The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -2.5) m/s. Its current heading (yaw) is -0.55

The most relevant actors are: A vehicle with ID 53 is 6.5 meters away at (6.0, 2.7). A pedestrian with ID 30 is 15.1 meters away at (12.2, 8.8). A pedestrian with ID 61 is 18.7 meters away at (-11.6, 14.6). A vehicle with ID 50 is 19.8 meters away at (19.5, -3.3). A vehicle with ID 7 is 20.6 meters away at (1.1, -20.6). A vehicle with ID 8 is 22.6 meters away at (-0.5, -22.6). A vehicle with ID 60 is 25.3 meters away at (-24.8, 4.7). A vehicle with ID 68 is 25.4 meters away at (-19.5, 16.3). A unknown object with ID 51 is 25.5 meters away at (-25.3, -3.3). A vehicle with ID 19 is 26.9 meters away at (21.3, -16.5).

The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.3353441   0.54189575] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.8840128 1.2593703] m/s.The vehicle with ID 50 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 8 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 6.7881217 -5.424221 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 3.5) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A unknown object with ID 63 is 7.6 meters away at (0.1, -7.6). A pedestrian with ID 65 is 10.2 meters away at (-7.8, -6.5). A pedestrian with ID 38 is 21.3 meters away at (6.8, 20.2). A vehicle with ID 2 is 24.1 meters away at (20.9, -11.9). A unknown object with ID 45 is 24.7 meters away at (-10.5, 22.3). A unknown object with ID 44 is 26.6 meters away at (-12.7, 23.4). A unknown object with ID 58 is 28.2 meters away at (-14.5, 24.2). A pedestrian with ID 71 is 28.8 meters away at (-11.5, 26.4). A pedestrian with ID 28 is 32.7 meters away at (-15.0, 29.1). A pedestrian with ID 50 is 36.9 meters away at (31.2, 19.7).

The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.08797862 -1.2890847 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.00475913 0.00576475] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-10.147682   4.296314] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.8960918 -1.2481475] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.55028653 -1.242242  ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.4590127  -0.02872368] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 0.06873894 -7.595662  ], 7.595973491668701 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, 3.8) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A unknown object with ID 45 is 16.5 meters away at (6.8, 15.0). A unknown object with ID 44 is 16.7 meters away at (4.6, 16.0). A unknown object with ID 58 is 17.1 meters away at (2.8, 16.9). A pedestrian with ID 71 is 18.1 meters away at (7.2, 16.6). A pedestrian with ID 65 is 19.2 meters away at (10.5, -16.1). A pedestrian with ID 28 is 19.4 meters away at (3.1, 19.1). A vehicle with ID 2 is 19.9 meters away at (17.0, -10.2). A unknown object with ID 63 is 22.9 meters away at (17.4, -14.9). A cyclist with ID 51 is 27.3 meters away at (24.2, 12.6). A cyclist with ID 31 is 41.4 meters away at (-27.1, 31.3).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.6235259 -1.272527 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.79277873 -0.98887384] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.33115312 -1.3760334 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-10.788975    4.5917225] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 51 is traveling at a (x, y) velocity of [ 0.02856042 -0.01979176] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 4.705696  -1.9155202] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 6.7937603 14.995094 ], 16.462322235107422 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 4.1) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A vehicle with ID 2 is 16.3 meters away at (13.7, -8.8). A cyclist with ID 31 is 19.3 meters away at (1.0, 19.3). A pedestrian with ID 28 is 24.1 meters away at (22.4, 8.8). A unknown object with ID 44 is 24.7 meters away at (23.3, 8.3). A unknown object with ID 45 is 26.4 meters away at (25.4, 7.2). A pedestrian with ID 71 is 27.6 meters away at (26.8, 6.4). A vehicle with ID 33 is 36.7 meters away at (-30.9, -19.7). A pedestrian with ID 65 is 39.8 meters away at (30.0, -26.2). A vehicle with ID 30 is 42.6 meters away at (-19.4, -37.9). A vehicle with ID 53 is 46.0 meters away at (-37.0, -27.3).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-11.363607    4.7767696] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 4.2855077 -1.9633875] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.20794985 -1.1688046 ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.0842583 -1.1793298] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.15802212 -1.0296469 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, 3.9) m/s. Its current heading (yaw) is 2.75

The most relevant actors are: A vehicle with ID 2 is 12.1 meters away at (9.8, -7.1). A unknown object with ID 40 is 16.2 meters away at (5.2, -15.3). A vehicle with ID 33 is 30.1 meters away at (-12.3, -27.5). A cyclist with ID 31 is 30.5 meters away at (29.3, 8.5). A pedestrian with ID 4 is 33.2 meters away at (-15.6, 29.3). A vehicle with ID 53 is 39.6 meters away at (-18.5, -35.0). A vehicle with ID 36 is 40.7 meters away at (-39.0, -11.8). A pedestrian with ID 28 is 41.5 meters away at (41.5, -1.4). A unknown object with ID 61 is 43.9 meters away at (42.2, 11.9). A vehicle with ID 54 is 44.2 meters away at (-21.5, -38.7).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-11.029505   4.634398] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 4.626187  -1.1508688] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.74143016 -0.3395233 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.30191684 -1.1667224 ] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 31 is 30.1 meters away at (-3.1, -30.0). A vehicle with ID 36 is 35.7 meters away at (-20.1, -29.5). A vehicle with ID 37 is 36.4 meters away at (-22.6, -28.5). A vehicle with ID 32 is 42.2 meters away at (-7.5, -41.6). A vehicle with ID 5 is 43.9 meters away at (-17.3, -40.3). A vehicle with ID 33 is 49.5 meters away at (-9.8, -48.5). A vehicle with ID 30 is 59.5 meters away at (-22.2, -55.2). A vehicle with ID 38 is 67.5 meters away at (47.7, 47.8). A vehicle with ID 2 is 74.4 meters away at (-26.7, -69.5).

The vehicle 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 37 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 5 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 30 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 [0.68334174 0.1181477 ] m/s.The vehicle with ID 2 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 (-2.5, -7.3) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A vehicle with ID 31 is 16.2 meters away at (1.6, -16.1). A vehicle with ID 36 is 21.9 meters away at (-15.4, -15.6). A vehicle with ID 37 is 23.0 meters away at (-17.8, -14.6). A vehicle with ID 21 is 26.7 meters away at (-23.3, -13.2). A vehicle with ID 32 is 27.7 meters away at (-2.7, -27.6). A vehicle with ID 9 is 28.2 meters away at (-25.5, -12.0). A vehicle with ID 5 is 29.3 meters away at (-12.5, -26.4). A vehicle with ID 7 is 30.2 meters away at (-28.1, -10.9). A vehicle with ID 28 is 34.2 meters away at (-32.8, -9.5). A vehicle with ID 33 is 34.9 meters away at (-5.0, -34.5).

The vehicle 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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 28 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.8) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 31 is 6.6 meters away at (6.2, -2.3). A vehicle with ID 36 is 10.9 meters away at (-10.8, -1.7). A vehicle with ID 37 is 13.2 meters away at (-13.2, -0.7). A vehicle with ID 32 is 13.9 meters away at (2.0, -13.7). A vehicle with ID 5 is 14.8 meters away at (-7.9, -12.5). A vehicle with ID 21 is 18.6 meters away at (-18.6, 0.8). A vehicle with ID 33 is 20.5 meters away at (-0.3, -20.5). A vehicle with ID 9 is 20.9 meters away at (-20.8, 1.9). A vehicle with ID 7 is 23.7 meters away at (-23.5, 2.9). A vehicle with ID 28 is 28.5 meters away at (-28.2, 4.4).

