The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, -6.5) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A vehicle with ID 66 is 11.6 meters away at (-11.6, -0.0). A pedestrian with ID 33 is 11.7 meters away at (11.6, -1.4). A unknown object with ID 43 is 17.7 meters away at (-2.5, -17.5). A vehicle with ID 22 is 20.3 meters away at (18.7, -8.0). A vehicle with ID 28 is 21.7 meters away at (-14.1, -16.5). A vehicle with ID 23 is 22.0 meters away at (21.5, -5.0). A pedestrian with ID 38 is 22.2 meters away at (22.0, -2.4). A pedestrian with ID 30 is 23.1 meters away at (23.0, -2.2). A pedestrian with ID 24 is 23.9 meters away at (23.7, -2.9). A vehicle with ID 44 is 24.4 meters away at (-15.4, -18.9).

The vehicle with ID 66 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 [-0.7535825   0.82500935] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 [0.02397232 0.00516538] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.02498085 0.0099226 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.01098683 -0.01117401] 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 (6.5, -2.2) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 47 is 3.2 meters away at (-1.1, -3.0). A vehicle with ID 49 is 6.2 meters away at (3.7, 5.0). A vehicle with ID 50 is 7.1 meters away at (-2.1, 6.8). A vehicle with ID 40 is 9.2 meters away at (8.5, 3.3). A vehicle with ID 45 is 14.6 meters away at (14.5, 1.3). A vehicle with ID 41 is 17.0 meters away at (14.8, -8.2). A vehicle with ID 43 is 19.4 meters away at (19.4, -0.3). A vehicle with ID 30 is 20.3 meters away at (-6.0, -19.4). A unknown object with ID 59 is 22.7 meters away at (5.8, -21.9). A vehicle with ID 44 is 22.7 meters away at (20.3, -10.1).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 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 45 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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 (6.1, -2.1) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 41 is 4.7 meters away at (2.4, -4.1). A vehicle with ID 45 is 5.9 meters away at (2.1, 5.5). A vehicle with ID 43 is 7.9 meters away at (6.9, 3.9). A vehicle with ID 40 is 8.4 meters away at (-3.8, 7.5). A vehicle with ID 44 is 9.8 meters away at (7.8, -5.9). A vehicle with ID 49 is 12.6 meters away at (-8.7, 9.2). A vehicle with ID 38 is 12.8 meters away at (12.6, 2.0). A vehicle with ID 47 is 13.7 meters away at (-13.7, 1.2). A vehicle with ID 39 is 14.9 meters away at (12.8, -7.5). A vehicle with ID 42 is 18.1 meters away at (18.1, 0.3).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -2.0) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 39 is 3.8 meters away at (1.2, -3.6). A vehicle with ID 44 is 4.3 meters away at (-3.8, -2.0). A vehicle with ID 38 is 6.1 meters away at (1.0, 6.0). A vehicle with ID 42 is 7.7 meters away at (6.4, 4.2). A vehicle with ID 43 is 9.1 meters away at (-4.7, 7.8). A vehicle with ID 41 is 9.3 meters away at (-9.3, -0.1). A vehicle with ID 46 is 12.3 meters away at (12.1, 2.3). A vehicle with ID 45 is 13.4 meters away at (-9.5, 9.4). A vehicle with ID 48 is 17.5 meters away at (17.5, 0.4). A vehicle with ID 40 is 19.3 meters away at (-15.5, 11.4).

The vehicle with ID 39 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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 46 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 48 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 (4.0, -1.4) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 46 is 6.1 meters away at (2.5, 5.6). A vehicle with ID 42 is 8.1 meters away at (-3.1, 7.5). A vehicle with ID 39 is 8.4 meters away at (-8.4, -0.3). A vehicle with ID 48 is 8.8 meters away at (7.9, 3.7). A vehicle with ID 38 is 12.6 meters away at (-8.5, 9.3). A vehicle with ID 44 is 13.6 meters away at (-13.5, 1.5). A vehicle with ID 43 is 18.1 meters away at (-14.2, 11.2). A vehicle with ID 19 is 18.8 meters away at (-17.8, 6.2). A vehicle with ID 11 is 19.0 meters away at (-3.5, -18.7). A vehicle with ID 13 is 19.1 meters away at (-6.5, -18.0).

The vehicle with ID 46 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 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 19 is traveling at a (x, y) velocity of [ 5.599591  -1.9402078] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -2.0) m/s. Its current heading (yaw) is -0.97

The most relevant actors are: A unknown object with ID 24 is 27.6 meters away at (-24.9, 11.9). A vehicle with ID 25 is 36.8 meters away at (16.4, -32.9). A vehicle with ID 31 is 40.9 meters away at (-40.7, -4.2). A cyclist with ID 15 is 45.2 meters away at (-44.4, 8.8). A unknown object with ID 32 is 56.8 meters away at (-56.2, 7.8). A unknown object with ID 34 is 58.8 meters away at (-58.1, 8.8). A vehicle with ID 29 is 61.2 meters away at (-60.1, -11.6).

The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [13.558154  -6.3662496] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 8.205637 -3.561147] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [-0.00913267 -0.00704817] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-5.4319425  2.4180067] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-24.924788  11.857671], 27.601619720458984 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.8) m/s. Its current heading (yaw) is -1.28

The most relevant actors are: A vehicle with ID 31 is 26.3 meters away at (-25.1, -7.7). A unknown object with ID 24 is 31.0 meters away at (-26.7, 15.7). A pedestrian with ID 1 is 37.1 meters away at (-23.9, -28.4). A unknown object with ID 3 is 48.9 meters away at (-48.7, -3.8). A vehicle with ID 25 is 57.2 meters away at (39.5, -41.4). A unknown object with ID 34 is 61.3 meters away at (-59.9, 12.6). A unknown object with ID 8 is 65.0 meters away at (-62.3, 18.4). A vehicle with ID 4 is 78.4 meters away at (-73.4, 27.6).

The vehicle with ID 31 is traveling at a (x, y) velocity of [ 9.551279 -3.845371] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.01585664 -0.02405707] m/s.The unknown object with ID 3 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 [11.288954 -5.351588] 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.9) m/s. Its current heading (yaw) is -1.44

The most relevant actors are: A vehicle with ID 31 is 14.1 meters away at (-5.9, -12.8). A vehicle with ID 21 is 36.4 meters away at (-35.0, 10.0). A unknown object with ID 12 is 58.2 meters away at (-56.6, 13.7). A unknown object with ID 14 is 59.7 meters away at (-55.7, 21.4). A vehicle with ID 25 is 75.4 meters away at (58.6, -47.5). A pedestrian with ID 22 is 76.4 meters away at (67.5, -35.8). A pedestrian with ID 10 is 76.5 meters away at (68.1, -34.8). A pedestrian with ID 23 is 76.5 meters away at (68.1, -34.9). A vehicle with ID 4 is 79.7 meters away at (-73.2, 31.5).

