The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 1.3) m/s. Its current heading (yaw) is 0.36

The most relevant actors are: A vehicle with ID 65 is 7.0 meters away at (-2.4, -6.5). A vehicle with ID 62 is 13.2 meters away at (-12.7, -3.6). A vehicle with ID 16 is 14.0 meters away at (13.9, 2.0). A vehicle with ID 59 is 14.2 meters away at (-7.1, -12.3). A unknown object with ID 74 is 16.1 meters away at (-1.9, 16.0). A vehicle with ID 77 is 17.2 meters away at (-11.4, -12.8). A unknown object with ID 54 is 18.0 meters away at (-7.2, 16.5). A vehicle with ID 57 is 19.3 meters away at (-17.0, -9.1). A pedestrian with ID 12 is 20.0 meters away at (15.8, -12.2). A unknown object with ID 8 is 20.2 meters away at (20.2, 0.2).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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 unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [2.486693  3.0386803] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.0964199  0.7455609] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -4.1) m/s. Its current heading (yaw) is -2.25

The most relevant actors are: A vehicle with ID 29 is 13.0 meters away at (-10.5, -7.6). A vehicle with ID 33 is 15.8 meters away at (-4.0, -15.3). A vehicle with ID 30 is 18.2 meters away at (-13.9, -11.8). A pedestrian with ID 45 is 18.9 meters away at (-16.4, -9.3). A vehicle with ID 35 is 23.1 meters away at (-8.8, -21.4). A vehicle with ID 40 is 24.1 meters away at (-16.0, 17.9). A vehicle with ID 31 is 24.8 meters away at (-18.1, -16.9). A vehicle with ID 36 is 29.4 meters away at (-13.0, -26.3). A vehicle with ID 34 is 29.6 meters away at (-21.1, -20.8). A vehicle with ID 37 is 34.6 meters away at (-24.1, -24.8).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.7674955 1.193539 ] m/s.The vehicle with ID 35 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 [-5.4927535  3.8470166] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -3.8) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A vehicle with ID 29 is 4.3 meters away at (-4.3, 0.3). A vehicle with ID 33 is 7.8 meters away at (2.3, -7.4). A vehicle with ID 30 is 8.5 meters away at (-7.6, -3.8). A pedestrian with ID 45 is 8.6 meters away at (-8.5, 1.3). A vehicle with ID 35 is 13.8 meters away at (-2.5, -13.5). A vehicle with ID 31 is 14.8 meters away at (-11.8, -9.0). A vehicle with ID 34 is 19.6 meters away at (-14.8, -12.9). A vehicle with ID 36 is 19.6 meters away at (-6.7, -18.4). A vehicle with ID 37 is 24.6 meters away at (-17.8, -16.9). A vehicle with ID 38 is 25.1 meters away at (-10.2, -22.9).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.82124865 1.2555213 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 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, -2.6) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A vehicle with ID 30 is 3.6 meters away at (-2.3, 2.8). A vehicle with ID 31 is 6.8 meters away at (-6.4, -2.3). A vehicle with ID 29 is 6.9 meters away at (1.0, 6.8). A vehicle with ID 35 is 7.4 meters away at (2.9, -6.8). A vehicle with ID 33 is 7.6 meters away at (7.6, -0.8). A pedestrian with ID 45 is 10.9 meters away at (-1.7, 10.7). A vehicle with ID 34 is 11.2 meters away at (-9.4, -6.1). A vehicle with ID 36 is 11.8 meters away at (-1.3, -11.8). A vehicle with ID 37 is 16.1 meters away at (-12.4, -10.1). A vehicle with ID 38 is 16.9 meters away at (-4.7, -16.2).

The vehicle with ID 30 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.71171784 1.3131669 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 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 (-1.0, -1.2) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 31 is 3.7 meters away at (-3.4, 1.5). A vehicle with ID 30 is 6.5 meters away at (0.6, 6.5). A vehicle with ID 34 is 6.7 meters away at (-6.3, -2.3). A vehicle with ID 35 is 6.7 meters away at (6.0, -3.0). A vehicle with ID 36 is 8.2 meters away at (1.8, -8.0). A vehicle with ID 33 is 11.0 meters away at (10.6, 2.8). A vehicle with ID 37 is 11.3 meters away at (-9.3, -6.3). A vehicle with ID 29 is 11.4 meters away at (4.0, 10.6). A vehicle with ID 38 is 12.5 meters away at (-1.6, -12.4). A vehicle with ID 41 is 17.2 meters away at (-5.1, -16.4).

The vehicle with ID 31 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 38 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -0.7) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A vehicle with ID 43 is 6.7 meters away at (-6.6, -0.8). A vehicle with ID 5 is 8.9 meters away at (-8.4, 2.9). A vehicle with ID 55 is 10.6 meters away at (-8.4, 6.5). A vehicle with ID 49 is 13.5 meters away at (-13.4, 1.6). A vehicle with ID 62 is 15.1 meters away at (14.2, 5.2). A vehicle with ID 21 is 17.5 meters away at (3.5, -17.1). A vehicle with ID 54 is 19.2 meters away at (-18.9, 3.5). A vehicle with ID 70 is 20.4 meters away at (-16.5, 11.9). A vehicle with ID 6 is 20.9 meters away at (15.2, 14.3). A unknown object with ID 66 is 21.4 meters away at (16.4, -13.7).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 3.5268738 -1.2287327] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-9.309186   2.9325595] m/s.The vehicle with ID 49 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 [-2.2991197 -2.6199615] m/s.The vehicle with ID 21 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 70 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 unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.1) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A vehicle with ID 5 is 5.9 meters away at (-5.6, 1.9). A vehicle with ID 62 is 6.6 meters away at (6.0, 2.9). A vehicle with ID 43 is 7.8 meters away at (-7.8, -0.4). A vehicle with ID 49 is 14.8 meters away at (-14.7, 2.1). A vehicle with ID 73 is 16.9 meters away at (16.7, -2.7). A vehicle with ID 72 is 17.3 meters away at (-16.3, 5.7). A vehicle with ID 14 is 18.4 meters away at (3.1, -18.1). A vehicle with ID 57 is 19.4 meters away at (15.9, 11.1). A unknown object with ID 66 is 20.3 meters away at (15.3, -13.3). A vehicle with ID 6 is 20.4 meters away at (14.0, 14.8).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 0.44819036 -0.14375551] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-4.744918    0.25076237] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-3.0815964  1.6761156] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 4.417104  -1.5640756] m/s.The vehicle with ID 14 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 [-0.4339353 -0.9963014] m/s.The unknown object with ID 66 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -1.1) m/s. Its current heading (yaw) is -0.37