The vehicle 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 37 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 5 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 33 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -6.4) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 5 is 3.6 meters away at (-3.6, 0.5). A vehicle with ID 32 is 6.3 meters away at (6.3, -0.6). A vehicle with ID 33 is 8.5 meters away at (4.0, -7.5). A vehicle with ID 36 is 13.0 meters away at (-6.5, 11.3). A vehicle with ID 31 is 15.0 meters away at (10.5, 10.6). A vehicle with ID 37 is 15.3 meters away at (-8.9, 12.4). A vehicle with ID 30 is 16.6 meters away at (-8.5, -14.2). A vehicle with ID 21 is 19.9 meters away at (-14.3, 13.8). A vehicle with ID 9 is 22.2 meters away at (-16.5, 14.9). A vehicle with ID 2 is 31.2 meters away at (-13.0, -28.3).

The vehicle with ID 5 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 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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 2 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 (-5.5, 5.6) m/s. Its current heading (yaw) is 2.35

The most relevant actors are: A pedestrian with ID 44 is 15.5 meters away at (14.4, -5.8). A vehicle with ID 43 is 16.9 meters away at (14.3, -9.0). A vehicle with ID 42 is 24.7 meters away at (-11.9, 21.6). A vehicle with ID 5 is 33.2 meters away at (23.1, -23.8). A unknown object with ID 36 is 40.1 meters away at (1.2, -40.1). A unknown object with ID 18 is 42.8 meters away at (-1.4, -42.8). A vehicle with ID 45 is 58.0 meters away at (-1.5, -58.0).

The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.9511202 -0.5039252] m/s.The vehicle with ID 43 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 5 is traveling at a (x, y) velocity of [-1.4989736  4.2686577] 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 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.4) m/s. Its current heading (yaw) is 2.38

The most relevant actors are: A vehicle with ID 42 is 10.4 meters away at (-0.7, 10.4). A vehicle with ID 43 is 32.2 meters away at (25.3, -20.0). A vehicle with ID 5 is 37.9 meters away at (27.2, -26.4). A vehicle with ID 1 is 63.1 meters away at (-44.6, 44.6). A vehicle with ID 45 is 69.8 meters away at (9.7, -69.2).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.1602993  4.8254323] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.9) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 42 is 10.6 meters away at (10.6, 0.1). A vehicle with ID 33 is 27.5 meters away at (2.5, 27.3). A vehicle with ID 5 is 37.3 meters away at (26.9, -25.8). A vehicle with ID 43 is 47.1 meters away at (36.2, -30.2). A vehicle with ID 1 is 47.8 meters away at (-33.3, 34.2). A unknown object with ID 38 is 66.3 meters away at (31.1, -58.5). A vehicle with ID 6 is 66.6 meters away at (-52.3, 41.3).

The vehicle with ID 42 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 5 is traveling at a (x, y) velocity of [-6.281022   6.1294494] m/s.The vehicle with ID 43 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.0425363 -3.5277493] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.2) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A unknown object with ID 40 is 6.0 meters away at (-2.0, 5.7). A unknown object with ID 2 is 7.6 meters away at (-3.3, 6.9). A vehicle with ID 42 is 23.3 meters away at (21.4, -9.1). A vehicle with ID 5 is 33.2 meters away at (24.7, -22.2). A vehicle with ID 1 is 33.6 meters away at (-22.6, 25.0). A vehicle with ID 6 is 41.0 meters away at (-32.9, 24.5). A unknown object with ID 27 is 41.4 meters away at (-35.5, 21.4). A vehicle with ID 43 is 61.4 meters away at (47.0, -39.4).

The unknown object with ID 40 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 42 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 [-6.79221    6.3911343] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.626587 -4.167578] m/s.The unknown object with ID 27 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: Slight right turn approaching.

(The closest actor is a unknown object at [-1.9572601  5.683117 ], 6.010714054107666 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.9) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A pedestrian with ID 38 is 10.7 meters away at (-6.9, -8.1). A vehicle with ID 37 is 11.1 meters away at (11.1, -0.6). A pedestrian with ID 36 is 21.4 meters away at (-21.2, -2.7). A pedestrian with ID 15 is 23.5 meters away at (-15.1, 17.9). A vehicle with ID 39 is 25.3 meters away at (-14.5, -20.7). A vehicle with ID 40 is 31.6 meters away at (30.7, -7.3). A vehicle with ID 41 is 31.6 meters away at (-31.4, 3.7). A vehicle with ID 42 is 35.7 meters away at (26.4, -24.0). A vehicle with ID 43 is 36.1 meters away at (-35.7, 5.4). A vehicle with ID 44 is 38.4 meters away at (-33.8, 18.3).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.3695109 -0.6313612] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.58749264 1.4916934 ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.6712858 1.2535121] 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 3.4) m/s. Its current heading (yaw) is 2.09

The most relevant actors are: A pedestrian with ID 38 is 13.4 meters away at (-0.1, -13.4). A pedestrian with ID 36 is 16.2 meters away at (-15.8, -3.6). A vehicle with ID 37 is 16.2 meters away at (15.5, -4.7). A pedestrian with ID 15 is 19.0 meters away at (-9.6, 16.4). A vehicle with ID 39 is 26.9 meters away at (-10.0, -25.0). A vehicle with ID 41 is 27.0 meters away at (-27.0, -0.7). A vehicle with ID 43 is 31.3 meters away at (-31.2, 1.0). A vehicle with ID 44 is 32.5 meters away at (-29.4, 14.0). A vehicle with ID 45 is 35.9 meters away at (-32.8, 14.5). A vehicle with ID 40 is 37.0 meters away at (35.2, -11.4).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.2832626  -0.46454537] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.46972355 1.7304863 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.51395273 1.3721504 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 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 (1.1, 6.5) m/s. Its current heading (yaw) is 1.40

The most relevant actors are: A pedestrian with ID 15 is 11.2 meters away at (-7.2, 8.5). A pedestrian with ID 36 is 17.0 meters away at (-13.3, -10.6). A vehicle with ID 37 is 22.7 meters away at (16.7, -15.4). A pedestrian with ID 38 is 25.3 meters away at (3.5, -25.0). A vehicle with ID 41 is 28.0 meters away at (-25.7, -11.1). A vehicle with ID 44 is 28.2 meters away at (-27.9, 3.5). A vehicle with ID 43 is 31.4 meters away at (-29.9, -9.5). A vehicle with ID 39 is 36.6 meters away at (-8.9, -35.5). A vehicle with ID 35 is 43.3 meters away at (6.4, 42.8). A pedestrian with ID 13 is 54.0 meters away at (6.8, 53.6).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.56487745 1.2503972 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.45089674 1.6277665 ] m/s.The vehicle with ID 37 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 [ 1.1044585 -0.590376 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.8870161 1.9901539] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A pedestrian with ID 15 is 10.9 meters away at (-10.4, -3.3). A vehicle with ID 29 is 24.3 meters away at (23.1, 7.5). A pedestrian with ID 36 is 27.2 meters away at (-16.4, -21.7). A vehicle with ID 35 is 28.5 meters away at (2.3, 28.4). A vehicle with ID 16 is 28.7 meters away at (28.1, 5.7). A vehicle with ID 24 is 33.3 meters away at (33.1, 4.2). A pedestrian with ID 38 is 40.5 meters away at (1.9, -40.5). A pedestrian with ID 13 is 44.4 meters away at (4.4, 44.2). A vehicle with ID 1 is 49.5 meters away at (18.1, 46.0). A vehicle with ID 39 is 51.5 meters away at (-12.9, -49.9).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.45737138 1.3605019 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.5273292 1.6404616] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 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 [ 1.3692231  -0.47936508] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.80073607 2.253052  ] m/s.The vehicle with ID 1 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.57