The vehicle with ID 31 is traveling at a (x, y) velocity of [10.231005  -4.0374455] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 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 [ 8.318108  -3.7701097] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.93256783  1.0342816 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0013891   0.94916844] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.9694023   0.93056744] m/s.The vehicle with ID 4 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, -0.3) m/s. Its current heading (yaw) is -1.47

The most relevant actors are: A unknown object with ID 9 is 21.3 meters away at (14.4, -15.7). A vehicle with ID 31 is 24.8 meters away at (15.1, -19.6). A unknown object with ID 7 is 33.6 meters away at (-27.3, 19.5). A pedestrian with ID 17 is 49.6 meters away at (-46.5, 17.1). A unknown object with ID 12 is 58.5 meters away at (-56.7, 14.5). A pedestrian with ID 22 is 73.2 meters away at (65.5, -32.6). A pedestrian with ID 23 is 73.3 meters away at (65.9, -32.2). A pedestrian with ID 10 is 73.3 meters away at (66.1, -31.8).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [10.703005  -3.8680284] m/s.The unknown object with ID 7 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 [-0.52937055 -0.3359521 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.0677848  0.9950535] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.0397915   0.85975486] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0880551  1.0261314] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 14.439129 -15.657403], 21.29888916015625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -5.5) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 5 is 3.8 meters away at (-3.6, 1.0). A vehicle with ID 10 is 15.7 meters away at (-13.1, -8.7). A vehicle with ID 50 is 15.7 meters away at (-15.7, -1.1). A vehicle with ID 55 is 17.8 meters away at (-9.9, 14.8). A pedestrian with ID 52 is 21.4 meters away at (-9.1, -19.3). A vehicle with ID 53 is 23.6 meters away at (-6.4, 22.7). A vehicle with ID 60 is 24.8 meters away at (-24.6, 3.3). A vehicle with ID 13 is 25.6 meters away at (15.4, 20.5). A vehicle with ID 12 is 28.6 meters away at (-20.8, -19.6). A vehicle with ID 65 is 29.5 meters away at (-28.6, -7.1).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.4359713 -6.0152245] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.8295565 -5.6331134] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [9.129747 9.588066] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.8197747 -1.2326888] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [10.553379 10.637743] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [7.4863915 9.020744 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-5.59096   -5.4209166] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-4.689495  -6.4503746] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [6.0150733 7.5036116] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -7.1) m/s. Its current heading (yaw) is -2.24

The most relevant actors are: A vehicle with ID 5 is 4.9 meters away at (-4.9, -0.1). A pedestrian with ID 52 is 9.1 meters away at (-0.5, -9.1). A vehicle with ID 50 is 12.5 meters away at (-5.4, 11.2). A vehicle with ID 10 is 15.8 meters away at (-12.8, -9.2). A vehicle with ID 65 is 21.2 meters away at (-4.9, 20.6). A vehicle with ID 44 is 22.2 meters away at (-20.3, 8.9). A vehicle with ID 13 is 25.7 meters away at (14.3, 21.4). A unknown object with ID 58 is 26.2 meters away at (2.1, -26.1). A vehicle with ID 12 is 29.9 meters away at (-20.2, -22.1). A vehicle with ID 17 is 32.1 meters away at (21.6, 23.8).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.7920947 -7.2605643] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.7274132 -1.1138861] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.3838406 -7.588525 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [7.5210605 8.079214 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [7.775555 9.540294] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-6.209796  -6.5075564] m/s.The unknown object with ID 58 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 [-5.164423 -8.756497] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.040425  -6.5235386] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, -9.0) m/s. Its current heading (yaw) is -2.19

The most relevant actors are: A vehicle with ID 5 is 4.7 meters away at (-4.7, 0.0). A pedestrian with ID 52 is 10.7 meters away at (9.7, 4.4). A vehicle with ID 10 is 16.1 meters away at (-12.0, -10.7). A unknown object with ID 58 is 17.4 meters away at (14.1, -10.2). A vehicle with ID 13 is 26.4 meters away at (13.4, 22.8). A vehicle with ID 50 is 27.8 meters away at (6.4, 27.1). A vehicle with ID 12 is 31.7 meters away at (-18.8, -25.4). A vehicle with ID 17 is 33.9 meters away at (21.4, 26.3). A vehicle with ID 45 is 34.9 meters away at (-7.2, 34.2). A vehicle with ID 68 is 37.2 meters away at (-28.9, 23.5).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.066097 -8.921144] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.8792422 -1.1105518] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.787931 -9.887173] m/s.The unknown object with ID 58 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 [-6.6982446 -8.161549 ] m/s.The vehicle with ID 50 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 [ -5.32645  -10.337386] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.1773906 -7.0534506] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [8.4991   5.071539] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, -10.6) m/s. Its current heading (yaw) is -2.10

The most relevant actors are: A vehicle with ID 5 is 4.3 meters away at (-4.3, -0.3). A vehicle with ID 10 is 16.7 meters away at (-11.1, -12.4). A vehicle with ID 22 is 20.9 meters away at (-10.4, 18.2). A vehicle with ID 49 is 23.2 meters away at (-22.8, -4.3). A vehicle with ID 13 is 27.6 meters away at (12.3, 24.7). A unknown object with ID 58 is 28.3 meters away at (26.7, 9.3). A pedestrian with ID 52 is 30.1 meters away at (20.7, 21.9). A vehicle with ID 12 is 32.1 meters away at (-16.1, -27.7). A vehicle with ID 17 is 38.1 meters away at (21.7, 31.3). A pedestrian with ID 23 is 44.1 meters away at (-37.9, 22.6).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ -6.116064 -10.981603] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ -6.099372 -11.537745] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 8.300675 13.489448] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 7.860234 14.875188] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-7.05959  -9.810802] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.8550258 -1.1972181] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ -4.6468053 -11.529888 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.127476 -7.779885] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.0728279  1.5465268] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.6) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A vehicle with ID 8 is 52.2 meters away at (43.4, -28.9).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.624511  6.131776] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 4.4) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A unknown object with ID 9 is 39.0 meters away at (36.9, -12.6). A vehicle with ID 8 is 49.5 meters away at (41.9, -26.4).

The unknown object with ID 9 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 [-8.557763  5.540391] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 36.931828  -12.6103115], 39.02537155151367 meters away.)


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 vehicle with ID 8 is 45.0 meters away at (37.9, -24.2).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-8.877961  5.618393] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.9) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A unknown object with ID 1 is 31.8 meters away at (-15.1, 28.0). A unknown object with ID 2 is 32.5 meters away at (-14.4, 29.1). A unknown object with ID 3 is 33.4 meters away at (-13.6, 30.5). A vehicle with ID 5 is 34.0 meters away at (-10.0, 32.5). A vehicle with ID 8 is 41.1 meters away at (34.5, -22.2). A unknown object with ID 13 is 42.8 meters away at (39.8, -15.8).

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.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-1.7477286 -3.0294385] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-8.762628  5.704668] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-15.111568  27.954338], 31.777421951293945 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -1.5) m/s. Its current heading (yaw) is -1.46

The most relevant actors are: A cyclist with ID 27 is 18.7 meters away at (16.3, -9.2). A unknown object with ID 33 is 23.1 meters away at (-13.9, -18.5). A pedestrian with ID 30 is 25.2 meters away at (22.3, -11.8). A pedestrian with ID 31 is 25.8 meters away at (22.4, -12.8). A pedestrian with ID 28 is 26.5 meters away at (9.4, -24.7). A pedestrian with ID 36 is 44.8 meters away at (11.5, -43.3). A pedestrian with ID 37 is 45.1 meters away at (10.8, -43.8). A pedestrian with ID 19 is 45.9 meters away at (11.5, -44.4). A unknown object with ID 18 is 47.2 meters away at (-6.2, 46.8).

The cyclist with ID 27 is traveling at a (x, y) velocity of [ 0.00370139 -0.01420905] m/s.The unknown object with ID 33 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 [-1.2616949   0.11567587] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.2270286  0.0314937] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.05277934  1.1745921 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.02060176 0.02653271] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01575435  0.03258747] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00814429 -0.00847839] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -1.6) m/s. Its current heading (yaw) is -1.45

The most relevant actors are: A cyclist with ID 27 is 17.1 meters away at (16.0, -6.2). A unknown object with ID 33 is 21.0 meters away at (-14.3, -15.4). A pedestrian with ID 28 is 21.1 meters away at (8.8, -19.2). A pedestrian with ID 36 is 41.8 meters away at (11.0, -40.3). A pedestrian with ID 37 is 42.1 meters away at (10.3, -40.8). A pedestrian with ID 19 is 42.9 meters away at (11.1, -41.4). A unknown object with ID 21 is 75.7 meters away at (-14.3, 74.3).

