at (-23.2, 2.9). A vehicle with ID 63 is 23.4 meters away at (-23.4, -0.7). A vehicle with ID 29 is 24.3 meters away at (8.1, -22.9). A pedestrian with ID 66 is 24.9 meters away at (-1.6, -24.9). A pedestrian with ID 18 is 30.8 meters away at (-4.7, -30.5). A pedestrian with ID 46 is 31.4 meters away at (-23.1, 21.3). A vehicle with ID 64 is 31.6 meters away at (-31.1, 5.8). A vehicle with ID 43 is 32.7 meters away at (-32.6, 3.2).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.8302742 -1.0205014] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.8019628 -1.2202202] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.9406973  -0.62576723] m/s.The vehicle with ID 64 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.5) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A pedestrian with ID 66 is 13.4 meters away at (2.2, -13.3). A vehicle with ID 29 is 16.7 meters away at (13.5, -9.8). A vehicle with ID 62 is 16.9 meters away at (16.4, -3.9). A pedestrian with ID 18 is 19.9 meters away at (-0.5, -19.9). A vehicle with ID 63 is 21.7 meters away at (-17.7, 12.5). A vehicle with ID 60 is 23.7 meters away at (-17.5, 16.0). A vehicle with ID 58 is 24.3 meters away at (-15.6, 18.7). A vehicle with ID 40 is 26.8 meters away at (-19.9, -17.9). A unknown object with ID 13 is 30.2 meters away at (-23.1, -19.4). A unknown object with ID 14 is 30.4 meters away at (-23.8, -19.0).

The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.88472295 -0.68254936] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.8110843 -1.1985085] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [1.3602008 6.656075 ] 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -6.6) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A pedestrian with ID 66 is 6.0 meters away at (5.8, -1.2). A pedestrian with ID 18 is 9.8 meters away at (3.2, -9.3). A vehicle with ID 40 is 16.3 meters away at (-14.6, 7.3). A unknown object with ID 13 is 18.6 meters away at (-17.4, -6.5). A unknown object with ID 14 is 19.1 meters away at (-18.1, -6.1). A vehicle with ID 29 is 19.2 meters away at (19.0, 3.1). A unknown object with ID 12 is 19.3 meters away at (-18.0, -7.1). A pedestrian with ID 16 is 22.3 meters away at (-3.4, -22.0). A vehicle with ID 62 is 23.8 meters away at (22.1, 8.9). A vehicle with ID 70 is 26.3 meters away at (-25.1, 7.5).

The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.94419456 -0.18821894] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.0353868 -1.0052315] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-1.569035  6.086113] 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 14 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 unknown object with ID 12 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 [0.53634435 1.1394652 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 7.2) m/s. Its current heading (yaw) is 2.21

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 7.0) m/s. Its current heading (yaw) is 2.13

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 7.2) m/s. Its current heading (yaw) is 2.01

The most relevant actors are: A cyclist with ID 3 is 23.8 meters away at (12.8, 20.1).

The cyclist with ID 3 is traveling at a (x, y) velocity of [  3.6849337 -14.747538 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 7.1) m/s. Its current heading (yaw) is 1.88

The most relevant actors are: A vehicle with ID 7 is 20.4 meters away at (12.1, 16.4). A vehicle with ID 2 is 24.6 meters away at (15.1, 19.4).