The most relevant actors are: A cyclist with ID 16 is 3.0 meters away at (2.6, -1.4). A unknown object with ID 18 is 5.5 meters away at (-4.3, 3.4). A unknown object with ID 20 is 6.3 meters away at (-3.6, 5.2). A vehicle with ID 21 is 10.0 meters away at (0.2, 10.0). A vehicle with ID 23 is 17.8 meters away at (-11.1, -13.9). A vehicle with ID 33 is 25.4 meters away at (3.9, 25.1). A pedestrian with ID 24 is 28.1 meters away at (6.4, 27.3). A vehicle with ID 27 is 33.4 meters away at (-15.5, -29.6). A vehicle with ID 36 is 36.6 meters away at (23.0, -28.6). A unknown object with ID 34 is 51.5 meters away at (-51.2, 6.3).

The cyclist with ID 16 is traveling at a (x, y) velocity of [-0.11248016 -2.2971895 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 [ 4.125395  -3.2770183] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.247361  0.633637] m/s.The vehicle with ID 27 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 [-3.5670474  1.2642211] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.57

The most relevant actors are: A cyclist with ID 16 is 4.9 meters away at (2.5, -4.3). A unknown object with ID 18 is 5.5 meters away at (-4.3, 3.4). A unknown object with ID 20 is 6.3 meters away at (-3.6, 5.2). A vehicle with ID 21 is 10.1 meters away at (0.2, 10.1). A vehicle with ID 23 is 22.6 meters away at (-4.3, -22.2). A vehicle with ID 33 is 25.4 meters away at (3.9, 25.1). A vehicle with ID 36 is 32.8 meters away at (18.7, -27.0). A vehicle with ID 27 is 33.4 meters away at (-15.5, -29.6). A unknown object with ID 38 is 52.6 meters away at (35.1, -39.2). A unknown object with ID 39 is 60.4 meters away at (41.0, -44.3).

The cyclist with ID 16 is traveling at a (x, y) velocity of [-0.05036886 -0.5832887 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 [ 2.2050295 -5.039087 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.1926087   0.38903132] m/s.The vehicle with ID 27 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.57

The most relevant actors are: A cyclist with ID 16 is 5.1 meters away at (2.5, -4.4). A unknown object with ID 18 is 5.5 meters away at (-4.3, 3.5). A unknown object with ID 20 is 6.3 meters away at (-3.6, 5.2). A vehicle with ID 21 is 10.0 meters away at (0.2, 10.0). A pedestrian with ID 19 is 21.9 meters away at (-20.8, 6.6). A vehicle with ID 33 is 25.5 meters away at (3.9, 25.2). A vehicle with ID 36 is 31.3 meters away at (16.9, -26.3). A vehicle with ID 23 is 33.4 meters away at (-3.1, -33.2). A vehicle with ID 27 is 33.4 meters away at (-15.5, -29.6). A pedestrian with ID 12 is 40.4 meters away at (-38.8, 11.1).

The cyclist with ID 16 is traveling at a (x, y) velocity of [0.0121834  0.00892179] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.0853382  -0.33647147] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.7799168   0.61085117] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.8666136 -5.9719124] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.18495795 -1.3465618 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.57

The most relevant actors are: A cyclist with ID 16 is 5.1 meters away at (2.5, -4.4). A unknown object with ID 18 is 5.5 meters away at (-4.3, 3.5). A unknown object with ID 20 is 6.3 meters away at (-3.6, 5.2). A vehicle with ID 21 is 10.1 meters away at (0.2, 10.1). A pedestrian with ID 19 is 19.7 meters away at (-18.8, 6.1). A vehicle with ID 33 is 25.5 meters away at (3.9, 25.2). A vehicle with ID 36 is 25.8 meters away at (9.8, -23.8). A vehicle with ID 27 is 33.4 meters away at (-15.5, -29.6). A vehicle with ID 23 is 46.3 meters away at (-6.6, -45.8). A unknown object with ID 8 is 51.5 meters away at (-51.2, 6.3).

The cyclist with ID 16 is traveling at a (x, y) velocity of [-0.01874764 -0.01456255] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.90705234 -0.24215677] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-4.9394855  1.8687271] m/s.The vehicle with ID 27 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 [-2.3004513 -6.7766604] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 6.0) m/s. Its current heading (yaw) is 2.40

The most relevant actors are: A vehicle with ID 125 is 5.7 meters away at (-5.4, -1.8). A pedestrian with ID 72 is 7.5 meters away at (7.4, 1.5). A pedestrian with ID 121 is 7.8 meters away at (7.0, 3.4). A vehicle with ID 117 is 8.3 meters away at (7.9, -2.6). A unknown object with ID 51 is 12.0 meters away at (12.0, 0.8). A unknown object with ID 82 is 12.5 meters away at (-12.3, -2.0). A unknown object with ID 122 is 12.9 meters away at (-1.2, -12.8). A pedestrian with ID 123 is 15.0 meters away at (-3.9, -14.5). A vehicle with ID 119 is 15.9 meters away at (1.8, -15.8). A vehicle with ID 13 is 20.4 meters away at (14.8, -14.1).

The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.1638877 -0.9356477] m/s.The pedestrian with ID 121 is traveling at a (x, y) velocity of [-1.0767876   0.87747663] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [ 0.57346874 -1.0635532 ] m/s.The vehicle with ID 119 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 [-6.573231  6.175472] m/s.

There are active red lights at the following coordinates: [[ 24.889809 -28.248531]
 [ 22.197903 -30.711342]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 6.0) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A unknown object with ID 104 is 11.3 meters away at (-2.9, -10.9). A vehicle with ID 61 is 12.8 meters away at (-12.3, 3.5). A vehicle with ID 125 is 15.9 meters away at (7.8, -13.8). A unknown object with ID 37 is 16.8 meters away at (-16.4, 3.6). A pedestrian with ID 121 is 19.7 meters away at (18.6, -6.7). A unknown object with ID 86 is 20.5 meters away at (-19.4, 6.5). A vehicle with ID 13 is 20.8 meters away at (15.5, -13.9). A unknown object with ID 81 is 23.7 meters away at (21.8, -9.3). A unknown object with ID 36 is 24.3 meters away at (-22.4, 9.4). A vehicle with ID 67 is 25.1 meters away at (24.4, 5.8).

The unknown object with ID 104 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 [ 5.363211  -5.4809427] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 121 is traveling at a (x, y) velocity of [-0.8453718   0.96053195] m/s.The unknown object with ID 86 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 [-6.422656   5.9535856] m/s.The unknown object with ID 81 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 24.889809 -28.248531]
 [ 22.197903 -30.711342]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 6.3) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A unknown object with ID 86 is 7.9 meters away at (-5.1, -6.0). A unknown object with ID 36 is 8.7 meters away at (-8.2, -3.1). A unknown object with ID 37 is 9.2 meters away at (-2.0, -9.0). A unknown object with ID 47 is 11.3 meters away at (-11.3, -0.2). A pedestrian with ID 29 is 14.0 meters away at (-2.7, 13.7). A unknown object with ID 53 is 14.6 meters away at (-14.4, 2.6). A pedestrian with ID 40 is 15.4 meters away at (-15.0, -3.7). A vehicle with ID 61 is 20.6 meters away at (10.8, -17.5). A unknown object with ID 44 is 20.9 meters away at (-12.6, 16.7). A vehicle with ID 13 is 22.2 meters away at (16.9, -14.5).