The cyclist with ID 27 is traveling at a (x, y) velocity of [-0.01470472  0.02637708] m/s.The unknown object with ID 33 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 [-0.1838572  1.2434385] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.02643828  0.01607407] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.06125504  0.02065231] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00274444  0.01604863] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.7) m/s. Its current heading (yaw) is -1.29

The most relevant actors are: A pedestrian with ID 1 is 14.4 meters away at (14.3, -1.5). A pedestrian with ID 28 is 15.5 meters away at (7.8, -13.4). A cyclist with ID 27 is 16.3 meters away at (15.9, -3.6). A pedestrian with ID 11 is 16.6 meters away at (16.1, -4.2). A unknown object with ID 33 is 19.3 meters away at (-15.1, -12.0). A pedestrian with ID 36 is 38.3 meters away at (10.1, -37.0). A pedestrian with ID 37 is 38.6 meters away at (9.5, -37.5). A pedestrian with ID 19 is 39.4 meters away at (10.3, -38.1). A unknown object with ID 24 is 52.4 meters away at (43.2, -29.6). A unknown object with ID 15 is 53.0 meters away at (44.6, -28.6).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.1381001  0.5880526] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.13329472  1.2209218 ] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ 0.40611574 -0.3938542 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.910467   -0.63333076] m/s.The unknown object with ID 33 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 [0.00079493 0.00456052] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01570709 -0.00613212] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00071835 -0.00167794] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.2) m/s. Its current heading (yaw) is -1.16

The most relevant actors are: A pedestrian with ID 28 is 10.1 meters away at (6.3, -7.9). A pedestrian with ID 1 is 11.2 meters away at (10.9, 2.5). A pedestrian with ID 3 is 13.6 meters away at (13.6, 1.2). A pedestrian with ID 2 is 14.0 meters away at (14.0, 0.2). A cyclist with ID 27 is 18.2 meters away at (18.0, -2.7). A unknown object with ID 33 is 18.6 meters away at (-16.2, -9.2). A pedestrian with ID 36 is 35.2 meters away at (9.1, -34.0). A pedestrian with ID 37 is 35.6 meters away at (8.4, -34.6). A pedestrian with ID 19 is 36.3 meters away at (9.1, -35.2). A unknown object with ID 14 is 49.2 meters away at (42.3, -25.3).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.14944817  1.2826728 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.2234329  0.6322188] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.1616734   0.65657437] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0906667  0.7039058] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ 1.9825058 -0.1723393] m/s.The unknown object with ID 33 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 [0.00473228 0.01497984] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01703586  0.01090589] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00961855 -0.00325291] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 1.0) m/s. Its current heading (yaw) is 0.92

The most relevant actors are: A pedestrian with ID 32 is 11.8 meters away at (-9.0, 7.7). A pedestrian with ID 34 is 14.0 meters away at (-13.0, 5.3). A pedestrian with ID 36 is 14.5 meters away at (-14.4, 2.0). A vehicle with ID 33 is 14.9 meters away at (13.3, 6.8). A vehicle with ID 37 is 32.3 meters away at (-25.4, -20.0). A unknown object with ID 38 is 32.8 meters away at (23.6, 22.8). A pedestrian with ID 41 is 33.4 meters away at (-27.6, 18.8). A unknown object with ID 24 is 33.8 meters away at (23.5, 24.4). A vehicle with ID 39 is 35.1 meters away at (-20.3, -28.6). A unknown object with ID 40 is 36.7 meters away at (27.5, 24.2).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.9387953  -0.56747824] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.15666488 0.942487  ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.26993802 0.5904337 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 7.4869637 -2.610703 ] m/s.The vehicle 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 pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.40999827 -1.3036665 ] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 (2.7, 3.5) m/s. Its current heading (yaw) is 0.91

The most relevant actors are: A pedestrian with ID 32 is 10.6 meters away at (-10.3, 2.4). A pedestrian with ID 34 is 16.8 meters away at (-16.6, 2.9). A pedestrian with ID 36 is 17.2 meters away at (-17.2, -0.9). A vehicle with ID 33 is 25.0 meters away at (24.9, -2.8). A unknown object with ID 16 is 26.2 meters away at (9.9, 24.2). A unknown object with ID 38 is 27.1 meters away at (20.0, 18.2). A unknown object with ID 24 is 28.1 meters away at (19.9, 19.8). A pedestrian with ID 41 is 32.4 meters away at (-30.1, 12.1). A vehicle with ID 37 is 38.0 meters away at (-28.9, -24.7). A vehicle with ID 42 is 39.5 meters away at (-31.1, 24.2).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.237439   -0.10816073] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.33903995  1.0956594 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.3459242  0.90239894] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 7.007146  -2.3927188] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.8840662 -0.6428024] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.3) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A unknown object with ID 16 is 15.7 meters away at (2.6, 15.4). A pedestrian with ID 32 is 16.8 meters away at (-15.2, -7.0). A pedestrian with ID 34 is 24.7 meters away at (-24.4, -4.0). A pedestrian with ID 36 is 25.2 meters away at (-23.9, -8.0). A unknown object with ID 14 is 26.6 meters away at (19.0, 18.5). A vehicle with ID 33 is 32.6 meters away at (28.4, -15.9). A pedestrian with ID 41 is 35.9 meters away at (-35.9, 1.2). A vehicle with ID 42 is 41.3 meters away at (-38.4, 15.4). A vehicle with ID 37 is 49.2 meters away at (-36.1, -33.5). A vehicle with ID 39 is 52.2 meters away at (-30.9, -42.1).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.0630721  -0.39825782] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.528086    0.90171117] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.26543525 0.91063803] m/s.The unknown object with ID 14 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 [ 3.5753102 -1.614494 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.1099843 -0.6195315] m/s.The vehicle with ID 42 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 2.6110258 15.443565 ], 15.662732124328613 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.3) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A unknown object with ID 23 is 3.8 meters away at (3.8, 0.5). A unknown object with ID 10 is 4.0 meters away at (3.9, -1.1). A unknown object with ID 14 is 12.9 meters away at (10.2, 8.0). A unknown object with ID 6 is 21.2 meters away at (15.6, 14.4). A pedestrian with ID 32 is 28.5 meters away at (-21.9, -18.3). A unknown object with ID 3 is 34.9 meters away at (18.2, 29.8). A pedestrian with ID 36 is 36.8 meters away at (-32.7, -16.7). A pedestrian with ID 34 is 37.2 meters away at (-34.8, -13.1). A vehicle with ID 33 is 37.9 meters away at (24.5, -28.9). A unknown object with ID 1 is 39.7 meters away at (21.4, 33.5).

The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.1438185  -0.25599703] m/s.The unknown object with ID 3 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 [-0.308027   0.9252232] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.99395996  0.67239904] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 2.191771  -1.1032857] 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 closest actor is a unknown object at [3.7595673 0.4827633], 3.790436267852783 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 4.6) m/s. Its current heading (yaw) is 2.26

The most relevant actors are: A unknown object with ID 26 is 3.8 meters away at (3.7, 0.6). A unknown object with ID 15 is 5.1 meters away at (5.1, -0.6). A vehicle with ID 28 is 23.9 meters away at (-15.5, 18.2). A pedestrian with ID 25 is 53.9 meters away at (-51.7, 15.1). A pedestrian with ID 30 is 63.1 meters away at (-63.0, 1.7). A vehicle with ID 31 is 64.0 meters away at (-42.5, 47.9). A vehicle with ID 8 is 73.4 meters away at (29.1, -67.4). A vehicle with ID 19 is 78.5 meters away at (-78.5, -0.7).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.9098882  0.58632606] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.99562484 -1.0052911 ] m/s.The vehicle with ID 31 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [3.7418928 0.5754385], 3.7858803272247314 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 3.0) m/s. Its current heading (yaw) is 2.23

The most relevant actors are: A unknown object with ID 26 is 12.0 meters away at (9.2, -7.8). A unknown object with ID 15 is 13.9 meters away at (10.6, -8.9). A vehicle with ID 28 is 14.1 meters away at (-9.9, 10.0). A unknown object with ID 3 is 23.7 meters away at (22.5, 7.4). A unknown object with ID 20 is 39.2 meters away at (-8.2, -38.4). A unknown object with ID 23 is 40.0 meters away at (-23.0, 32.8). A unknown object with ID 22 is 42.6 meters away at (-9.9, -41.4). A unknown object with ID 2 is 43.7 meters away at (-24.8, 36.0). A pedestrian with ID 25 is 45.5 meters away at (-44.6, 9.1). A vehicle with ID 31 is 54.2 meters away at (-36.8, 39.8).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.73416114 0.8242152 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 9.198673  -7.7676983], 12.039631843566895 meters away.)