The vehicle with ID 7 is traveling at a (x, y) velocity of [  2.865095 -14.164268] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [  2.5059783 -13.217853 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -2.3) m/s. Its current heading (yaw) is -1.71

The most relevant actors are: A pedestrian with ID 27 is 14.3 meters away at (-12.0, -7.7). A pedestrian with ID 29 is 26.9 meters away at (-26.6, -3.8). A vehicle with ID 36 is 47.9 meters away at (-29.3, -37.8). A pedestrian with ID 30 is 50.4 meters away at (17.3, 47.3). A vehicle with ID 39 is 56.4 meters away at (-48.5, -28.7). A pedestrian with ID 31 is 58.9 meters away at (7.0, 58.5). A vehicle with ID 21 is 68.6 meters away at (-68.4, 5.5). A pedestrian with ID 38 is 70.7 meters away at (-67.6, 20.6). A vehicle with ID 28 is 74.1 meters away at (15.4, 72.5). A vehicle with ID 7 is 74.8 meters away at (-35.2, -66.0).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.414161    0.36949393] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.07401463 -0.14243743] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.7519713 -1.2455713] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1961715 -0.4716175] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 6.7234797 -2.966549 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.1165135  -0.38387674] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 5.200473 12.244005] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -1.6) m/s. Its current heading (yaw) is -1.56

The most relevant actors are: A pedestrian with ID 27 is 15.0 meters away at (-14.7, -3.2). A pedestrian with ID 29 is 26.3 meters away at (-26.3, -0.4). A pedestrian with ID 1 is 37.7 meters away at (31.5, -20.6). A vehicle with ID 36 is 45.1 meters away at (-29.1, -34.4). A pedestrian with ID 30 is 51.6 meters away at (19.1, 48.0). A vehicle with ID 39 is 54.5 meters away at (-48.3, -25.3). A vehicle with ID 21 is 54.6 meters away at (-54.6, 2.6). A pedestrian with ID 31 is 61.9 meters away at (9.9, 61.1). A pedestrian with ID 38 is 69.4 meters away at (-65.4, 23.1). A pedestrian with ID 17 is 70.2 meters away at (-6.6, 69.9).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.4504547   0.58757067] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00225254  0.02402108] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.2390349  -0.65035033] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.71479267 -1.2016734 ] m/s.The vehicle with ID 39 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 [ 7.2526383 -3.3050096] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3515188 -0.2875749] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.9830773  -0.45737696] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.8138596 -1.0322334] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -2.8) m/s. Its current heading (yaw) is -1.37

The most relevant actors are: A pedestrian with ID 27 is 18.4 meters away at (-18.1, 3.0). A pedestrian with ID 29 is 27.2 meters away at (-26.7, 4.8). A pedestrian with ID 1 is 37.9 meters away at (33.9, -16.9). A vehicle with ID 21 is 39.5 meters away at (-39.5, 0.1). A vehicle with ID 36 is 41.6 meters away at (-29.5, -29.3). A vehicle with ID 39 is 52.7 meters away at (-48.7, -20.2). A pedestrian with ID 30 is 55.5 meters away at (20.6, 51.5). A pedestrian with ID 31 is 66.8 meters away at (11.9, 65.7). A cyclist with ID 25 is 68.7 meters away at (44.7, -52.2). A vehicle with ID 6 is 68.8 meters away at (-35.9, -58.7).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.4586495   0.44314745] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01916553 -0.10860731] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.4673486  -0.70328945] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 7.58093   -3.7272904] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.73388714 -0.48009017] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9172689  -0.45502338] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [ 3.0760462 -1.7626537] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -1.8) m/s. Its current heading (yaw) is -1.17