The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.1692319  1.2290126] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.0347817 -1.0035672] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 3.318887  -3.1491392] m/s.The unknown object with ID 44 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 [-6.7684045  6.0537467] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-5.1268845 -6.005989 ], 7.89663553237915 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 6.7) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A pedestrian with ID 27 is 9.1 meters away at (2.8, 8.6). A vehicle with ID 50 is 9.6 meters away at (3.1, -9.1). A pedestrian with ID 29 is 10.5 meters away at (10.0, 3.2). A unknown object with ID 53 is 10.6 meters away at (0.7, -10.6). A vehicle with ID 25 is 12.4 meters away at (-12.3, -1.2). A unknown object with ID 47 is 14.0 meters away at (3.9, -13.4). A pedestrian with ID 84 is 14.9 meters away at (-14.2, -4.3). A vehicle with ID 76 is 16.7 meters away at (-7.4, -14.9). A unknown object with ID 36 is 17.8 meters away at (7.1, -16.3). A pedestrian with ID 40 is 18.5 meters away at (2.2, -18.4).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.9245783 -1.219304 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 7.3624396 -7.0691123] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.2642192  1.0735309] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-1.0438361  0.9290389] m/s.The vehicle with ID 76 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 40 is traveling at a (x, y) velocity of [ 0.90159714 -0.9612234 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [2.781437 8.641495], 9.078095436096191 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.5) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A cyclist with ID 6 is 16.9 meters away at (13.7, -9.8). A vehicle with ID 26 is 19.1 meters away at (10.0, 16.3). A unknown object with ID 18 is 42.1 meters away at (35.8, -22.2). A vehicle with ID 24 is 71.1 meters away at (43.3, -56.3).

The cyclist with ID 6 is traveling at a (x, y) velocity of [-7.026708   7.7223024] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [5.8750095 3.9648957] m/s.The unknown object with ID 18 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 [-7.1323028 12.662539 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.9) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A cyclist with ID 6 is 13.9 meters away at (11.9, -7.2). A vehicle with ID 26 is 36.7 meters away at (32.0, 17.9). A unknown object with ID 15 is 37.3 meters away at (29.3, -23.1). A vehicle with ID 24 is 60.3 meters away at (45.7, -39.3).

The cyclist with ID 6 is traveling at a (x, y) velocity of [-7.882945   4.8312755] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [2.1189222 7.1884875] m/s.The unknown object with ID 15 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 [-4.6872   14.217902] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 4.5) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A cyclist with ID 6 is 12.9 meters away at (10.6, -7.3). A vehicle with ID 24 is 56.5 meters away at (53.3, -18.9).

The cyclist with ID 6 is traveling at a (x, y) velocity of [-8.0112295  4.9732895] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.6074272 15.127777 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 4.1) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A cyclist with ID 6 is 10.2 meters away at (8.4, -5.9). A unknown object with ID 25 is 61.3 meters away at (-54.5, 28.0). A vehicle with ID 19 is 79.5 meters away at (66.8, -43.1).

The cyclist with ID 6 is traveling at a (x, y) velocity of [-7.2565284  4.5904765] m/s.The unknown object with ID 25 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 [-2.2935805 13.739266 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -5.7) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A vehicle with ID 35 is 23.9 meters away at (23.5, 3.9). A vehicle with ID 36 is 29.6 meters away at (28.1, 9.1). A vehicle with ID 37 is 35.8 meters away at (27.7, 22.8). A vehicle with ID 34 is 45.8 meters away at (-45.8, 2.5). A unknown object with ID 25 is 48.4 meters away at (-32.7, -35.6). A pedestrian with ID 21 is 62.2 meters away at (-57.1, 24.6). A pedestrian with ID 7 is 63.7 meters away at (51.2, -37.9). A vehicle with ID 38 is 69.8 meters away at (-67.3, 18.5). A vehicle with ID 40 is 73.9 meters away at (-51.5, 53.0).

The vehicle with ID 35 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 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 [-2.1777048  3.1506748] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.0285837  -0.02949996] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2210579   0.73829186] m/s.The vehicle with ID 38 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.0, -5.6) m/s. Its current heading (yaw) is -0.67

The most relevant actors are: A vehicle with ID 35 is 18.4 meters away at (10.1, 15.3). A vehicle with ID 36 is 25.3 meters away at (14.8, 20.6). A pedestrian with ID 7 is 43.1 meters away at (35.1, -25.2). A vehicle with ID 34 is 64.3 meters away at (-60.4, 22.0). A unknown object with ID 17 is 65.9 meters away at (32.3, -57.5).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2854886  0.7528114] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [1.5389087 4.5600224] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -4.4) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A pedestrian with ID 7 is 22.1 meters away at (17.4, -13.6). A vehicle with ID 35 is 26.1 meters away at (-4.9, 25.6). A unknown object with ID 17 is 50.3 meters away at (17.2, -47.3). A vehicle with ID 24 is 56.3 meters away at (41.1, -38.5). A unknown object with ID 19 is 64.6 meters away at (61.7, -19.1). A vehicle with ID 3 is 67.1 meters away at (65.5, -14.6). A vehicle with ID 28 is 70.2 meters away at (-70.2, 2.8). A vehicle with ID 16 is 70.5 meters away at (61.3, -34.8). A vehicle with ID 34 is 80.5 meters away at (-69.7, 40.3).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2906433   0.68065315] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.5227394 -5.1258903] m/s.The unknown object with ID 19 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-7.806584   1.3157727] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [3.5339015 3.7133718] m/s.

There are active red lights at the following coordinates: [[ 99.095924 -56.009205]
 [101.01472  -57.393436]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -4.0) m/s. Its current heading (yaw) is -0.46

The most relevant actors are: A pedestrian with ID 7 is 4.7 meters away at (-1.6, -4.4). A pedestrian with ID 11 is 28.3 meters away at (-20.2, -19.9). A unknown object with ID 17 is 39.2 meters away at (0.8, -39.2). A vehicle with ID 16 is 40.6 meters away at (28.5, -28.9). A vehicle with ID 24 is 44.9 meters away at (11.3, -43.5). A vehicle with ID 3 is 49.5 meters away at (49.1, -6.4). A cyclist with ID 5 is 57.7 meters away at (50.9, -27.2). A pedestrian with ID 4 is 61.6 meters away at (-9.7, -60.8).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2435304  0.5258691] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.4011836   0.05835568] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-8.056633 -4.270701] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.981782 -7.584952] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-3.664246   3.7609198] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [1.0809697 1.2044833] m/s.

There are active red lights at the following coordinates: [[ 99.095924 -56.009205]
 [101.01472  -57.393436]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, -0.0) m/s. Its current heading (yaw) is -3.14

The most relevant actors are: A vehicle with ID 118 is 9.9 meters away at (-0.0, -9.9). A vehicle with ID 120 is 11.2 meters away at (-4.0, -10.4). A vehicle with ID 116 is 12.6 meters away at (7.0, -10.4). A pedestrian with ID 60 is 13.5 meters away at (-8.7, 10.4). A vehicle with ID 115 is 14.8 meters away at (10.9, -10.1). A vehicle with ID 113 is 17.3 meters away at (14.1, -10.0). A vehicle with ID 112 is 23.8 meters away at (21.1, -10.9). A unknown object with ID 65 is 25.8 meters away at (25.6, 2.7). A unknown object with ID 101 is 27.8 meters away at (27.6, 2.7). A vehicle with ID 114 is 27.9 meters away at (26.0, -10.1).