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 2.44

The most relevant actors are: A vehicle with ID 28 is 9.3 meters away at (-6.5, 6.6). A unknown object with ID 26 is 16.7 meters away at (12.5, -11.1). A unknown object with ID 15 is 18.5 meters away at (13.9, -12.2). A unknown object with ID 12 is 20.1 meters away at (19.9, -2.5). A unknown object with ID 23 is 35.4 meters away at (-19.5, 29.5). A pedestrian with ID 25 is 40.3 meters away at (-39.6, 7.3). A unknown object with ID 22 is 45.2 meters away at (-6.6, -44.7). A vehicle with ID 31 is 49.5 meters away at (-33.5, 36.4). A vehicle with ID 7 is 52.6 meters away at (4.8, -52.4). A vehicle with ID 29 is 71.0 meters away at (-54.8, 45.3).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.6957264 0.8702112] m/s.The unknown object with ID 22 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A vehicle with ID 28 is 8.9 meters away at (-6.3, 6.4). A pedestrian with ID 1 is 26.3 meters away at (26.0, 4.0). A pedestrian with ID 9 is 38.4 meters away at (28.3, -26.0). A pedestrian with ID 25 is 38.6 meters away at (-37.6, 9.0). A unknown object with ID 17 is 39.1 meters away at (23.6, -31.2). A vehicle with ID 31 is 49.1 meters away at (-33.2, 36.2). A unknown object with ID 6 is 60.5 meters away at (-41.1, 44.4). A vehicle with ID 29 is 70.7 meters away at (-54.5, 45.0).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00052489  0.00063477] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.06540288 -0.03370057] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.8958069 1.0531718] m/s.The unknown object with ID 17 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 unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.7) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 57 is 13.8 meters away at (6.4, -12.2). A vehicle with ID 55 is 16.1 meters away at (4.4, 15.5). A vehicle with ID 60 is 21.3 meters away at (-21.0, 3.0). A vehicle with ID 56 is 25.8 meters away at (-24.0, -9.6). A vehicle with ID 65 is 26.7 meters away at (-25.8, 7.2). A pedestrian with ID 77 is 27.4 meters away at (22.0, 16.3). A vehicle with ID 58 is 27.4 meters away at (-26.2, -8.1). A vehicle with ID 62 is 30.3 meters away at (-29.9, -4.9). A vehicle with ID 25 is 30.8 meters away at (22.4, 21.1). A unknown object with ID 59 is 30.8 meters away at (-25.0, -18.0).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.4468396  0.31552532] m/s.The vehicle with ID 58 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 6.3) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 55 is 6.7 meters away at (-5.6, 3.7). A pedestrian with ID 77 is 14.0 meters away at (12.9, 5.6). A vehicle with ID 25 is 15.4 meters away at (12.3, 9.2). A pedestrian with ID 61 is 18.5 meters away at (2.3, 18.3). A vehicle with ID 30 is 18.9 meters away at (-3.5, 18.6). A vehicle with ID 27 is 21.8 meters away at (16.6, 14.2). A vehicle with ID 85 is 23.0 meters away at (-0.2, 23.0). A vehicle with ID 57 is 24.4 meters away at (-3.6, -24.1). A vehicle with ID 28 is 28.7 meters away at (21.1, 19.4). A vehicle with ID 60 is 32.4 meters away at (-31.1, -8.9).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.52103114 0.7737299 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.9614    -0.9852642] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, 7.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 25 is 3.9 meters away at (1.5, -3.6). A vehicle with ID 27 is 5.8 meters away at (5.7, 1.3). A pedestrian with ID 77 is 6.7 meters away at (3.2, -5.9). A pedestrian with ID 61 is 10.9 meters away at (-10.4, 3.3). A vehicle with ID 28 is 12.0 meters away at (10.2, 6.4). A vehicle with ID 85 is 14.9 meters away at (-11.0, 10.0). A vehicle with ID 30 is 15.5 meters away at (-14.4, 5.7). A pedestrian with ID 52 is 17.0 meters away at (-16.3, 4.6). A vehicle with ID 55 is 18.9 meters away at (-16.4, -9.3). A vehicle with ID 24 is 18.9 meters away at (14.6, 12.0).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.7911094 0.879521 ] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.8679667  -0.96282834] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.02756975 0.00380687] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 6.2) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 24 is 3.9 meters away at (3.8, -0.9). A vehicle with ID 28 is 6.4 meters away at (-0.6, -6.4). A vehicle with ID 26 is 9.2 meters away at (8.2, 4.1). A vehicle with ID 27 is 12.6 meters away at (-5.1, -11.5). A unknown object with ID 36 is 13.3 meters away at (-9.6, 9.2). A vehicle with ID 54 is 13.5 meters away at (2.7, 13.2). A vehicle with ID 14 is 15.8 meters away at (12.8, 9.3). A vehicle with ID 25 is 19.0 meters away at (-9.4, -16.5). A vehicle with ID 8 is 19.5 meters away at (7.1, 18.1). A vehicle with ID 85 is 22.1 meters away at (-21.9, -3.0).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -4.5) m/s. Its current heading (yaw) is -1.56

The most relevant actors are: A pedestrian with ID 25 is 67.8 meters away at (-6.8, -67.5).

The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.00278386 -1.3150485 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [ -6.79161 -67.47221], 67.81316375732422 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -3.9) m/s. Its current heading (yaw) is -1.55

The most relevant actors are: A pedestrian with ID 14 is 72.1 meters away at (-4.8, -72.0). A vehicle with ID 5 is 74.0 meters away at (-2.1, -74.0).

The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.00355055 0.00690318] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -3.1) m/s. Its current heading (yaw) is -1.54

The most relevant actors are: A pedestrian with ID 18 is 52.7 meters away at (9.3, -51.9). A pedestrian with ID 4 is 54.5 meters away at (-4.3, -54.3). A pedestrian with ID 14 is 65.2 meters away at (-4.9, -65.0). A vehicle with ID 5 is 66.9 meters away at (-2.2, -66.9).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.1439102  -0.07198717] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.00136272 0.00272982] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [  9.25592  -51.852654], 52.67228698730469 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -2.2) m/s. Its current heading (yaw) is -1.28

The most relevant actors are: A pedestrian with ID 18 is 48.0 meters away at (9.5, -47.1). A pedestrian with ID 4 is 49.6 meters away at (-4.6, -49.4). A pedestrian with ID 11 is 52.0 meters away at (12.3, 50.5). A pedestrian with ID 14 is 60.0 meters away at (-5.6, -59.7). A vehicle with ID 5 is 61.7 meters away at (-2.9, -61.6). A vehicle with ID 24 is 76.1 meters away at (2.6, -76.1).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.0379098  -0.09797031] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.1973665  -0.33054587] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.42448387  0.8809702 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.05142847  0.02109866] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, 5.0) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A unknown object with ID 97 is 3.8 meters away at (3.7, 0.7). A unknown object with ID 100 is 4.9 meters away at (-2.6, -4.2). A unknown object with ID 102 is 5.1 meters away at (-2.6, 4.4). A pedestrian with ID 98 is 8.4 meters away at (7.7, 3.5). A unknown object with ID 95 is 9.7 meters away at (4.7, -8.5). A pedestrian with ID 37 is 9.8 meters away at (-7.5, -6.2). A unknown object with ID 92 is 12.6 meters away at (11.9, -4.0). A unknown object with ID 91 is 18.3 meters away at (12.7, -13.2). A pedestrian with ID 55 is 21.1 meters away at (-13.1, 16.5). A vehicle with ID 101 is 21.7 meters away at (18.8, -10.8).