The most relevant actors are: A vehicle with ID 73 is 6.4 meters away at (6.2, 1.7). A vehicle with ID 5 is 8.6 meters away at (-8.1, 2.9). A vehicle with ID 43 is 10.6 meters away at (-10.5, 0.7). A vehicle with ID 62 is 10.8 meters away at (-8.5, 6.7). A vehicle with ID 72 is 15.1 meters away at (-14.2, 5.0). A vehicle with ID 57 is 17.0 meters away at (12.8, 11.3). A vehicle with ID 14 is 17.1 meters away at (0.4, -17.1). A unknown object with ID 66 is 17.5 meters away at (12.5, -12.2). A vehicle with ID 49 is 17.6 meters away at (-17.4, 3.1). A unknown object with ID 65 is 18.0 meters away at (10.4, -14.8).

The vehicle with ID 73 is traveling at a (x, y) velocity of [-4.636837   1.6820952] m/s.The vehicle with ID 5 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 62 is traveling at a (x, y) velocity of [-7.1281476  1.9309558] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 0.8645404  -0.30119863] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-0.2025351  -0.34449062] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -2.8) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A unknown object with ID 66 is 9.4 meters away at (4.1, -8.4). A vehicle with ID 78 is 10.0 meters away at (9.9, -1.1). A vehicle with ID 57 is 13.5 meters away at (3.7, 13.0). A vehicle with ID 42 is 14.1 meters away at (4.8, -13.3). A vehicle with ID 47 is 14.3 meters away at (14.3, -0.8). A vehicle with ID 5 is 14.8 meters away at (-13.7, 5.7). A vehicle with ID 14 is 15.5 meters away at (-7.9, -13.4). A vehicle with ID 73 is 15.6 meters away at (-12.8, 9.0). A vehicle with ID 43 is 19.5 meters away at (-19.0, 4.4). A vehicle with ID 50 is 19.6 meters away at (19.1, -4.5).

The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-0.80645716 -2.4250844 ] m/s.The vehicle with ID 42 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 5 is traveling at a (x, y) velocity of [ 2.1380513 -0.8439414] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-6.1003075  1.9075704] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 4.0865917 -8.440427 ], 9.37768840789795 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 8.8) m/s. Its current heading (yaw) is 1.08

The most relevant actors are: A vehicle with ID 11 is 19.8 meters away at (-10.4, -16.8).

The vehicle with ID 11 is traveling at a (x, y) velocity of [ -1.8734655 -12.214725 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 6.2) m/s. Its current heading (yaw) is 0.76

The most relevant actors are: A vehicle with ID 11 is 61.0 meters away at (-20.8, -57.3).

The vehicle with ID 11 is traveling at a (x, y) velocity of [  3.0175881 -12.401764 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 4.2) m/s. Its current heading (yaw) is 0.62

The most relevant actors are: A unknown object with ID 7 is 47.2 meters away at (33.1, 33.7). A vehicle with ID 8 is 49.3 meters away at (49.0, 5.7).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-9.646336  13.3657675] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [33.054237 33.671886], 47.184513092041016 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 2.1) m/s. Its current heading (yaw) is 0.58

The most relevant actors are: A vehicle with ID 5 is 33.0 meters away at (21.0, 25.5). A vehicle with ID 4 is 57.6 meters away at (52.8, -23.1).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.467626 12.943706] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-9.469501 12.822927] m/s.

There are active red lights at the following coordinates: [[52.269325 62.42134 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.3) m/s. Its current heading (yaw) is -2.26

The most relevant actors are: A vehicle with ID 31 is 9.1 meters away at (9.1, -0.1). A vehicle with ID 43 is 20.1 meters away at (-20.0, 1.8). A vehicle with ID 41 is 21.1 meters away at (18.4, 10.3). A vehicle with ID 35 is 21.3 meters away at (-21.2, -2.1). A vehicle with ID 46 is 24.7 meters away at (6.0, 24.0). A vehicle with ID 34 is 26.4 meters away at (10.9, -24.1). A vehicle with ID 53 is 27.4 meters away at (22.7, 15.3). A vehicle with ID 61 is 34.1 meters away at (27.3, 20.4). A vehicle with ID 47 is 34.6 meters away at (-28.0, -20.4). A vehicle with ID 48 is 35.6 meters away at (-30.2, -18.9).

The vehicle with ID 31 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 35 is traveling at a (x, y) velocity of [-1.7773976  1.5056974] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 31 is 10.1 meters away at (10.1, 1.0). A vehicle with ID 43 is 19.3 meters away at (-19.0, 2.9). A vehicle with ID 41 is 22.5 meters away at (19.4, 11.5). A vehicle with ID 35 is 22.9 meters away at (-22.8, 1.3). A vehicle with ID 34 is 25.9 meters away at (11.9, -23.0). A vehicle with ID 46 is 26.0 meters away at (7.0, 25.0). A vehicle with ID 32 is 27.5 meters away at (8.6, -26.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 47 is 33.2 meters away at (-27.0, -19.3). A vehicle with ID 48 is 34.2 meters away at (-29.2, -17.7).