The vehicle with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 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 [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, 0.0) m/s. Its current heading (yaw) is 3.14

The most relevant actors are: A pedestrian with ID 60 is 14.4 meters away at (9.9, 10.4). A vehicle with ID 120 is 18.0 meters away at (14.5, -10.6). A vehicle with ID 110 is 19.9 meters away at (-16.6, -11.0). A vehicle with ID 118 is 21.1 meters away at (18.6, -10.0). A unknown object with ID 89 is 23.1 meters away at (23.0, 2.8). A unknown object with ID 83 is 26.9 meters away at (26.8, 2.8). A vehicle with ID 116 is 27.7 meters away at (25.7, -10.4). A unknown object with ID 84 is 27.8 meters away at (27.7, 2.8). A unknown object with ID 37 is 28.9 meters away at (28.7, 2.8). A unknown object with ID 108 is 29.7 meters away at (29.6, 2.8).

The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.00250303  0.01922289] m/s.The vehicle with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [ 9.930372 10.35986 ], 14.350574493408203 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.9, -0.0) m/s. Its current heading (yaw) is -3.14

The most relevant actors are: A vehicle with ID 110 is 11.3 meters away at (1.3, -11.2). A vehicle with ID 111 is 20.7 meters away at (-16.5, -12.4). A vehicle with ID 43 is 23.8 meters away at (-20.2, -12.5). A unknown object with ID 61 is 24.3 meters away at (24.2, 2.8). A unknown object with ID 107 is 26.2 meters away at (26.0, 2.8). A vehicle with ID 23 is 26.3 meters away at (-23.4, -11.9). A unknown object with ID 46 is 28.2 meters away at (28.0, 2.7). A vehicle with ID 22 is 29.9 meters away at (-27.5, -11.6). A vehicle with ID 20 is 33.9 meters away at (-31.6, -12.2). A vehicle with ID 120 is 34.3 meters away at (32.5, -10.7).

The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, -0.0) m/s. Its current heading (yaw) is -3.14

The most relevant actors are: A vehicle with ID 111 is 12.5 meters away at (1.0, -12.4). A vehicle with ID 43 is 12.8 meters away at (-2.8, -12.5). A vehicle with ID 23 is 13.3 meters away at (-6.0, -11.9). A vehicle with ID 22 is 15.4 meters away at (-10.0, -11.6). A vehicle with ID 20 is 18.7 meters away at (-14.1, -12.3). A unknown object with ID 55 is 19.6 meters away at (19.5, 2.8). A vehicle with ID 110 is 22.0 meters away at (18.9, -11.2). A vehicle with ID 99 is 25.1 meters away at (-22.0, -12.1). A vehicle with ID 103 is 26.3 meters away at (-24.9, 8.3). A vehicle with ID 19 is 27.8 meters away at (-25.2, -11.6).

The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -3.5) m/s. Its current heading (yaw) is -0.92

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -5.0) m/s. Its current heading (yaw) is -1.05

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -5.0) m/s. Its current heading (yaw) is -0.85

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -5.4) m/s. Its current heading (yaw) is -0.79

The most relevant actors are: A unknown object with ID 3 is 29.9 meters away at (11.9, -27.4). A unknown object with ID 1 is 40.2 meters away at (20.0, -34.9). A unknown object with ID 2 is 42.9 meters away at (-7.0, 42.3).

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.The unknown object with ID 2 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 [ 11.886759 -27.405952], 29.872751235961914 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 7.0) m/s. Its current heading (yaw) is 1.96

The most relevant actors are: A vehicle with ID 10 is 14.6 meters away at (1.8, -14.4). A vehicle with ID 11 is 21.4 meters away at (4.4, -20.9). A vehicle with ID 12 is 28.8 meters away at (7.2, -27.9). A vehicle with ID 16 is 65.4 meters away at (21.1, -61.9). A pedestrian with ID 17 is 70.9 meters away at (29.9, -64.3). A pedestrian with ID 18 is 71.6 meters away at (29.4, -65.3). A vehicle with ID 19 is 78.5 meters away at (27.4, -73.6). A vehicle with ID 20 is 80.1 meters away at (30.9, -73.9).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.02133672 -0.01715423] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.09593015 0.02130184] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.10322905  0.4713659 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 7.8) m/s. Its current heading (yaw) is 1.95

The most relevant actors are: A vehicle with ID 10 is 30.3 meters away at (7.9, -29.2). A vehicle with ID 11 is 37.2 meters away at (10.4, -35.7). A vehicle with ID 12 is 44.7 meters away at (13.3, -42.7).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 7.9) m/s. Its current heading (yaw) is 1.94

The most relevant actors are: A vehicle with ID 10 is 47.0 meters away at (14.3, -44.8).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 8.1) m/s. Its current heading (yaw) is 1.96

The most relevant actors are: A vehicle with ID 10 is 64.2 meters away at (20.9, -60.7).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -7.8) m/s. Its current heading (yaw) is -1.78

The most relevant actors are: A unknown object with ID 18 is 14.3 meters away at (-11.1, -9.0). A unknown object with ID 19 is 18.3 meters away at (-11.7, -14.0). A unknown object with ID 16 is 26.2 meters away at (-5.0, 25.7). A pedestrian with ID 17 is 28.9 meters away at (-9.9, 27.2). A pedestrian with ID 5 is 52.9 meters away at (-3.7, -52.8).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00333107  0.06638758] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.0207163  -0.00678513] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-11.149336  -8.960421], 14.30373477935791 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -5.2) m/s. Its current heading (yaw) is -1.70

The most relevant actors are: A unknown object with ID 19 is 9.6 meters away at (-9.5, -1.0). A unknown object with ID 18 is 9.8 meters away at (-8.9, 4.0). A pedestrian with ID 5 is 39.7 meters away at (-1.4, -39.7).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.01610612 -0.05678621] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-9.504082   -0.95425797], 9.551867485046387 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -3.5) m/s. Its current heading (yaw) is -1.70

The most relevant actors are: A unknown object with ID 15 is 3.5 meters away at (3.0, -1.8). A unknown object with ID 19 is 11.1 meters away at (-8.4, 7.3). A unknown object with ID 18 is 14.6 meters away at (-7.8, 12.3). A pedestrian with ID 5 is 31.5 meters away at (-0.3, -31.5).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 [-0.0072541  0.002179 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 2.9865947 -1.7544403], 3.463785171508789 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -5.0) m/s. Its current heading (yaw) is -1.71

The most relevant actors are: A unknown object with ID 7 is 12.1 meters away at (-4.3, 11.3). A unknown object with ID 19 is 17.2 meters away at (-7.3, 15.5). A unknown object with ID 18 is 21.6 meters away at (-6.7, 20.6). A pedestrian with ID 5 is 23.2 meters away at (0.8, -23.2). A unknown object with ID 9 is 37.8 meters away at (-1.6, 37.8).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 [0.01437    0.01580773] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-4.3082   11.276089], 12.07107162475586 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 4.2) m/s. Its current heading (yaw) is 2.67

The most relevant actors are: A unknown object with ID 74 is 18.0 meters away at (0.7, 18.0). A unknown object with ID 75 is 20.8 meters away at (-4.6, 20.3). A unknown object with ID 78 is 21.2 meters away at (-6.2, 20.3). A unknown object with ID 51 is 22.1 meters away at (-3.9, 21.8). A pedestrian with ID 73 is 22.7 meters away at (14.1, 17.8). A unknown object with ID 79 is 23.2 meters away at (-5.5, 22.5). A pedestrian with ID 72 is 28.7 meters away at (26.4, 11.2). A unknown object with ID 69 is 33.7 meters away at (26.0, -21.5). A unknown object with ID 70 is 35.0 meters away at (27.8, -21.4). A pedestrian with ID 86 is 41.5 meters away at (-40.0, 10.9).