The most relevant actors are: A pedestrian with ID 27 is 23.9 meters away at (-22.3, 8.5). A vehicle with ID 21 is 28.8 meters away at (-28.6, -3.4). A pedestrian with ID 29 is 29.4 meters away at (-28.0, 9.0). A pedestrian with ID 1 is 38.1 meters away at (35.5, -13.9). A vehicle with ID 36 is 39.6 meters away at (-30.8, -24.9). A unknown object with ID 13 is 43.5 meters away at (-12.0, 41.8). A vehicle with ID 39 is 52.5 meters away at (-50.1, -15.7). A vehicle with ID 24 is 63.6 meters away at (-59.6, 22.3). A vehicle with ID 6 is 65.5 meters away at (-37.3, -53.9). A pedestrian with ID 38 is 70.1 meters away at (-62.9, 31.0).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.3403512  0.6776484] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 4.4812627 -4.8781567] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.01399644 -0.01442664] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.4260089 -0.6953947] m/s.The vehicle with ID 36 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 vehicle with ID 39 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 [ 5.9786487 -2.3788393] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.2194793  -0.15061508] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -5.6) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A vehicle with ID 4 is 7.2 meters away at (-1.5, -7.0). A vehicle with ID 10 is 9.8 meters away at (8.4, 4.9). A vehicle with ID 41 is 12.8 meters away at (-1.5, -12.7). A vehicle with ID 5 is 15.5 meters away at (9.9, 11.9). A vehicle with ID 39 is 22.4 meters away at (16.6, 15.1). A unknown object with ID 40 is 23.6 meters away at (23.3, -3.7). A vehicle with ID 7 is 32.9 meters away at (21.2, 25.2). A vehicle with ID 42 is 35.3 meters away at (25.0, 25.0). A vehicle with ID 32 is 44.8 meters away at (-30.5, -32.8). A vehicle with ID 45 is 44.9 meters away at (26.3, -36.3).

The vehicle with ID 4 is traveling at a (x, y) velocity of [-6.194311  -7.2541423] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.0943356 -5.994861 ] m/s.The vehicle with ID 41 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 [-4.7687516 -5.4126687] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-3.4925048 -4.5194983] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.1084123 -4.824753 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-3.3954482 -4.033835 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -4.501055  -12.517829 ]
 [ -2.6376524 -13.419206 ]]

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 10 is 7.5 meters away at (6.8, 3.1). A vehicle with ID 41 is 8.4 meters away at (8.3, -0.8). A vehicle with ID 4 is 11.7 meters away at (-4.6, -10.8). A vehicle with ID 5 is 14.7 meters away at (9.2, 11.4). A vehicle with ID 39 is 26.7 meters away at (21.9, 15.3). A unknown object with ID 40 is 34.2 meters away at (33.2, 8.2). A vehicle with ID 7 is 35.5 meters away at (22.8, 27.3). A vehicle with ID 48 is 37.2 meters away at (37.1, 3.1). A vehicle with ID 42 is 37.7 meters away at (26.5, 26.9). A vehicle with ID 36 is 43.4 meters away at (-19.4, -38.8).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-6.429584 -7.601378] m/s.The vehicle with ID 41 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 [-6.7431197 -7.977206 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.7281313 -6.644498 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.69975364 -6.5580363 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.56322  -5.292102] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-6.6159253  2.5487404] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-4.6189713 -5.549556 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [7.3630176 9.076736 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, -6.4) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 10 is 4.3 meters away at (4.3, 0.0). A vehicle with ID 36 is 10.4 meters away at (5.2, -9.0). A vehicle with ID 5 is 13.7 meters away at (8.6, 10.6). A vehicle with ID 4 is 15.6 meters away at (-7.1, -13.8). A vehicle with ID 41 is 22.0 meters away at (18.6, 11.8). A vehicle with ID 7 is 36.0 meters away at (23.1, 27.6). A vehicle with ID 39 is 39.7 meters away at (36.8, 15.0). A unknown object with ID 35 is 41.0 meters away at (40.7, 4.9). A vehicle with ID 42 is 41.1 meters away at (31.1, 26.9). A vehicle with ID 48 is 44.6 meters away at (38.6, 22.4).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-6.4665213 -7.650562 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [6.400428 7.844808] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.4145064 -6.322545 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-6.176655 -7.241775] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-5.283526 -6.322804] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 4.9868274 -5.8076935] m/s.The unknown object with ID 35 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 [-0.2153431 -6.7697253] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-2.7603045  4.287481 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, -6.9) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 10 is 4.0 meters away at (3.9, -0.6). A vehicle with ID 23 is 12.8 meters away at (0.5, -12.8). A vehicle with ID 5 is 15.0 meters away at (9.4, 11.6). A vehicle with ID 4 is 15.4 meters away at (-7.0, -13.7). A vehicle with ID 36 is 32.1 meters away at (27.0, 17.4). A vehicle with ID 7 is 35.9 meters away at (23.1, 27.5). A vehicle with ID 41 is 39.3 meters away at (29.9, 25.4). A vehicle with ID 18 is 44.2 meters away at (-20.4, -39.3). A vehicle with ID 3 is 45.9 meters away at (-26.5, -37.5). A vehicle with ID 8 is 50.2 meters away at (-31.7, -38.9).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.3110547 -6.315249 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [5.261988 7.213701] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.45326   -6.3501735] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-5.1635036 -6.0538445] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [3.7855496 4.802048 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-5.7387624 -6.769268 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [5.835171 6.511253] m/s.The vehicle with ID 3 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 [-3.6669888 -4.2441235] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.8, 0.0) m/s. Its current heading (yaw) is 0.00