The vehicle with ID 31 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 35 is traveling at a (x, y) velocity of [-0.7394657   0.60155886] m/s.The vehicle with ID 34 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 32 is traveling at a (x, y) velocity of [-5.166721  4.450114] m/s.The vehicle with ID 53 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 31 is 10.2 meters away at (10.1, 1.1). A vehicle with ID 32 is 17.7 meters away at (-1.0, -17.7). A vehicle with ID 43 is 19.3 meters away at (-19.0, 3.1). A vehicle with ID 41 is 22.6 meters away at (19.4, 11.5). A vehicle with ID 35 is 23.1 meters away at (-23.1, 1.6). A vehicle with ID 34 is 25.9 meters away at (12.0, -22.9). A vehicle with ID 46 is 26.1 meters away at (7.1, 25.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 47 is 33.0 meters away at (-26.9, -19.2). A vehicle with ID 48 is 34.1 meters away at (-29.1, -17.7).

The vehicle with ID 31 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 [-4.5217896  3.9519565] 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 31 is 10.2 meters away at (10.1, 1.1). A vehicle with ID 32 is 14.0 meters away at (-9.0, -10.8). A vehicle with ID 43 is 19.3 meters away at (-19.0, 3.1). A vehicle with ID 41 is 22.6 meters away at (19.4, 11.5). A vehicle with ID 19 is 24.4 meters away at (-23.4, -7.0). A vehicle with ID 34 is 25.9 meters away at (12.0, -22.9). A vehicle with ID 46 is 26.1 meters away at (7.1, 25.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 47 is 33.1 meters away at (-27.0, -19.2). A vehicle with ID 48 is 34.0 meters away at (-29.1, -17.6).

The vehicle with ID 31 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 [-3.4682257  3.0362797] 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 19 is traveling at a (x, y) velocity of [ 9.675347 -8.315132] m/s.The vehicle with ID 34 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 53 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 5.5) m/s. Its current heading (yaw) is 1.33

The most relevant actors are: A vehicle with ID 54 is 12.1 meters away at (10.1, -6.6). A vehicle with ID 58 is 15.3 meters away at (13.6, -7.1). A vehicle with ID 60 is 18.1 meters away at (-13.2, -12.5). A vehicle with ID 62 is 45.6 meters away at (-23.6, -39.0). A vehicle with ID 24 is 48.8 meters away at (-24.1, -42.5). A vehicle with ID 65 is 52.1 meters away at (-13.9, -50.3). A vehicle with ID 38 is 55.7 meters away at (-36.0, -42.4). A pedestrian with ID 43 is 59.7 meters away at (-34.0, -49.1). A pedestrian with ID 66 is 62.9 meters away at (-37.9, -50.2). A vehicle with ID 3 is 70.0 meters away at (25.3, 65.3).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-7.8866515  2.728208 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 3.0031126  -0.13225575] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 9.630784  -3.2040496] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 8.47344   -3.0349708] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.02491497 -0.00315498] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 1.1751255 -0.5147941] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 5.6) m/s. Its current heading (yaw) is 1.29

The most relevant actors are: A vehicle with ID 54 is 19.1 meters away at (6.9, -17.8). A vehicle with ID 58 is 21.0 meters away at (10.4, -18.3). A vehicle with ID 60 is 28.9 meters away at (-16.4, -23.8). A vehicle with ID 24 is 54.1 meters away at (-19.8, -50.4). A vehicle with ID 3 is 58.4 meters away at (21.9, 54.2). A vehicle with ID 38 is 63.6 meters away at (-21.5, -59.8).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [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 24 is traveling at a (x, y) velocity of [4.337648 4.338459] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 9.22826   -2.9514186] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.9) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A unknown object with ID 37 is 17.4 meters away at (9.8, 14.3). A vehicle with ID 31 is 29.4 meters away at (18.9, -22.5). A vehicle with ID 60 is 39.6 meters away at (-19.8, -34.3). A vehicle with ID 32 is 39.8 meters away at (37.3, 13.9). A vehicle with ID 4 is 44.6 meters away at (-6.1, 44.2). A vehicle with ID 3 is 47.5 meters away at (18.4, 43.8). A vehicle with ID 24 is 50.3 meters away at (-15.8, -47.8). A pedestrian with ID 36 is 71.7 meters away at (15.2, 70.0). A pedestrian with ID 19 is 71.8 meters away at (14.6, 70.3). A vehicle with ID 21 is 76.8 meters away at (18.8, 74.4).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 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 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 24 is traveling at a (x, y) velocity of [3.1813238 8.445725 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.01499776 -0.00168159] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.03730986 -0.01358491] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 9.814835 14.338486], 17.37593650817871 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 3.8) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A unknown object with ID 30 is 18.4 meters away at (2.8, -18.2). A vehicle with ID 1 is 24.7 meters away at (-10.6, 22.3). A vehicle with ID 2 is 26.9 meters away at (-14.1, 22.9). A vehicle with ID 31 is 35.2 meters away at (15.8, -31.5). A vehicle with ID 4 is 36.4 meters away at (-9.2, 35.2). A vehicle with ID 3 is 38.1 meters away at (15.3, 34.8). A vehicle with ID 24 is 40.3 meters away at (-12.7, -38.2). A vehicle with ID 60 is 48.9 meters away at (-22.8, -43.2). A pedestrian with ID 19 is 63.2 meters away at (13.2, 61.8). A vehicle with ID 21 is 67.3 meters away at (15.7, 65.5).