The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [ 0.994727  -0.5805704] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.00401033 -0.0040898 ] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.01573361 0.07734989] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [-9.647174   5.1920795] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [3.725131   0.73139954], 3.7962543964385986 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 4.3) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A unknown object with ID 57 is 5.1 meters away at (-2.1, -4.6). A unknown object with ID 78 is 5.7 meters away at (-3.2, 4.7). A pedestrian with ID 55 is 7.7 meters away at (3.3, 7.0). A pedestrian with ID 34 is 7.9 meters away at (2.7, 7.4). A pedestrian with ID 80 is 8.1 meters away at (1.9, 7.9). A pedestrian with ID 72 is 8.2 meters away at (1.4, 8.1). A pedestrian with ID 76 is 8.6 meters away at (0.1, 8.6). A pedestrian with ID 81 is 9.0 meters away at (3.9, 8.1). A pedestrian with ID 31 is 9.0 meters away at (-0.9, 9.0). A pedestrian with ID 75 is 9.4 meters away at (-0.3, 9.4).

The unknown object with ID 57 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.03656279  0.00876253] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.08817676 -0.0026472 ] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.12370025 -0.03205438] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.03185627  0.00255252] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.0309791   0.00563701] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.02587647  0.03633272] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.02100991 -0.01514722] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 0.00844597 -0.02880366] m/s.

There are active red lights at the following coordinates: [[-103.33787    46.950905]
 [-103.80751    47.263012]]

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.1147804 -4.5894766], 5.053275108337402 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 4.1) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A unknown object with ID 41 is 3.8 meters away at (3.8, 0.7). A unknown object with ID 84 is 5.1 meters away at (-3.4, -3.9). A pedestrian with ID 106 is 6.5 meters away at (4.7, 4.5). A pedestrian with ID 110 is 6.8 meters away at (3.2, 6.1). A unknown object with ID 35 is 7.2 meters away at (-4.6, 5.5). A unknown object with ID 78 is 11.7 meters away at (11.1, -3.6). A pedestrian with ID 73 is 11.9 meters away at (11.7, 1.9). A pedestrian with ID 62 is 12.7 meters away at (12.6, 1.3). A pedestrian with ID 53 is 13.1 meters away at (13.0, 2.0). A pedestrian with ID 31 is 13.4 meters away at (13.4, 0.7).

The unknown object with ID 41 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 pedestrian with ID 106 is traveling at a (x, y) velocity of [ 1.1112425  -0.72527885] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 2.4463167 -1.42419  ] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 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 [-0.01161981 -0.00807895] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.07430894 -0.0143629 ] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.01199518 -0.00881733] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.02526577 -0.01399295] m/s.

There are active red lights at the following coordinates: [[-103.33787    46.950905]
 [-103.80751    47.263012]]

Instruction: Continue straight.

(The closest actor is a unknown object at [3.7792892 0.6757145], 3.8392210006713867 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 4.2) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A unknown object with ID 77 is 2.5 meters away at (1.7, 1.7). A unknown object with ID 38 is 5.7 meters away at (-4.8, -3.1). A vehicle with ID 86 is 7.3 meters away at (-7.3, 0.7). A unknown object with ID 64 is 8.1 meters away at (2.9, -7.6). A unknown object with ID 36 is 8.8 meters away at (-6.1, 6.3). A unknown object with ID 35 is 10.0 meters away at (9.6, -2.7). A pedestrian with ID 109 is 12.1 meters away at (-11.6, -3.6). A pedestrian with ID 40 is 12.7 meters away at (-12.0, -4.3). A unknown object with ID 88 is 13.4 meters away at (-10.3, 8.7). A unknown object with ID 84 is 16.2 meters away at (10.8, -12.1).

The unknown object with ID 77 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 86 is traveling at a (x, y) velocity of [ 7.9969444 -4.8593135] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-0.9985747   0.60173905] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.9501699  0.5895883] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-103.33787    46.950905]
 [-103.80751    47.263012]]

Instruction: Continue straight.

(The closest actor is a unknown object at [1.7447319 1.7434578], 2.466522693634033 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -6.3) m/s. Its current heading (yaw) is -1.58

The most relevant actors are: A vehicle with ID 14 is 22.3 meters away at (-4.4, 21.9). A pedestrian with ID 16 is 66.9 meters away at (6.5, 66.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.36163    -0.10573635] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -6.3) m/s. Its current heading (yaw) is -1.53

The most relevant actors are: A vehicle with ID 14 is 34.8 meters away at (-4.5, 34.5). A unknown object with ID 7 is 44.0 meters away at (-40.4, -17.5).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -6.0) m/s. Its current heading (yaw) is -1.49

The most relevant actors are: A vehicle with ID 14 is 47.1 meters away at (-5.1, 46.8). A pedestrian with ID 1 is 72.9 meters away at (17.3, -70.8). A pedestrian with ID 8 is 73.1 meters away at (15.0, -71.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.01794004 -0.00885716] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.68978506 0.09095345] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -5.7) m/s. Its current heading (yaw) is -1.41

The most relevant actors are: A vehicle with ID 14 is 58.9 meters away at (-6.3, 58.6). A pedestrian with ID 1 is 61.2 meters away at (16.0, -59.1). A pedestrian with ID 3 is 67.6 meters away at (19.2, -64.8).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.00130416 -0.00923461] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00700804 -0.01211117] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -2.1) m/s. Its current heading (yaw) is -1.33

The most relevant actors are: A pedestrian with ID 36 is 4.8 meters away at (-4.4, -1.9). A vehicle with ID 37 is 9.5 meters away at (-5.5, 7.7). A vehicle with ID 41 is 17.3 meters away at (-5.1, 16.5). A vehicle with ID 39 is 17.4 meters away at (-3.4, -17.1). A vehicle with ID 42 is 21.3 meters away at (-2.1, -21.2). A pedestrian with ID 43 is 35.5 meters away at (-29.6, 19.5). A vehicle with ID 44 is 41.6 meters away at (-39.8, 12.0). A vehicle with ID 45 is 42.8 meters away at (-38.4, 18.9). A vehicle with ID 46 is 43.1 meters away at (-40.0, 16.0). A vehicle with ID 48 is 46.6 meters away at (-26.3, 38.5).

The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.01304404 -0.00533257] m/s.The vehicle with ID 37 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 [-0.20237768 -0.63505065] m/s.The vehicle with ID 39 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 [-2.0783088  1.165297 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00147932 -0.01173908] 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [6.0182753 2.359784 ] 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, -0.1) m/s. Its current heading (yaw) is -1.25

The most relevant actors are: A pedestrian with ID 36 is 4.8 meters away at (-4.8, -0.2). A vehicle with ID 37 is 11.1 meters away at (-6.0, 9.4). A vehicle with ID 39 is 15.9 meters away at (-3.9, -15.4). A vehicle with ID 41 is 18.9 meters away at (-5.6, 18.1). A pedestrian with ID 43 is 36.7 meters away at (-30.1, 21.1). A vehicle with ID 44 is 42.6 meters away at (-40.3, 13.8). A vehicle with ID 45 is 43.8 meters away at (-38.8, 20.4). A cyclist with ID 29 is 44.1 meters away at (-37.7, 23.0). A vehicle with ID 46 is 44.2 meters away at (-40.5, 17.8). A vehicle with ID 48 is 50.9 meters away at (-15.1, 48.6).