The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-2.8404374  1.0518984] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.3475562   0.53590214] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.01563646  0.00986694] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 0.71633816 18.002567  ], 18.016813278198242 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, 3.9) m/s. Its current heading (yaw) is 2.72

The most relevant actors are: A unknown object with ID 63 is 9.2 meters away at (-8.9, -2.1). A unknown object with ID 33 is 14.2 meters away at (-14.2, -0.8). A unknown object with ID 60 is 15.0 meters away at (8.9, 12.0). A unknown object with ID 78 is 16.0 meters away at (10.7, 11.9). A unknown object with ID 38 is 16.9 meters away at (9.3, 14.1). A unknown object with ID 75 is 17.2 meters away at (12.3, 12.0). A unknown object with ID 79 is 18.2 meters away at (11.5, 14.2). A unknown object with ID 51 is 18.8 meters away at (13.0, 13.5). A unknown object with ID 74 is 20.1 meters away at (17.6, 9.7). A pedestrian with ID 86 is 23.2 meters away at (-23.0, 2.5).

The unknown object with ID 63 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 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 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.0383932  -0.00932256] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-8.935703  -2.1074286], 9.180851936340332 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.8) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A pedestrian with ID 86 is 7.9 meters away at (-5.9, -5.2). A pedestrian with ID 88 is 8.7 meters away at (-8.1, -3.2). A unknown object with ID 33 is 9.0 meters away at (3.0, -8.5). A unknown object with ID 63 is 12.8 meters away at (8.2, -9.8). A pedestrian with ID 24 is 37.3 meters away at (-36.2, 8.8). A pedestrian with ID 47 is 51.0 meters away at (-34.9, 37.2). A unknown object with ID 6 is 71.1 meters away at (-67.6, 22.3). A unknown object with ID 34 is 71.3 meters away at (-68.4, 20.1). A unknown object with ID 37 is 72.6 meters away at (-68.5, 24.0). A unknown object with ID 1 is 74.8 meters away at (-71.0, 23.7).

The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.01811565 -0.00458645] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.02519529 -0.02950484] 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.4726408 0.8132551] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 1.1069535  -0.49810678] 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.9, 4.0) m/s. Its current heading (yaw) is 2.73

The most relevant actors are: A pedestrian with ID 88 is 14.6 meters away at (9.5, -11.1). A pedestrian with ID 86 is 17.7 meters away at (11.9, -13.1). A pedestrian with ID 24 is 18.1 meters away at (-18.0, 1.3). A pedestrian with ID 40 is 23.1 meters away at (-2.4, 23.0). A pedestrian with ID 39 is 23.9 meters away at (-2.5, 23.8). A unknown object with ID 33 is 26.4 meters away at (20.8, -16.4). A unknown object with ID 63 is 31.5 meters away at (26.0, -17.7). A pedestrian with ID 47 is 35.1 meters away at (-16.8, 30.8). A unknown object with ID 67 is 35.2 meters away at (-22.2, 27.3). A pedestrian with ID 49 is 41.3 meters away at (-14.0, 38.8).

The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.05814135 -0.03253426] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.00336276 -0.00821162] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00728476  0.00376133] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.045424    0.41432315] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.95360345  0.3161534 ] 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.5770743  0.69495654] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.78563213 0.29592505] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.3) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 86 is 8.8 meters away at (8.4, -2.6). A vehicle with ID 84 is 14.2 meters away at (12.8, -6.3). A vehicle with ID 87 is 20.1 meters away at (17.4, -10.0). A unknown object with ID 33 is 24.3 meters away at (-17.0, 17.3). A unknown object with ID 94 is 24.5 meters away at (-16.1, 18.5). A vehicle with ID 89 is 26.5 meters away at (22.3, -14.2). A vehicle with ID 90 is 33.6 meters away at (27.9, -18.7). A vehicle with ID 65 is 35.7 meters away at (-33.3, -12.7). A vehicle with ID 92 is 40.0 meters away at (18.7, -35.4). A vehicle with ID 91 is 40.0 meters away at (32.7, -23.0).

The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 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 94 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.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 0.6424889  -0.39212376] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 3.7) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 33 is 11.9 meters away at (-7.5, 9.3). A unknown object with ID 94 is 12.4 meters away at (-6.6, 10.5). A unknown object with ID 47 is 14.7 meters away at (-7.7, 12.5). A vehicle with ID 86 is 20.8 meters away at (17.9, -10.5). A vehicle with ID 84 is 26.5 meters away at (22.3, -14.3). A unknown object with ID 46 is 29.2 meters away at (-15.2, 25.0). A vehicle with ID 65 is 31.4 meters away at (-23.5, -20.9). A vehicle with ID 87 is 32.5 meters away at (27.0, -18.0). A pedestrian with ID 85 is 37.9 meters away at (-31.3, 21.3). A vehicle with ID 89 is 38.9 meters away at (31.9, -22.2).

The unknown object with ID 33 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.0513936  -0.82123935] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-7.4531956  9.338741 ], 11.94831371307373 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 2.3) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 33 is 3.5 meters away at (-0.4, 3.5). A unknown object with ID 94 is 4.7 meters away at (0.5, 4.6). A unknown object with ID 47 is 6.5 meters away at (-0.7, 6.5). A unknown object with ID 46 is 20.7 meters away at (-8.0, 19.1). A pedestrian with ID 85 is 29.5 meters away at (-26.2, 13.4). A vehicle with ID 86 is 30.0 meters away at (25.1, -16.5). A unknown object with ID 83 is 31.0 meters away at (-21.2, 22.6). A vehicle with ID 65 is 31.4 meters away at (-16.3, -26.9). A vehicle with ID 26 is 33.0 meters away at (-33.0, 0.7). A pedestrian with ID 38 is 33.5 meters away at (-11.2, -31.6).

The unknown object with ID 33 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.0177233 -1.0035394] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.41230926 1.0738587 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.6) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 33 is 3.1 meters away at (3.0, 0.7). A unknown object with ID 94 is 4.4 meters away at (3.9, 1.8). A unknown object with ID 83 is 26.7 meters away at (-17.8, 19.8). A pedestrian with ID 85 is 26.7 meters away at (-25.2, 8.7). A vehicle with ID 26 is 29.7 meters away at (-29.6, -2.2). A unknown object with ID 77 is 30.6 meters away at (-28.2, 11.9). A unknown object with ID 57 is 30.6 meters away at (-20.9, 22.4). A vehicle with ID 65 is 32.4 meters away at (-12.9, -29.7). A pedestrian with ID 38 is 32.9 meters away at (-6.7, -32.2). A pedestrian with ID 69 is 33.2 meters away at (-5.9, -32.7).