The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 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 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 24 is traveling at a (x, y) velocity of [3.0648289 9.445406 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.3273259  -0.02018755] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  2.8018227 -18.178198 ], 18.392854690551758 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -3.8) m/s. Its current heading (yaw) is -2.16

The most relevant actors are: A pedestrian with ID 42 is 5.7 meters away at (5.0, 2.9). A cyclist with ID 43 is 17.5 meters away at (-17.4, -1.8). A unknown object with ID 12 is 20.9 meters away at (-15.4, -14.0). A unknown object with ID 45 is 53.2 meters away at (8.6, 52.5). A vehicle with ID 47 is 70.0 meters away at (18.3, 67.5). A pedestrian with ID 33 is 71.4 meters away at (18.8, 68.9). A pedestrian with ID 4 is 74.7 meters away at (21.4, 71.6).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.6597392   0.22104724] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-8.782417  -1.2651529] 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 45 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 pedestrian with ID 33 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 [0.2872831  0.96820694] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [4.974386  2.8613644], 5.73863410949707 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, -2.3) m/s. Its current heading (yaw) is -2.68

The most relevant actors are: A pedestrian with ID 42 is 14.6 meters away at (9.9, 10.7). A cyclist with ID 43 is 32.3 meters away at (-31.1, 8.6). A pedestrian with ID 33 is 79.8 meters away at (25.5, 75.6).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.0749972  0.6585407] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-11.126496   4.384974] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.15120183 -0.29394013] 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, 0.6) m/s. Its current heading (yaw) is 3.03

The most relevant actors are: A pedestrian with ID 42 is 23.0 meters away at (18.5, 13.7). A unknown object with ID 26 is 49.8 meters away at (34.7, 35.8). A cyclist with ID 43 is 51.6 meters away at (-46.7, 22.1). A unknown object with ID 41 is 56.6 meters away at (24.5, 51.0). A unknown object with ID 40 is 60.0 meters away at (24.6, 54.7). A unknown object with ID 14 is 60.6 meters away at (24.7, 55.4). A unknown object with ID 27 is 61.9 meters away at (24.9, 56.6). A unknown object with ID 39 is 62.7 meters away at (25.1, 57.4).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.1105273   0.49680784] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-14.301015    6.0250726] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 2.4) m/s. Its current heading (yaw) is 2.76

The most relevant actors are: A pedestrian with ID 42 is 29.8 meters away at (27.5, 11.3). A pedestrian with ID 29 is 30.0 meters away at (0.4, 30.0). A cyclist with ID 20 is 51.3 meters away at (-39.4, 32.8). A unknown object with ID 41 is 59.5 meters away at (35.8, 47.5). A unknown object with ID 17 is 60.3 meters away at (35.8, 48.5). A unknown object with ID 30 is 60.9 meters away at (35.8, 49.4). A unknown object with ID 40 is 62.1 meters away at (35.9, 50.7). A unknown object with ID 14 is 62.7 meters away at (36.0, 51.3). A unknown object with ID 27 is 63.4 meters away at (36.1, 52.1). A unknown object with ID 25 is 64.3 meters away at (36.3, 53.0).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.9679185   0.42425317] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.8420516 -0.8201964] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ 9.151034  -4.0809774] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 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 27 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.

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 0.56

The most relevant actors are: A vehicle with ID 5 is 9.5 meters away at (8.0, 5.1). A vehicle with ID 7 is 10.8 meters away at (-8.9, -6.2). A vehicle with ID 57 is 12.4 meters away at (-1.5, -12.3). A vehicle with ID 61 is 13.5 meters away at (9.1, 10.0). A pedestrian with ID 44 is 14.3 meters away at (-4.4, -13.6). A pedestrian with ID 60 is 14.4 meters away at (8.2, -11.9). A pedestrian with ID 62 is 15.2 meters away at (8.1, -12.9). A vehicle with ID 53 is 15.8 meters away at (15.3, 4.3). A pedestrian with ID 64 is 16.0 meters away at (7.9, -13.9). A pedestrian with ID 58 is 16.1 meters away at (15.8, -3.2).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [1.4614056 0.9263048] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.23839635  0.44216526] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.40382886 -0.02052667] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.09542776 -0.02996896] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.22051284 0.0992478 ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [2.0043852 1.855214 ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.4) m/s. Its current heading (yaw) is 0.59

The most relevant actors are: A vehicle with ID 5 is 8.9 meters away at (7.5, 4.8). A vehicle with ID 7 is 11.3 meters away at (-9.3, -6.5). A vehicle with ID 57 is 12.9 meters away at (-2.2, -12.7). A pedestrian with ID 44 is 14.2 meters away at (-5.3, -13.1). A pedestrian with ID 60 is 15.1 meters away at (8.1, -12.7). A vehicle with ID 53 is 15.1 meters away at (14.6, 3.9). A pedestrian with ID 62 is 15.3 meters away at (7.4, -13.3). A pedestrian with ID 64 is 16.1 meters away at (7.3, -14.3). A vehicle with ID 55 is 16.2 meters away at (13.8, 8.6). A pedestrian with ID 63 is 17.0 meters away at (10.2, -13.6).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0.35367814 0.22717965] 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.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.1185373  -0.09165385] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.15601291 -0.05161404] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.01898018 -0.00490878] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.0058893  0.00922038] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.01463539 0.01480565] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 0.8) m/s. Its current heading (yaw) is 0.52

The most relevant actors are: A vehicle with ID 5 is 8.2 meters away at (6.9, 4.4). A pedestrian with ID 42 is 9.0 meters away at (9.0, 0.8). A pedestrian with ID 48 is 9.9 meters away at (9.8, 1.2). A vehicle with ID 7 is 12.0 meters away at (-9.8, -6.9). A vehicle with ID 53 is 13.2 meters away at (12.9, 2.8). A vehicle with ID 57 is 14.2 meters away at (-3.8, -13.7). A pedestrian with ID 60 is 15.2 meters away at (6.5, -13.7). A pedestrian with ID 44 is 15.2 meters away at (-6.5, -13.8). A pedestrian with ID 62 is 15.4 meters away at (5.7, -14.3). A pedestrian with ID 64 is 16.3 meters away at (5.6, -15.3).