The most relevant actors are: A vehicle with ID 37 is 6.9 meters away at (-0.8, -6.9). A vehicle with ID 36 is 7.9 meters away at (-4.1, -6.7). A vehicle with ID 35 is 11.6 meters away at (-9.5, -6.7). A vehicle with ID 34 is 17.1 meters away at (-16.0, -6.1). A vehicle with ID 33 is 35.1 meters away at (34.4, -7.0). A vehicle with ID 32 is 38.1 meters away at (37.4, -6.9). A vehicle with ID 38 is 39.0 meters away at (-36.2, 14.4). A vehicle with ID 39 is 41.0 meters away at (-40.4, -6.9). A vehicle with ID 40 is 41.4 meters away at (-37.6, 17.3). A vehicle with ID 23 is 43.3 meters away at (42.7, -7.0).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.2, 0.0) m/s. Its current heading (yaw) is 0.00

The most relevant actors are: A vehicle with ID 33 is 16.0 meters away at (14.4, -7.0). A vehicle with ID 32 is 18.7 meters away at (17.4, -6.9). A vehicle with ID 37 is 21.9 meters away at (-20.8, -6.8). A vehicle with ID 23 is 23.7 meters away at (22.6, -7.0). A vehicle with ID 36 is 25.0 meters away at (-24.1, -6.5). A vehicle with ID 31 is 26.4 meters away at (25.4, -7.0). A vehicle with ID 35 is 30.3 meters away at (-29.6, -6.4). A vehicle with ID 34 is 36.6 meters away at (-36.1, -6.1). A vehicle with ID 40 is 60.3 meters away at (-57.7, 17.4). A vehicle with ID 39 is 60.9 meters away at (-60.5, -6.7).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.7, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A vehicle with ID 32 is 7.5 meters away at (-2.6, -7.0). A vehicle with ID 23 is 7.5 meters away at (2.6, -7.0). A vehicle with ID 33 is 8.9 meters away at (-5.5, -7.0). A vehicle with ID 31 is 9.0 meters away at (5.4, -7.1). A vehicle with ID 37 is 41.4 meters away at (-40.8, -7.0). A vehicle with ID 36 is 44.6 meters away at (-44.1, -6.7). A vehicle with ID 35 is 50.0 meters away at (-49.6, -6.4). A vehicle with ID 34 is 56.5 meters away at (-56.2, -6.1). A vehicle with ID 7 is 76.4 meters away at (75.5, 11.1). A vehicle with ID 40 is 79.7 meters away at (-77.8, 17.4).