The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.00145921 0.00471439] m/s.The vehicle with ID 37 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.00023832 -0.00348094] 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 cyclist with ID 29 is traveling at a (x, y) velocity of [ 1.6579726 -1.2977867] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [5.4932036 6.1278667] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -3.3) m/s. Its current heading (yaw) is -1.08

The most relevant actors are: A pedestrian with ID 36 is 7.7 meters away at (-6.6, 3.8). A vehicle with ID 39 is 12.7 meters away at (-5.7, -11.4). A vehicle with ID 37 is 15.5 meters away at (-7.6, 13.4). A vehicle with ID 19 is 15.6 meters away at (-5.9, -14.4). A vehicle with ID 41 is 23.3 meters away at (-7.3, 22.2). A pedestrian with ID 43 is 40.5 meters away at (-31.7, 25.3). A vehicle with ID 44 is 45.6 meters away at (-41.9, 17.9). A cyclist with ID 29 is 46.1 meters away at (-38.1, 26.1). A vehicle with ID 45 is 47.1 meters away at (-40.2, 24.4). A vehicle with ID 46 is 47.5 meters away at (-42.1, 21.9).

The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.01352417 0.00371313] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00611289  0.00861728] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 0.03726765 -0.06440088] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -3.7) m/s. Its current heading (yaw) is -0.75

The most relevant actors are: A vehicle with ID 39 is 11.8 meters away at (-11.2, -3.8). A vehicle with ID 19 is 13.4 meters away at (-11.6, -6.8). A pedestrian with ID 36 is 16.8 meters away at (-12.4, 11.4). A vehicle with ID 37 is 24.9 meters away at (-13.2, 21.1). A vehicle with ID 41 is 32.4 meters away at (-12.9, 29.8). A cyclist with ID 20 is 37.0 meters away at (17.9, -32.4). A pedestrian with ID 43 is 49.8 meters away at (-37.3, 33.0). A vehicle with ID 34 is 54.0 meters away at (-43.3, -32.2). A vehicle with ID 44 is 54.1 meters away at (-47.6, 25.6). A cyclist with ID 29 is 55.2 meters away at (-43.6, 33.8).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.09284789 -0.28378043] m/s.The vehicle with ID 37 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 cyclist with ID 20 is traveling at a (x, y) velocity of [-9.483615  3.102819] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.02876766 -0.0224144 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.5617181 10.009601 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [0.04619668 0.06363041] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 1.1) m/s. Its current heading (yaw) is 0.24

The most relevant actors are: A vehicle with ID 82 is 6.1 meters away at (-3.5, 5.1). A vehicle with ID 75 is 13.1 meters away at (-2.1, 13.0). A pedestrian with ID 74 is 14.1 meters away at (-7.0, 12.3). A vehicle with ID 76 is 14.4 meters away at (-8.4, -11.7). A unknown object with ID 73 is 21.3 meters away at (-19.1, -9.4). A pedestrian with ID 85 is 26.2 meters away at (24.0, 10.5). A pedestrian with ID 86 is 26.7 meters away at (24.2, 11.3). A pedestrian with ID 79 is 27.9 meters away at (-21.3, 18.0). A vehicle with ID 77 is 29.1 meters away at (-25.8, -13.5). A vehicle with ID 81 is 29.7 meters away at (-16.3, 24.8).

The vehicle with ID 82 is traveling at a (x, y) velocity of [-13.792334    -0.10555219] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 1.4574798 -0.1137977] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-0.05936606  3.4013813 ] m/s.The unknown object with ID 73 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 [-1.292332   0.3638512] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.2537493   0.30947062] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.34094426  0.40038934] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, 0.1) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A pedestrian with ID 85 is 13.9 meters away at (9.4, 10.3). A pedestrian with ID 86 is 14.8 meters away at (9.7, 11.1). A pedestrian with ID 74 is 19.3 meters away at (-16.5, 10.0). A vehicle with ID 88 is 22.1 meters away at (20.6, -7.9). A vehicle with ID 76 is 22.4 meters away at (-20.4, -9.3). A pedestrian with ID 95 is 30.6 meters away at (29.5, 8.2). A vehicle with ID 50 is 33.2 meters away at (33.1, 3.4). A vehicle with ID 44 is 33.3 meters away at (32.8, -5.5). A vehicle with ID 64 is 36.3 meters away at (10.1, -34.8). A vehicle with ID 81 is 36.7 meters away at (-28.2, 23.5).

The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.2320496   0.68565184] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.1957797   0.64882636] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 1.2937727  -0.45444384] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0.0012187  0.91256243] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.4119254   0.01361767] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-14.688566     0.21448933] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 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 (9.0, 0.1) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A vehicle with ID 88 is 9.0 meters away at (4.4, -7.9). A pedestrian with ID 95 is 13.1 meters away at (10.2, 8.2). A vehicle with ID 50 is 14.3 meters away at (-13.8, 3.8). A pedestrian with ID 85 is 15.0 meters away at (-9.2, 11.9). A pedestrian with ID 86 is 15.4 meters away at (-8.9, 12.6). A vehicle with ID 44 is 17.5 meters away at (16.6, -5.6). A pedestrian with ID 74 is 31.6 meters away at (-30.3, 9.0). A unknown object with ID 48 is 32.9 meters away at (28.5, 16.5). A vehicle with ID 64 is 35.2 meters away at (-5.9, -34.7). A unknown object with ID 37 is 36.0 meters away at (32.3, 15.9).

The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.374146    0.14719339] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-15.512079     0.18839076] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.0308428  0.6935518] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.0631075  0.7432263] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 1.38339   -0.4392145] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 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 (9.8, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A pedestrian with ID 95 is 14.2 meters away at (-11.6, 8.2). A vehicle with ID 88 is 16.4 meters away at (-14.3, -8.0). A unknown object with ID 48 is 19.1 meters away at (9.7, 16.4). A unknown object with ID 37 is 20.8 meters away at (13.6, 15.8). A vehicle with ID 71 is 25.0 meters away at (11.1, -22.5). A vehicle with ID 24 is 25.7 meters away at (23.9, -9.7). A vehicle with ID 70 is 26.5 meters away at (14.1, -22.5). A unknown object with ID 38 is 29.2 meters away at (17.9, 23.0). A vehicle with ID 19 is 30.5 meters away at (29.0, -9.5). A vehicle with ID 72 is 32.0 meters away at (22.5, -22.8).

The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.480483    0.05742314] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 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 (1.1, 4.2) m/s. Its current heading (yaw) is 1.31

The most relevant actors are: A pedestrian with ID 2 is 9.1 meters away at (-9.1, 0.7). A vehicle with ID 4 is 9.9 meters away at (6.4, 7.6). A vehicle with ID 24 is 16.2 meters away at (-0.9, 16.2). A unknown object with ID 25 is 17.4 meters away at (9.3, -14.7). A vehicle with ID 27 is 24.6 meters away at (-24.6, -0.1). A vehicle with ID 26 is 26.8 meters away at (-22.7, -14.3). A vehicle with ID 29 is 32.2 meters away at (-29.9, -11.9). A vehicle with ID 28 is 33.4 meters away at (4.0, -33.2). A vehicle with ID 30 is 42.4 meters away at (17.1, 38.8). A unknown object with ID 11 is 46.0 meters away at (5.2, 45.7).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [1.5476929 2.249513 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 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, 4.4) m/s. Its current heading (yaw) is 1.09

The most relevant actors are: A vehicle with ID 4 is 3.4 meters away at (3.3, -0.8). A vehicle with ID 24 is 8.8 meters away at (-4.0, 7.8). A pedestrian with ID 2 is 9.9 meters away at (-9.8, -1.6). A vehicle with ID 12 is 26.4 meters away at (24.4, 10.0). A vehicle with ID 30 is 33.4 meters away at (14.0, 30.4). A vehicle with ID 26 is 34.4 meters away at (-25.7, -22.9). A vehicle with ID 29 is 38.8 meters away at (-33.0, -20.4). A vehicle with ID 32 is 40.0 meters away at (14.9, 37.1). A vehicle with ID 28 is 41.6 meters away at (1.0, -41.5). A unknown object with ID 20 is 54.0 meters away at (-8.8, -53.3).