The vehicle with ID 5 is traveling at a (x, y) velocity of [1.1702178  0.72766936] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.00553394  0.00063485] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.03616173 0.00994181] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.0151155 0.6399445] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.08921745 -0.02308365] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.7271843  0.47435957] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.11409372 -0.01982779] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.06110374 -0.00660047] m/s.

There are active red lights at the following coordinates: [[63.10212  44.294247]
 [61.84647  45.62278 ]]

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 1.4) m/s. Its current heading (yaw) is 0.57

The most relevant actors are: A pedestrian with ID 42 is 6.0 meters away at (5.9, -1.2). A vehicle with ID 51 is 6.8 meters away at (6.3, -2.6). A vehicle with ID 5 is 10.0 meters away at (8.5, 5.4). A vehicle with ID 53 is 10.0 meters away at (10.0, 1.0). A vehicle with ID 7 is 12.8 meters away at (-10.5, -7.4). A pedestrian with ID 60 is 16.0 meters away at (3.6, -15.6). A pedestrian with ID 62 is 16.4 meters away at (2.9, -16.1). A pedestrian with ID 44 is 16.5 meters away at (-7.9, -14.5). A vehicle with ID 57 is 17.0 meters away at (-6.8, -15.6). A pedestrian with ID 63 is 17.3 meters away at (5.4, -16.5).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.04106284 -0.03536629] m/s.The vehicle with ID 51 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 [3.3892803 2.1146348] m/s.The vehicle with ID 53 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 [1.398456   0.86819655] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.04145161 -0.00640836] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.01324812 -0.00477399] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.5535665 0.5310431] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.02585623 -0.02456685] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -8.7) m/s. Its current heading (yaw) is -2.03

The most relevant actors are: A vehicle with ID 44 is 20.9 meters away at (-14.7, 14.9). A vehicle with ID 38 is 21.3 meters away at (-15.3, -14.8). A vehicle with ID 43 is 22.7 meters away at (20.2, -10.3). A vehicle with ID 37 is 31.7 meters away at (9.6, 30.2). A vehicle with ID 8 is 31.9 meters away at (13.2, 29.1). A unknown object with ID 40 is 41.9 meters away at (41.9, 0.8). A vehicle with ID 45 is 42.3 meters away at (34.3, -24.8). A vehicle with ID 39 is 42.5 meters away at (-23.9, -35.1). A unknown object with ID 41 is 42.6 meters away at (42.6, -1.1). A vehicle with ID 34 is 42.8 meters away at (-36.5, -22.4).

The vehicle with ID 44 is traveling at a (x, y) velocity of [ 5.4869847 12.072432 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ -9.468796 -16.286049] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-4.680493   2.7860856] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -7.2365203 -17.298922 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.7618604 -9.052189 ] m/s.The unknown object 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 [-3.6091957  6.716923 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -9.1248665 -13.928585 ] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 7.851862 12.694415] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -8.4) m/s. Its current heading (yaw) is -2.09

The most relevant actors are: A vehicle with ID 37 is 14.3 meters away at (3.2, 13.9). A vehicle with ID 25 is 16.5 meters away at (-14.1, 8.6). A vehicle with ID 43 is 22.1 meters away at (20.1, 9.2). A vehicle with ID 34 is 24.2 meters away at (-12.5, 20.7). A vehicle with ID 8 is 31.6 meters away at (14.4, 28.2). A vehicle with ID 45 is 37.0 meters away at (36.6, 5.2). A vehicle with ID 38 is 40.0 meters away at (-26.9, -29.5). A unknown object with ID 14 is 41.8 meters away at (39.5, -13.9). A vehicle with ID 36 is 43.9 meters away at (16.4, 40.7). A vehicle with ID 33 is 47.8 meters away at (-40.0, -26.2).

The vehicle with ID 37 is traveling at a (x, y) velocity of [ -8.331266 -15.979689] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 7.045954 12.523804] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-4.238403  -0.1395017] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 6.757736 13.134649] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.31317  -9.091037] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-3.235086  6.124796] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-11.137537 -15.760925] m/s.The unknown object with ID 14 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 [ -7.280342 -16.930647] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 8.545924 12.104194] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -7.8) m/s. Its current heading (yaw) is -2.16

The most relevant actors are: A vehicle with ID 37 is 3.9 meters away at (-3.7, 1.2). A vehicle with ID 33 is 20.3 meters away at (-13.4, 15.1). A vehicle with ID 36 is 27.7 meters away at (11.0, 25.5). A vehicle with ID 8 is 30.9 meters away at (15.4, 26.8). A vehicle with ID 43 is 34.3 meters away at (23.7, 24.8). A unknown object with ID 14 is 49.5 meters away at (49.5, 2.6). A vehicle with ID 25 is 51.6 meters away at (9.0, 50.8). A vehicle with ID 45 is 52.5 meters away at (40.7, 33.1). A vehicle with ID 38 is 59.1 meters away at (-39.7, -43.8). A vehicle with ID 19 is 63.7 meters away at (45.1, -45.0).