The vehicle with ID 32 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 33 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 7 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.1, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A vehicle with ID 31 is 14.9 meters away at (-13.2, -7.0). A vehicle with ID 23 is 17.5 meters away at (-16.1, -6.9). A vehicle with ID 32 is 22.3 meters away at (-21.3, -6.8). A vehicle with ID 33 is 25.3 meters away at (-24.3, -6.8). A unknown object with ID 2 is 34.3 meters away at (34.1, -3.4). A vehicle with ID 3 is 44.9 meters away at (40.4, -19.6). A vehicle with ID 1 is 47.6 meters away at (43.6, -19.1). A unknown object with ID 4 is 48.2 meters away at (47.3, 9.4). A vehicle with ID 7 is 58.3 meters away at (57.1, 11.6). A vehicle with ID 37 is 59.9 meters away at (-59.5, -6.9).

The vehicle with ID 31 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [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 4 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 9.5) m/s. Its current heading (yaw) is 1.21

The most relevant actors are: A unknown object with ID 15 is 16.1 meters away at (1.2, 16.1). A vehicle with ID 19 is 35.3 meters away at (25.0, -24.9).

The unknown object with ID 15 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.

There are active red lights at the following coordinates: [[25.78495   6.218025]
 [27.153122  9.808771]]

Instruction: Continue straight.

(The closest actor is a unknown object at [ 1.2043576 16.08918  ], 16.134193420410156 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 9.9) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A unknown object with ID 15 is 6.8 meters away at (-6.0, -3.2). A vehicle with ID 19 is 47.7 meters away at (18.0, -44.2).

The unknown object with ID 15 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.

There are active red lights at the following coordinates: [[25.78495   6.218025]
 [27.153122  9.808771]]

Instruction: Continue straight.

(The closest actor is a unknown object at [-6.00725   -3.1990585], 6.805955410003662 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 9.9) m/s. Its current heading (yaw) is 1.33

The most relevant actors are: A unknown object with ID 15 is 25.9 meters away at (-12.0, -23.0). A unknown object with ID 13 is 39.6 meters away at (-19.5, -34.4). A unknown object with ID 10 is 56.5 meters away at (36.7, 42.9). A unknown object with ID 9 is 57.9 meters away at (37.2, 44.3). A unknown object with ID 8 is 59.7 meters away at (37.9, 46.1). A unknown object with ID 7 is 61.7 meters away at (38.6, 48.2). A unknown object with ID 6 is 63.8 meters away at (39.3, 50.3). A vehicle with ID 19 is 65.0 meters away at (11.8, -63.9). A unknown object with ID 5 is 65.9 meters away at (40.0, 52.4). A unknown object with ID 4 is 67.3 meters away at (40.4, 53.9).

The unknown object with ID 15 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [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.

There are active red lights at the following coordinates: [[25.78495   6.218025]
 [27.153122  9.808771]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 9.7) m/s. Its current heading (yaw) is 1.36

The most relevant actors are: A unknown object with ID 14 is 39.4 meters away at (34.1, 19.6). A unknown object with ID 10 is 39.4 meters away at (32.0, 23.1). A unknown object with ID 9 is 41.2 meters away at (32.7, 25.0). A unknown object with ID 8 is 42.9 meters away at (33.4, 26.9). A unknown object with ID 7 is 44.6 meters away at (34.1, 28.8). A unknown object with ID 6 is 46.3 meters away at (34.6, 30.8). A unknown object with ID 5 is 48.0 meters away at (35.2, 32.6). A unknown object with ID 4 is 49.2 meters away at (35.6, 34.0). A unknown object with ID 3 is 51.4 meters away at (36.4, 36.3). A unknown object with ID 1 is 55.1 meters away at (37.6, 40.3).