The unknown object with ID 33 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 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.1248761  -0.97551125] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.61955786 1.0361187 ] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.66436666 1.065438  ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [2.9895191 0.6703968], 3.063765048980713 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.9) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 48 is 6.8 meters away at (-1.4, 6.6). A vehicle with ID 46 is 11.1 meters away at (-8.5, 7.1). A vehicle with ID 53 is 12.5 meters away at (-6.1, 10.9). A vehicle with ID 56 is 19.7 meters away at (-15.1, 12.7). A vehicle with ID 63 is 21.8 meters away at (-18.4, -11.8). A vehicle with ID 65 is 24.4 meters away at (-19.9, -14.2). A vehicle with ID 62 is 27.2 meters away at (-21.9, -16.1). A vehicle with ID 77 is 28.1 meters away at (-11.1, -25.8). A vehicle with ID 51 is 29.0 meters away at (22.0, -18.9). A vehicle with ID 55 is 29.8 meters away at (25.1, -16.0).

The vehicle with ID 48 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 [-0.3833402   0.30189338] m/s.The vehicle with ID 53 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 [-0.67946434  0.57782847] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 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 51 is traveling at a (x, y) velocity of [-4.3761716  3.7789152] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-26.414492  22.44757 ]
 [-23.831785  24.479546]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.3) m/s. Its current heading (yaw) is 2.41

The most relevant actors are: A vehicle with ID 48 is 5.9 meters away at (-0.5, 5.8). A vehicle with ID 46 is 10.8 meters away at (-8.3, 6.9). A vehicle with ID 53 is 11.3 meters away at (-5.2, 10.1). A vehicle with ID 51 is 20.9 meters away at (15.9, -13.7). A vehicle with ID 63 is 21.5 meters away at (-17.4, -12.7). A vehicle with ID 56 is 22.7 meters away at (-17.4, 14.6). A vehicle with ID 65 is 24.3 meters away at (-19.1, -14.9). A vehicle with ID 62 is 27.0 meters away at (-21.1, -16.9). A vehicle with ID 77 is 28.6 meters away at (-10.1, -26.7). A vehicle with ID 55 is 31.0 meters away at (26.1, -16.8).

The vehicle with ID 48 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 [-0.3526485   0.32230097] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.3286302  1.9570441] 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 [-2.9654164  2.380851 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 1.1) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 48 is 4.6 meters away at (1.1, 4.5). A vehicle with ID 53 is 9.5 meters away at (-3.7, 8.8). A vehicle with ID 46 is 11.8 meters away at (-9.0, 7.6). A vehicle with ID 51 is 18.5 meters away at (14.1, -12.1). A vehicle with ID 63 is 21.2 meters away at (-16.0, -13.9). A vehicle with ID 65 is 23.9 meters away at (-17.5, -16.3). A vehicle with ID 62 is 26.8 meters away at (-19.7, -18.1). A vehicle with ID 28 is 28.9 meters away at (-27.1, 10.1). A vehicle with ID 77 is 29.3 meters away at (-8.7, -28.0). A vehicle with ID 56 is 31.9 meters away at (-24.6, 20.3).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.107111   1.9422512] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-1.3050095  1.1122211] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 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 [ 9.399703 -8.074002] m/s.The vehicle with ID 77 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 [-4.568516   3.6993039] 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, 2.4) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 48 is 5.2 meters away at (5.1, 1.1). A vehicle with ID 53 is 5.3 meters away at (0.3, 5.3). A vehicle with ID 36 is 7.0 meters away at (-1.3, -6.9). A vehicle with ID 28 is 10.2 meters away at (-4.4, -9.2). A vehicle with ID 46 is 15.6 meters away at (-11.9, 10.1). A vehicle with ID 51 is 20.6 meters away at (15.6, -13.5). A vehicle with ID 63 is 21.1 meters away at (-11.9, -17.4). A vehicle with ID 65 is 23.9 meters away at (-13.6, -19.7). A vehicle with ID 1 is 24.0 meters away at (-5.3, 23.4). A vehicle with ID 5 is 29.5 meters away at (-12.5, 26.7).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [11.577806 -9.907532] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 9.310005  -7.9446425] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.424352  3.859639] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-1.333223   1.1517456] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.3203094 -1.8641847] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.1) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A unknown object with ID 40 is 4.7 meters away at (-2.9, -3.7). A vehicle with ID 42 is 10.7 meters away at (-3.3, -10.2). A unknown object with ID 24 is 11.5 meters away at (8.6, 7.6). A unknown object with ID 53 is 18.4 meters away at (-9.6, -15.7). A cyclist with ID 64 is 18.8 meters away at (3.1, 18.6). A unknown object with ID 55 is 19.1 meters away at (-9.8, -16.4). A unknown object with ID 43 is 20.3 meters away at (-9.9, -17.7). A unknown object with ID 44 is 20.7 meters away at (-10.3, -17.9). A vehicle with ID 46 is 24.2 meters away at (3.1, -24.0). A pedestrian with ID 69 is 24.8 meters away at (4.0, 24.4).

The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 cyclist with ID 64 is traveling at a (x, y) velocity of [0.505846  1.3612853] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.17756057 1.2593203 ] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-2.9454317 -3.7143128], 4.740431308746338 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 42 is 10.0 meters away at (-3.1, -9.5). A unknown object with ID 43 is 19.7 meters away at (-9.9, -17.1). A pedestrian with ID 33 is 19.9 meters away at (4.3, 19.5). A unknown object with ID 44 is 20.1 meters away at (-10.2, -17.3). A cyclist with ID 64 is 22.6 meters away at (4.5, 22.1). A vehicle with ID 46 is 23.7 meters away at (3.3, -23.4). A pedestrian with ID 69 is 28.4 meters away at (4.9, 28.0). A pedestrian with ID 70 is 28.6 meters away at (5.5, 28.1). A vehicle with ID 50 is 33.4 meters away at (-2.6, -33.3). A vehicle with ID 52 is 34.3 meters away at (2.3, -34.2).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00504623  0.07277264] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.5851159 1.8245198] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.31214136 1.3630385 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.54277855 1.5188822 ] m/s.The vehicle with ID 50 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.

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 -1.89

The most relevant actors are: A vehicle with ID 42 is 10.0 meters away at (-3.1, -9.5). A unknown object with ID 43 is 19.6 meters away at (-9.8, -17.0). A unknown object with ID 44 is 20.0 meters away at (-10.1, -17.2). A vehicle with ID 46 is 23.6 meters away at (3.4, -23.4). A cyclist with ID 64 is 26.6 meters away at (6.0, 26.0). A pedestrian with ID 70 is 31.8 meters away at (6.7, 31.1). A pedestrian with ID 69 is 31.9 meters away at (6.4, 31.2). A vehicle with ID 50 is 33.3 meters away at (-2.6, -33.2). A vehicle with ID 52 is 34.2 meters away at (2.3, -34.1). A vehicle with ID 54 is 35.3 meters away at (5.6, -34.8).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.72053653 1.9646429 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.61574274 1.3691597 ] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.5860239 1.45635  ] m/s.The vehicle with ID 50 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 54 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, -0.1) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 42 is 9.8 meters away at (-3.0, -9.4). A unknown object with ID 43 is 19.5 meters away at (-9.8, -16.8). A unknown object with ID 44 is 19.9 meters away at (-10.1, -17.2). A vehicle with ID 46 is 23.5 meters away at (3.3, -23.2). A unknown object with ID 1 is 25.9 meters away at (-11.9, -23.1). A vehicle with ID 6 is 29.4 meters away at (-18.5, -22.8). A cyclist with ID 64 is 30.9 meters away at (7.1, 30.0). A vehicle with ID 50 is 33.2 meters away at (-2.6, -33.1). A vehicle with ID 52 is 34.0 meters away at (2.2, -34.0). A pedestrian with ID 69 is 34.8 meters away at (8.5, 33.7).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.4448119 2.1850505] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.5790717 1.4694313] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 0.0) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A unknown object with ID 5 is 14.3 meters away at (-7.9, -11.9). A unknown object with ID 37 is 14.7 meters away at (-9.9, -10.9). A unknown object with ID 38 is 15.5 meters away at (-11.6, -10.3). A unknown object with ID 43 is 17.0 meters away at (-14.0, -9.5). A unknown object with ID 39 is 17.0 meters away at (-11.6, -12.4). A unknown object with ID 52 is 18.5 meters away at (-16.3, -8.9). A unknown object with ID 40 is 18.8 meters away at (-12.2, -14.3). A unknown object with ID 42 is 20.7 meters away at (-13.7, -15.5). A unknown object with ID 44 is 21.4 meters away at (-15.5, -14.8). A unknown object with ID 57 is 21.4 meters away at (-16.9, -13.2).