The vehicle with ID 37 is traveling at a (x, y) velocity of [ -8.834667 -13.780748] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 7.8991675 12.768253 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ -8.541907 -15.26358 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.9521074 -8.931456 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.996851   -0.59068334] 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 [ 5.7299585 13.120803 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-2.6479516  4.7187867] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-11.733206 -15.625662] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[2.6050205 2.7843525]
 [3.9731927 6.3750978]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -6.3) m/s. Its current heading (yaw) is -2.19

The most relevant actors are: A vehicle with ID 36 is 10.2 meters away at (2.3, 9.9). A vehicle with ID 37 is 16.8 meters away at (-12.3, -11.4). A vehicle with ID 8 is 27.8 meters away at (15.1, 23.3). A vehicle with ID 43 is 49.4 meters away at (31.4, 38.2). A cyclist with ID 26 is 52.0 meters away at (-45.9, -24.5). A vehicle with ID 33 is 56.7 meters away at (11.2, 55.6). A vehicle with ID 21 is 57.6 meters away at (-45.9, -34.9). A unknown object with ID 14 is 61.3 meters away at (59.0, 16.7). A vehicle with ID 19 is 63.0 meters away at (54.9, -30.9).

The vehicle with ID 36 is traveling at a (x, y) velocity of [ -9.612476 -14.100158] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -9.774095  -13.4016285] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.0333533 -8.487893 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [10.045503 13.978321] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 6.890015 13.615991] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [10.395778 13.94005 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.9) m/s. Its current heading (yaw) is 2.39

The most relevant actors are: A unknown object with ID 105 is 13.4 meters away at (-12.3, -5.2). A vehicle with ID 86 is 13.6 meters away at (-11.3, -7.6). A vehicle with ID 54 is 20.8 meters away at (-15.8, 13.5). A unknown object with ID 110 is 21.6 meters away at (-21.5, 2.5). A unknown object with ID 112 is 21.8 meters away at (-21.8, 1.7). A unknown object with ID 121 is 22.6 meters away at (-22.4, 3.2). A unknown object with ID 56 is 23.1 meters away at (-22.9, 3.4). A unknown object with ID 108 is 28.5 meters away at (-28.0, 5.3). A vehicle with ID 46 is 29.1 meters away at (21.4, -19.7). A vehicle with ID 124 is 35.0 meters away at (35.0, 1.0).

The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-0.03039016 -0.4842795 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-7.023363   5.7883916] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 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 [-4.8339505  4.301245 ] m/s.The vehicle with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-12.292244  -5.211485], 13.351360321044922 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 5.3) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A pedestrian with ID 80 is 10.7 meters away at (8.8, 6.1). A pedestrian with ID 122 is 11.6 meters away at (9.3, 6.9). A unknown object with ID 110 is 12.8 meters away at (-10.2, -7.7). A unknown object with ID 103 is 13.0 meters away at (-10.9, -7.1). A unknown object with ID 67 is 13.1 meters away at (-10.3, -8.1). A unknown object with ID 112 is 13.2 meters away at (-10.5, -7.9). A unknown object with ID 121 is 13.4 meters away at (-11.4, -7.0). A unknown object with ID 56 is 13.6 meters away at (-11.8, -6.7). A unknown object with ID 105 is 15.5 meters away at (-1.1, -15.5). A vehicle with ID 72 is 16.1 meters away at (2.5, 15.9).

The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.00440712 -0.0029924 ] m/s.The pedestrian with ID 122 is traveling at a (x, y) velocity of [0.02001581 0.00943697] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [8.777897 6.088127], 10.682544708251953 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.3) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A pedestrian with ID 55 is 14.4 meters away at (-6.5, 12.8). A pedestrian with ID 51 is 15.6 meters away at (-9.6, 12.2). A unknown object with ID 108 is 15.9 meters away at (-4.2, -15.4). A vehicle with ID 72 is 16.2 meters away at (15.3, 5.2). A unknown object with ID 56 is 17.4 meters away at (0.9, -17.4). A unknown object with ID 113 is 17.6 meters away at (1.4, -17.5). A unknown object with ID 121 is 17.8 meters away at (1.0, -17.8). A unknown object with ID 103 is 17.9 meters away at (1.7, -17.8). A unknown object with ID 110 is 18.3 meters away at (2.2, -18.1). A unknown object with ID 67 is 18.6 meters away at (2.5, -18.4).

The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.75624025  0.64891577] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.01193304 -0.0056398 ] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 5.7) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A pedestrian with ID 51 is 4.1 meters away at (3.9, 1.2). A vehicle with ID 48 is 5.3 meters away at (-4.8, -2.1). A pedestrian with ID 55 is 6.2 meters away at (5.7, 2.4). A vehicle with ID 47 is 8.6 meters away at (-8.5, -1.7). A pedestrian with ID 60 is 9.9 meters away at (-2.6, 9.6). A vehicle with ID 74 is 13.6 meters away at (-13.5, -1.5). A vehicle with ID 39 is 19.7 meters away at (-19.0, 5.0). A vehicle with ID 36 is 24.2 meters away at (-22.5, 9.1). A vehicle with ID 46 is 27.3 meters away at (20.8, -17.6). A unknown object with ID 108 is 28.0 meters away at (9.4, -26.3).