The unknown object with ID 14 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 3 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [34.14618  19.593147], 39.36817169189453 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 10.5) m/s. Its current heading (yaw) is 1.94

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 9.7) m/s. Its current heading (yaw) is 1.96

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 9.9) m/s. Its current heading (yaw) is 1.97

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 10.9) m/s. Its current heading (yaw) is 1.97

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.7) m/s. Its current heading (yaw) is 2.36

The most relevant actors are: A vehicle with ID 61 is 7.0 meters away at (-5.1, -4.8). A vehicle with ID 67 is 8.4 meters away at (-8.2, -1.7). A vehicle with ID 58 is 8.5 meters away at (-1.8, -8.3). A vehicle with ID 55 is 11.8 meters away at (1.5, -11.7). A vehicle with ID 50 is 15.7 meters away at (4.9, -15.0). A vehicle with ID 51 is 21.4 meters away at (9.3, -19.3). A vehicle with ID 54 is 21.5 meters away at (20.2, -7.3). A vehicle with ID 27 is 22.1 meters away at (-21.9, -3.2). A vehicle with ID 52 is 25.2 meters away at (19.8, -15.5). A vehicle with ID 56 is 26.3 meters away at (13.1, -22.8).

The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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.

There are active red lights at the following coordinates: [[ 41.432156 -47.677216]
 [ 43.91877  -44.55956 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.5) m/s. Its current heading (yaw) is 2.38

The most relevant actors are: A vehicle with ID 67 is 13.3 meters away at (3.0, -13.0). A vehicle with ID 61 is 17.2 meters away at (6.1, -16.0). A vehicle with ID 78 is 17.5 meters away at (-16.9, -4.6). A vehicle with ID 27 is 17.8 meters away at (-10.5, -14.4). A vehicle with ID 45 is 20.6 meters away at (-18.8, 8.5). A vehicle with ID 58 is 21.8 meters away at (9.5, -19.6). A vehicle with ID 42 is 23.7 meters away at (-21.0, -11.0). A vehicle with ID 21 is 24.9 meters away at (-18.1, 17.1). A vehicle with ID 46 is 25.5 meters away at (-22.5, 11.9). A vehicle with ID 55 is 26.3 meters away at (12.8, -23.0).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 [-4.77061    5.2905645] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.5) m/s. Its current heading (yaw) is 2.37

The most relevant actors are: A vehicle with ID 45 is 7.9 meters away at (-7.5, -2.6). A vehicle with ID 46 is 11.2 meters away at (-11.2, 0.8). A pedestrian with ID 26 is 15.3 meters away at (-15.3, 0.9). A vehicle with ID 48 is 15.5 meters away at (-14.9, 4.3). A vehicle with ID 78 is 16.6 meters away at (-5.6, -15.6). A vehicle with ID 28 is 17.1 meters away at (-5.8, -16.1). A vehicle with ID 47 is 19.9 meters away at (-18.3, 7.8). A vehicle with ID 18 is 23.4 meters away at (-8.6, 21.8). A vehicle with ID 42 is 24.0 meters away at (-9.6, -22.0). A vehicle with ID 21 is 24.1 meters away at (-17.3, 16.8).

The vehicle with ID 45 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 pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.97296184  0.9281282 ] m/s.The vehicle with ID 48 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-5.5831184  5.427577 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.6) m/s. Its current heading (yaw) is 2.36

The most relevant actors are: A vehicle with ID 47 is 7.7 meters away at (-6.9, -3.4). A vehicle with ID 48 is 7.7 meters away at (-3.5, -6.8). A pedestrian with ID 26 is 10.2 meters away at (-5.7, -8.5). A vehicle with ID 46 is 10.4 meters away at (0.1, -10.4). A vehicle with ID 49 is 10.4 meters away at (-10.4, 0.1). A vehicle with ID 18 is 10.8 meters away at (2.7, 10.5). A vehicle with ID 45 is 14.3 meters away at (3.9, -13.7). A vehicle with ID 17 is 14.5 meters away at (-14.0, 3.6). A vehicle with ID 15 is 19.4 meters away at (-17.9, 7.5). A vehicle with ID 21 is 23.7 meters away at (-17.1, 16.4).

The vehicle with ID 47 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 pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.1003166  1.0594844] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-5.5147395  5.371463 ] m/s.

Instruction: Sharp right turn approaching