The vehicle with ID 4 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 2 is traveling at a (x, y) velocity of [0.9411985 3.098155 ] m/s.The vehicle with ID 12 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 0.14768454 -0.6667904 ] m/s.The vehicle with ID 28 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 3.2) m/s. Its current heading (yaw) is 0.96

The most relevant actors are: A vehicle with ID 4 is 7.8 meters away at (-1.2, -7.7). A vehicle with ID 24 is 8.5 meters away at (-8.5, 0.9). A pedestrian with ID 2 is 12.6 meters away at (-12.4, -2.1). A vehicle with ID 12 is 20.1 meters away at (19.9, 2.9). A vehicle with ID 6 is 22.5 meters away at (22.4, 2.2). A vehicle with ID 18 is 24.8 meters away at (24.8, 1.7). A vehicle with ID 30 is 25.1 meters away at (9.5, 23.3). A vehicle with ID 19 is 27.3 meters away at (27.3, 0.6). A vehicle with ID 5 is 29.8 meters away at (29.8, -0.4). A vehicle with ID 32 is 31.1 meters away at (10.8, 29.2).

The vehicle with ID 4 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 2 is traveling at a (x, y) velocity of [0.9562055 3.184689 ] m/s.The vehicle with ID 12 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 vehicle with ID 18 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 19 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 32 is traveling at a (x, y) velocity of [ 0.19649358 -0.60776967] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.4) m/s. Its current heading (yaw) is 1.23

The most relevant actors are: A vehicle with ID 24 is 12.7 meters away at (-11.7, -5.0). A pedestrian with ID 2 is 13.6 meters away at (-13.5, -1.8). A vehicle with ID 4 is 14.4 meters away at (-4.5, -13.7). A vehicle with ID 12 is 16.9 meters away at (16.6, -3.2). A vehicle with ID 30 is 18.3 meters away at (6.4, 17.2). A vehicle with ID 6 is 19.6 meters away at (19.2, -3.8). A vehicle with ID 32 is 23.7 meters away at (7.9, 22.3). A vehicle with ID 5 is 27.3 meters away at (26.5, -6.5). A vehicle with ID 3 is 36.0 meters away at (-4.5, 35.8). A unknown object with ID 16 is 49.4 meters away at (-32.5, -37.3).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [1.0869002 3.0672843] m/s.The vehicle with ID 4 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 30 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 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -3.3) m/s. Its current heading (yaw) is -0.90

The most relevant actors are: A vehicle with ID 46 is 14.6 meters away at (14.6, -0.3). A unknown object with ID 49 is 30.1 meters away at (29.2, -7.4). A vehicle with ID 47 is 36.9 meters away at (32.3, 17.8). A vehicle with ID 48 is 42.7 meters away at (-26.5, 33.4). A vehicle with ID 39 is 44.5 meters away at (-25.4, -36.5). A unknown object with ID 26 is 48.6 meters away at (40.6, -26.7). A vehicle with ID 50 is 50.7 meters away at (-32.7, 38.8). A vehicle with ID 51 is 56.6 meters away at (-37.2, 42.7). A unknown object with ID 29 is 57.3 meters away at (50.5, -27.1). A unknown object with ID 21 is 57.5 meters away at (50.9, -26.7).

The vehicle with ID 46 is traveling at a (x, y) velocity of [5.4628854 2.1979618] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [5.8085103 7.216022 ] m/s.The vehicle with ID 48 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 [ 0.48324192 -0.50783694] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -4.6) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A unknown object with ID 49 is 27.9 meters away at (27.8, 1.3). A vehicle with ID 46 is 29.1 meters away at (24.5, 15.8). A vehicle with ID 48 is 50.2 meters away at (-27.9, 41.7). A unknown object with ID 29 is 52.6 meters away at (49.2, -18.5). A unknown object with ID 21 is 52.8 meters away at (49.5, -18.3). A unknown object with ID 19 is 53.0 meters away at (49.8, -18.0). A unknown object with ID 28 is 53.4 meters away at (50.4, -17.4). A unknown object with ID 55 is 57.6 meters away at (55.5, -15.4). A vehicle with ID 50 is 58.1 meters away at (-34.1, 47.1). A vehicle with ID 47 is 60.5 meters away at (43.9, 41.6).

The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [5.913805 5.465967] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 28 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [7.0178456 7.951284 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [27.830826   1.2692719], 27.85975456237793 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -4.9) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A unknown object with ID 36 is 31.9 meters away at (31.4, -5.1). A unknown object with ID 49 is 36.7 meters away at (35.0, 10.9). A vehicle with ID 10 is 49.0 meters away at (-30.1, -38.7). A vehicle with ID 7 is 56.7 meters away at (-35.2, -44.4). A vehicle with ID 46 is 57.7 meters away at (43.6, 37.8). A vehicle with ID 5 is 63.9 meters away at (-39.9, -49.9). A vehicle with ID 9 is 66.3 meters away at (-43.8, -49.7). A vehicle with ID 4 is 74.6 meters away at (-47.0, -57.9).

The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 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 46 is traveling at a (x, y) velocity of [6.1252995 6.6811686] m/s.The vehicle with ID 5 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-57.385643 -96.42449 ]
 [-55.958027 -97.313446]]

Instruction: Continue straight.

(The closest actor is a unknown object at [31.44571  -5.097664], 31.85622215270996 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, -5.9) m/s. Its current heading (yaw) is -2.30

The most relevant actors are: A vehicle with ID 10 is 33.9 meters away at (-19.9, -27.4). A vehicle with ID 7 is 41.5 meters away at (-25.0, -33.1). A vehicle with ID 5 is 49.2 meters away at (-30.1, -39.0). A unknown object with ID 49 is 50.3 meters away at (45.2, 22.1). A vehicle with ID 9 is 53.5 meters away at (-35.2, -40.2). A vehicle with ID 4 is 59.7 meters away at (-37.0, -46.8). A vehicle with ID 3 is 65.6 meters away at (-40.9, -51.3). A vehicle with ID 33 is 68.4 meters away at (-45.1, -51.4).

The vehicle with ID 10 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 5 is traveling at a (x, y) velocity of [-0.24494456 -0.4356949 ] m/s.The unknown object with ID 49 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 [-1.6677778 -2.124785 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.509695  -3.7324705] m/s.