The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.01957769  0.00099108] m/s.The vehicle with ID 48 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 [-0.61045796  0.03431123] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.7161715 -1.6792847] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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 [-6.7844815  5.6481624] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [3.879631  1.2439384], 4.074177265167236 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.5) m/s. Its current heading (yaw) is 0.46

The most relevant actors are: A vehicle with ID 3 is 11.0 meters away at (-10.9, -0.8). A unknown object with ID 47 is 20.1 meters away at (13.8, 14.7). A unknown object with ID 48 is 20.4 meters away at (14.2, 14.7). A vehicle with ID 50 is 20.4 meters away at (20.1, 3.9). A unknown object with ID 49 is 20.6 meters away at (14.5, 14.7). A vehicle with ID 51 is 23.0 meters away at (23.0, 1.3). A vehicle with ID 52 is 26.1 meters away at (22.6, 13.1). A vehicle with ID 17 is 30.5 meters away at (24.5, -18.1). A pedestrian with ID 53 is 36.6 meters away at (33.4, -14.8). A unknown object with ID 55 is 44.1 meters away at (40.8, -17.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.7056694 -0.5581209] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 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 unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 0.05207096 -0.5034696 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.0469544  0.7870995] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.00113858 0.02445179] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 3.5) m/s. Its current heading (yaw) is 1.08

The most relevant actors are: A vehicle with ID 3 is 11.3 meters away at (-9.6, -6.0). A unknown object with ID 47 is 12.9 meters away at (8.4, 9.8). A unknown object with ID 48 is 13.2 meters away at (8.9, 9.7). A unknown object with ID 49 is 13.4 meters away at (9.3, 9.7). A vehicle with ID 50 is 14.9 meters away at (14.8, -1.0). A vehicle with ID 51 is 18.1 meters away at (17.7, -3.7). A vehicle with ID 52 is 18.7 meters away at (17.3, 7.1). A pedestrian with ID 37 is 24.8 meters away at (21.3, 12.8). A vehicle with ID 17 is 26.5 meters away at (15.4, -21.5). A unknown object with ID 55 is 41.6 meters away at (35.4, -21.9).

The vehicle with ID 3 is traveling at a (x, y) velocity of [3.5145695 0.5960255] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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 [0.0127424  0.00683726] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.2073321  1.1175727] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 4.6) m/s. Its current heading (yaw) is 1.49

The most relevant actors are: A unknown object with ID 47 is 6.6 meters away at (6.4, 1.7). A unknown object with ID 49 is 7.3 meters away at (7.1, 1.5). A vehicle with ID 3 is 12.2 meters away at (-4.6, -11.3). A vehicle with ID 52 is 15.2 meters away at (15.2, -1.0). A vehicle with ID 50 is 15.6 meters away at (12.7, -9.2). A pedestrian with ID 37 is 19.7 meters away at (19.1, 4.7). A vehicle with ID 17 is 26.2 meters away at (7.6, -25.1). A cyclist with ID 25 is 28.0 meters away at (15.6, 23.2). A pedestrian with ID 5 is 40.2 meters away at (7.4, 39.5). A pedestrian with ID 4 is 40.7 meters away at (7.6, 39.9).

The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [3.3016908 2.5835667] m/s.The vehicle with ID 52 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 pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00851602  0.00544778] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.984974  3.784489] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-1.0103316 -7.903981 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.7528788  0.4054424] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.7659302  0.3682609] m/s.

There are active red lights at the following coordinates: [[24.71868  -6.084814]
 [21.6207   -5.178779]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [6.401553  1.6875534], 6.620250701904297 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 5.1) m/s. Its current heading (yaw) is 1.56

The most relevant actors are: A unknown object with ID 47 is 9.9 meters away at (5.9, -8.0). A unknown object with ID 49 is 10.5 meters away at (6.6, -8.2). A cyclist with ID 25 is 13.5 meters away at (13.4, -0.7). A vehicle with ID 3 is 13.6 meters away at (-0.6, -13.6). A vehicle with ID 52 is 18.2 meters away at (14.7, -10.7). A pedestrian with ID 37 is 19.3 meters away at (18.6, -5.0). A vehicle with ID 50 is 22.6 meters away at (12.2, -19.0). A vehicle with ID 17 is 24.8 meters away at (3.1, -24.6). A vehicle with ID 41 is 26.4 meters away at (15.0, -21.6). A pedestrian with ID 5 is 30.6 meters away at (6.8, 29.8).

The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-0.8292257 -6.2594113] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0.9777417 4.39433  ] m/s.The vehicle with ID 52 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 [-0.00363148  0.01968303] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.75709414  6.115304  ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.00590156 0.00977626] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 5.88291  -8.013054], 9.940707206726074 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 4.1) m/s. Its current heading (yaw) is 1.14

The most relevant actors are: A unknown object with ID 12 is 69.2 meters away at (17.6, -66.9).

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

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [ 17.592236 -66.92358 ], 69.19719696044922 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 2.9) m/s. Its current heading (yaw) is 0.50

The most relevant actors are: A unknown object with ID 5 is 34.5 meters away at (-22.4, -26.3).

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

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-22.42278 -26.28147], 34.547019958496094 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, 1.4) m/s. Its current heading (yaw) is 0.22

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, 1.1) m/s. Its current heading (yaw) is 0.18

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 8.5) m/s. Its current heading (yaw) is 1.86

The most relevant actors are: A vehicle with ID 20 is 11.7 meters away at (-3.3, -11.2). A unknown object with ID 19 is 12.1 meters away at (-9.3, 7.6). A unknown object with ID 13 is 12.7 meters away at (-9.9, 7.9). A unknown object with ID 16 is 13.3 meters away at (-10.5, 8.0). A unknown object with ID 24 is 23.0 meters away at (-13.9, 18.3). A vehicle with ID 21 is 27.1 meters away at (1.1, -27.1). A vehicle with ID 25 is 61.5 meters away at (16.2, -59.3).

The vehicle with ID 20 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 7.8) m/s. Its current heading (yaw) is 1.94

The most relevant actors are: A unknown object with ID 24 is 8.5 meters away at (-8.2, 2.3). A unknown object with ID 13 is 9.1 meters away at (-4.1, -8.1). A unknown object with ID 19 is 9.1 meters away at (-3.7, -8.3). A unknown object with ID 18 is 9.2 meters away at (-4.4, -8.1). A unknown object with ID 16 is 9.3 meters away at (-4.9, -7.9). A vehicle with ID 20 is 27.3 meters away at (2.5, -27.2). A vehicle with ID 21 is 43.7 meters away at (6.9, -43.1). A vehicle with ID 25 is 78.4 meters away at (21.7, -75.3).