The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -1.2) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A unknown object with ID 5 is 18.1 meters away at (-14.1, -11.3). A unknown object with ID 37 is 19.2 meters away at (-16.2, -10.3). A unknown object with ID 38 is 20.4 meters away at (-17.8, -9.8). A unknown object with ID 39 is 21.4 meters away at (-17.9, -11.8). A unknown object with ID 43 is 22.2 meters away at (-20.3, -9.0). A unknown object with ID 40 is 22.9 meters away at (-18.4, -13.7). A unknown object with ID 13 is 23.0 meters away at (-18.5, -13.8). A unknown object with ID 52 is 24.0 meters away at (-22.5, -8.3). A unknown object with ID 42 is 24.9 meters away at (-19.9, -15.0). A unknown object with ID 44 is 25.9 meters away at (-21.7, -14.2).

The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 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.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-14.139039 -11.271106], 18.08176612854004 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -3.4) m/s. Its current heading (yaw) is -1.26

The most relevant actors are: A pedestrian with ID 31 is 15.1 meters away at (9.0, -12.1). A unknown object with ID 5 is 19.6 meters away at (-18.3, -6.8). A unknown object with ID 37 is 21.2 meters away at (-20.3, -5.9). A unknown object with ID 38 is 22.7 meters away at (-22.0, -5.3). A unknown object with ID 39 is 23.2 meters away at (-22.0, -7.3). A unknown object with ID 40 is 24.4 meters away at (-22.6, -9.1). A unknown object with ID 43 is 24.9 meters away at (-24.5, -4.5). A unknown object with ID 42 is 26.3 meters away at (-24.1, -10.5). A unknown object with ID 52 is 27.0 meters away at (-26.7, -3.8). A unknown object with ID 44 is 27.6 meters away at (-25.9, -9.7).

The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.23805259  0.06918532] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 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.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -4.4) m/s. Its current heading (yaw) is -1.83

The most relevant actors are: A pedestrian with ID 31 is 10.3 meters away at (9.4, -4.1). A unknown object with ID 5 is 18.0 meters away at (-18.0, 1.2). A unknown object with ID 37 is 20.1 meters away at (-20.0, 2.1). A unknown object with ID 39 is 21.7 meters away at (-21.7, 0.7). A unknown object with ID 38 is 21.9 meters away at (-21.7, 2.8). A unknown object with ID 40 is 22.3 meters away at (-22.3, -1.1). A unknown object with ID 42 is 24.0 meters away at (-23.9, -2.4). A unknown object with ID 43 is 24.4 meters away at (-24.1, 3.5). A unknown object with ID 44 is 25.8 meters away at (-25.7, -1.5). A unknown object with ID 52 is 26.7 meters away at (-26.3, 4.2).

The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.0331758 -0.0199202] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 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, 9.8) m/s. Its current heading (yaw) is 1.98

The most relevant actors are: A vehicle with ID 5 is 50.6 meters away at (13.5, -48.8).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.3) m/s. Its current heading (yaw) is 1.96

The most relevant actors are: A vehicle with ID 5 is 72.3 meters away at (21.9, -68.9).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 10.3) m/s. Its current heading (yaw) is 1.96

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 10.2) 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 (-7.0, -7.6) m/s. Its current heading (yaw) is -2.31

The most relevant actors are: A vehicle with ID 47 is 21.3 meters away at (-9.4, 19.1). A unknown object with ID 25 is 42.1 meters away at (-10.5, -40.8). A vehicle with ID 14 is 42.5 meters away at (27.7, 32.2). A vehicle with ID 16 is 45.6 meters away at (32.9, 31.6). A cyclist with ID 49 is 47.7 meters away at (-47.1, -7.4). A pedestrian with ID 35 is 49.4 meters away at (4.2, 49.2). A pedestrian with ID 18 is 52.2 meters away at (7.7, 51.6). A pedestrian with ID 36 is 53.8 meters away at (9.4, 52.9). A unknown object with ID 37 is 56.1 meters away at (14.7, 54.2). A vehicle with ID 27 is 56.8 meters away at (-56.0, -9.7).

The vehicle with ID 47 is traveling at a (x, y) velocity of [12.281138 12.25861 ] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-10.700722  -9.045017] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-8.469154  -6.9729795] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [ 1.9163182  -0.80503124] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.03376731 0.03472649] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.04914441 0.00865705] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 1.4359195  -0.34103838] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, -8.1) m/s. Its current heading (yaw) is -2.23

The most relevant actors are: A unknown object with ID 25 is 24.5 meters away at (3.2, -24.3). A cyclist with ID 49 is 32.7 meters away at (-32.2, 5.4). A vehicle with ID 14 is 37.0 meters away at (21.6, 30.0). A vehicle with ID 27 is 41.8 meters away at (-41.3, 6.4). A vehicle with ID 33 is 42.6 meters away at (30.5, -29.7). A vehicle with ID 16 is 45.4 meters away at (30.6, 33.6). A vehicle with ID 17 is 54.0 meters away at (34.5, 41.5). A vehicle with ID 47 is 66.9 meters away at (30.8, 59.4). A pedestrian with ID 35 is 68.1 meters away at (18.2, 65.7). A pedestrian with ID 23 is 68.6 meters away at (19.0, 65.9).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-0.3085807 -2.0833569] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-9.536868 -9.587006] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-8.815752  4.616271] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-7.8819704 -7.4598103] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-10.79178  -9.65736] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [13.860029 11.724332] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00779683 -0.00199133] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01289205 -0.01699543] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  3.2345905 -24.331596 ], 24.545656204223633 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, -9.0) m/s. Its current heading (yaw) is -2.17

The most relevant actors are: A unknown object with ID 25 is 17.6 meters away at (16.2, -6.7). A vehicle with ID 33 is 28.4 meters away at (28.0, -4.2). A cyclist with ID 49 is 29.4 meters away at (-22.5, 18.9). A vehicle with ID 14 is 32.4 meters away at (16.4, 27.9). A vehicle with ID 27 is 37.0 meters away at (-28.3, 23.9). A vehicle with ID 16 is 45.6 meters away at (28.2, 35.9). A vehicle with ID 17 is 47.6 meters away at (26.8, 39.4). A vehicle with ID 29 is 53.6 meters away at (-45.3, -28.7).

The unknown object with ID 25 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 [-6.146959   3.0774724] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-1.9013271 -1.8904314] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ -8.791316 -10.194951] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-7.4090242 -8.0186405] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ -9.940906 -10.364404] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 5.703957 12.000455] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [16.205423  -6.7448997], 17.55304718017578 meters away.)