There are active red lights at the following coordinates: [[-57.385643 -96.42449 ]
 [-55.958027 -97.313446]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -0.0) m/s. Its current heading (yaw) is -3.10

The most relevant actors are: A vehicle with ID 30 is 9.0 meters away at (-9.0, -0.4). A unknown object with ID 21 is 11.3 meters away at (2.9, 10.9). A unknown object with ID 25 is 12.7 meters away at (3.2, 12.3). A unknown object with ID 24 is 13.0 meters away at (1.2, 13.0). A unknown object with ID 27 is 13.6 meters away at (5.2, 12.6). A unknown object with ID 23 is 14.3 meters away at (0.2, 14.3). A unknown object with ID 33 is 14.3 meters away at (6.5, 12.8). A unknown object with ID 36 is 15.5 meters away at (8.3, 13.0). A vehicle with ID 39 is 15.8 meters away at (-15.8, -0.3). A unknown object with ID 26 is 16.2 meters away at (-0.8, 16.1).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.10

The most relevant actors are: A vehicle with ID 30 is 8.7 meters away at (-8.7, -0.4). A unknown object with ID 21 is 11.4 meters away at (3.2, 11.0). A unknown object with ID 25 is 12.8 meters away at (3.4, 12.3). A unknown object with ID 24 is 13.0 meters away at (1.6, 12.9). A unknown object with ID 27 is 13.7 meters away at (5.4, 12.6). A unknown object with ID 33 is 14.7 meters away at (7.1, 12.9). A vehicle with ID 39 is 15.5 meters away at (-15.5, -0.3). A unknown object with ID 36 is 15.8 meters away at (8.8, 13.1). A unknown object with ID 26 is 16.0 meters away at (-0.5, 16.0). A unknown object with ID 37 is 17.1 meters away at (10.7, 13.3).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.10

The most relevant actors are: A vehicle with ID 30 is 8.7 meters away at (-8.7, -0.4). A unknown object with ID 21 is 11.5 meters away at (3.3, 11.0). A unknown object with ID 25 is 12.8 meters away at (3.5, 12.3). A unknown object with ID 24 is 13.0 meters away at (1.7, 12.9). A unknown object with ID 27 is 13.7 meters away at (5.4, 12.6). A unknown object with ID 33 is 14.7 meters away at (7.1, 12.9). A vehicle with ID 39 is 15.5 meters away at (-15.5, -0.3). A unknown object with ID 36 is 15.8 meters away at (8.8, 13.1). A unknown object with ID 26 is 16.0 meters away at (-0.4, 16.0). A unknown object with ID 37 is 17.1 meters away at (10.7, 13.3).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.10

The most relevant actors are: A vehicle with ID 30 is 9.6 meters away at (-9.6, -0.4). A unknown object with ID 21 is 11.5 meters away at (3.3, 11.0). A unknown object with ID 25 is 12.8 meters away at (3.5, 12.3). A unknown object with ID 24 is 13.0 meters away at (1.6, 12.9). A unknown object with ID 27 is 13.7 meters away at (5.4, 12.6). A unknown object with ID 33 is 14.8 meters away at (7.2, 12.9). A unknown object with ID 36 is 15.7 meters away at (8.7, 13.1). A unknown object with ID 26 is 16.0 meters away at (-0.4, 16.0). A unknown object with ID 37 is 17.1 meters away at (10.8, 13.3). A vehicle with ID 39 is 18.2 meters away at (-18.2, -0.3).

The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.4160022  0.041277 ] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-2.8629868  -0.18512617] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.6) m/s. Its current heading (yaw) is -2.33

The most relevant actors are: A unknown object with ID 32 is 8.5 meters away at (8.5, 0.7). A unknown object with ID 24 is 8.7 meters away at (8.7, -0.9). A pedestrian with ID 38 is 9.4 meters away at (-1.6, 9.2). A pedestrian with ID 39 is 10.2 meters away at (-2.0, 10.0). A vehicle with ID 40 is 11.9 meters away at (5.4, 10.6). A vehicle with ID 41 is 18.6 meters away at (9.7, 15.9). A pedestrian with ID 42 is 20.0 meters away at (6.5, 18.9). A pedestrian with ID 43 is 21.7 meters away at (6.4, 20.7). A pedestrian with ID 44 is 24.3 meters away at (23.1, 7.8). A unknown object with ID 45 is 25.0 meters away at (20.3, 14.7).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.58052737 -0.6239722 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.6374348 -0.6515837] 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 pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.8015413 -0.3083717] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.70228934 -0.3789079 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.01172765 0.06759201] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [8.498828 0.743861], 8.531319618225098 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -2.5) m/s. Its current heading (yaw) is -2.44

The most relevant actors are: A pedestrian with ID 38 is 11.2 meters away at (0.7, 11.2). A pedestrian with ID 39 is 12.1 meters away at (0.2, 12.1). A unknown object with ID 24 is 12.9 meters away at (12.5, 3.1). A unknown object with ID 32 is 13.3 meters away at (12.4, 4.7). A vehicle with ID 40 is 17.2 meters away at (9.2, 14.5). A pedestrian with ID 42 is 23.4 meters away at (8.0, 22.0). A vehicle with ID 6 is 23.7 meters away at (-11.9, -20.5). A vehicle with ID 41 is 23.9 meters away at (13.5, 19.8). A vehicle with ID 48 is 25.0 meters away at (-24.6, 4.4). A vehicle with ID 46 is 25.5 meters away at (16.2, -19.8).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.8850428 -1.0214378] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.93875486 -0.9763941 ] 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 32 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 pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.919023 -0.467253] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.2225727 0.2503167] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -0.2) m/s. Its current heading (yaw) is -3.11

The most relevant actors are: A pedestrian with ID 38 is 15.1 meters away at (7.7, 13.0). A pedestrian with ID 39 is 15.8 meters away at (7.3, 14.0). A vehicle with ID 6 is 16.0 meters away at (-2.3, -15.9). A vehicle with ID 48 is 17.8 meters away at (-15.9, 7.9). A vehicle with ID 62 is 23.7 meters away at (-7.3, -22.6). A vehicle with ID 36 is 23.9 meters away at (-21.9, 9.5). A vehicle with ID 40 is 25.4 meters away at (17.9, 18.1). A vehicle with ID 46 is 29.7 meters away at (24.9, -16.2). A vehicle with ID 7 is 31.2 meters away at (-28.7, 12.2). A vehicle with ID 57 is 31.3 meters away at (-9.3, -29.8).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.7646469 -0.8442298] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.7029228 -0.7818446] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [1.1753552 1.7523278] m/s.The vehicle with ID 48 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 [0.6806199 0.8546136] m/s.The vehicle with ID 36 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 46 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 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 (-6.5, 2.1) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 48 is 6.9 meters away at (-3.8, 5.7). A vehicle with ID 36 is 12.0 meters away at (-9.5, 7.3). A vehicle with ID 6 is 17.0 meters away at (11.9, -12.2). A vehicle with ID 7 is 19.3 meters away at (-16.5, 10.0). A pedestrian with ID 38 is 20.1 meters away at (18.0, 8.8). A pedestrian with ID 39 is 20.3 meters away at (17.8, 9.8). A vehicle with ID 62 is 23.6 meters away at (6.7, -22.6). A vehicle with ID 2 is 25.4 meters away at (-22.5, 11.8). A vehicle with ID 59 is 30.5 meters away at (-8.0, -29.4). A vehicle with ID 1 is 31.4 meters away at (-28.2, 13.8).

The vehicle with ID 48 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 6 is traveling at a (x, y) velocity of [-0.42899716  3.932032  ] m/s.The vehicle with ID 7 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 [-0.92763335 -0.80326957] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.89258116 -0.80234283] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [1.2528605 1.5054958] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 (-2.2, -6.2) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A pedestrian with ID 6 is 23.0 meters away at (-12.2, -19.6). A vehicle with ID 21 is 25.1 meters away at (10.1, -22.9). A vehicle with ID 29 is 27.4 meters away at (-2.1, -27.3). A vehicle with ID 4 is 39.1 meters away at (20.9, 33.0). A pedestrian with ID 39 is 51.4 meters away at (-15.2, -49.1). A vehicle with ID 25 is 60.2 meters away at (-22.5, -55.8). A vehicle with ID 19 is 67.7 meters away at (-13.3, -66.4). A vehicle with ID 36 is 70.1 meters away at (21.0, 66.9). A pedestrian with ID 38 is 75.7 meters away at (20.4, 72.9).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.30901048 -0.99397355] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-4.7738037 -1.1087734] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.3220791  -0.46362534] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-10.655425    3.7552426] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [10.8463125 -3.6678758] m/s.The vehicle with ID 36 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 [-0.65067494 -1.2814882 ] m/s.

Instruction: Sharp right turn approaching