The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-8.192057  2.328228], 8.516480445861816 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 7.2) m/s. Its current heading (yaw) is 2.07

The most relevant actors are: A unknown object with ID 24 is 12.9 meters away at (-1.6, -12.8). A unknown object with ID 15 is 18.1 meters away at (-3.0, 17.8). A unknown object with ID 18 is 23.2 meters away at (1.7, -23.1). A unknown object with ID 13 is 23.3 meters away at (2.2, -23.2). A unknown object with ID 16 is 23.4 meters away at (2.5, -23.3). A unknown object with ID 19 is 23.7 meters away at (2.9, -23.5). A vehicle with ID 20 is 43.3 meters away at (9.0, -42.4). A vehicle with ID 21 is 60.0 meters away at (13.5, -58.4). A vehicle with ID 5 is 69.0 meters away at (15.8, -67.2).

The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 8.0) m/s. Its current heading (yaw) is 1.99

The most relevant actors are: A unknown object with ID 18 is 38.8 meters away at (10.3, -37.4). A unknown object with ID 13 is 38.9 meters away at (10.5, -37.4). A unknown object with ID 16 is 39.1 meters away at (11.0, -37.5). A unknown object with ID 19 is 39.5 meters away at (11.6, -37.8). A vehicle with ID 20 is 59.5 meters away at (18.0, -56.7). A vehicle with ID 1 is 67.5 meters away at (-30.8, 60.0). A vehicle with ID 21 is 76.0 meters away at (21.7, -72.8).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 10.289605 -37.39305 ], 38.782936096191406 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -2.2) m/s. Its current heading (yaw) is -0.78

The most relevant actors are: A vehicle with ID 15 is 18.3 meters away at (-13.2, 12.7). A vehicle with ID 19 is 20.7 meters away at (15.0, -14.3). A vehicle with ID 18 is 21.7 meters away at (-17.7, 12.5). A vehicle with ID 9 is 25.5 meters away at (24.6, 6.8). A pedestrian with ID 24 is 27.5 meters away at (21.5, -17.2). A unknown object with ID 17 is 30.2 meters away at (-14.8, 26.4). A vehicle with ID 25 is 34.6 meters away at (-20.3, 28.0). A unknown object with ID 29 is 36.7 meters away at (34.4, -12.7). A vehicle with ID 30 is 40.5 meters away at (-24.9, 31.9). A vehicle with ID 33 is 47.3 meters away at (-30.2, 36.4).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 3.6246898 -3.2665598] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [2.8854105 3.3825989] m/s.The vehicle with ID 18 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 [-7.926428 -9.092986] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.5022872 0.7053201] m/s.The unknown object with ID 17 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 29 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.7) m/s. Its current heading (yaw) is -0.85

The most relevant actors are: A vehicle with ID 9 is 10.7 meters away at (6.1, -8.8). A vehicle with ID 15 is 14.1 meters away at (-10.0, 9.9). A vehicle with ID 19 is 18.9 meters away at (18.5, -4.1). A pedestrian with ID 24 is 23.6 meters away at (20.0, -12.6). A vehicle with ID 18 is 25.6 meters away at (-20.5, 15.3). A unknown object with ID 29 is 33.1 meters away at (31.6, -9.9). A unknown object with ID 17 is 34.1 meters away at (-17.6, 29.2). A vehicle with ID 25 is 38.5 meters away at (-23.1, 30.8). A vehicle with ID 30 is 44.4 meters away at (-27.7, 34.7). A vehicle with ID 3 is 44.9 meters away at (-24.0, -37.9).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.6801786 -9.506118 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.456041  -2.2678626] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.5846174 4.138266 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [1.0735196 0.8362576] m/s.The vehicle with ID 18 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 17 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.89

The most relevant actors are: A vehicle with ID 15 is 9.0 meters away at (-6.3, 6.5). A pedestrian with ID 24 is 24.0 meters away at (21.6, -10.5). A vehicle with ID 18 is 26.1 meters away at (-20.9, 15.6). A vehicle with ID 19 is 27.0 meters away at (26.4, 5.7). A vehicle with ID 23 is 27.1 meters away at (-2.1, -27.0). A vehicle with ID 9 is 28.8 meters away at (-9.0, -27.3). A unknown object with ID 29 is 32.7 meters away at (31.2, -9.7). A unknown object with ID 17 is 34.5 meters away at (-17.8, 29.5). A vehicle with ID 25 is 39.0 meters away at (-23.5, 31.2). A vehicle with ID 30 is 44.9 meters away at (-28.0, 35.0).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 1.4452745 -1.3648211] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.896202  0.9560735] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [4.1815877 4.8449955] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [7.5448174 8.678943 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.1177197 -9.164986 ] 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 17 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.89

The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-5.0, 5.3). A vehicle with ID 23 is 16.0 meters away at (12.3, -10.3). A pedestrian with ID 24 is 24.9 meters away at (23.4, -8.5). A vehicle with ID 18 is 26.1 meters away at (-20.9, 15.7). A unknown object with ID 29 is 32.7 meters away at (31.2, -9.6). A vehicle with ID 19 is 38.5 meters away at (35.1, 15.9). A vehicle with ID 25 is 39.0 meters away at (-23.5, 31.2). A vehicle with ID 16 is 40.1 meters away at (-11.6, -38.4). A vehicle with ID 30 is 44.8 meters away at (-28.0, 35.0). A vehicle with ID 9 is 49.9 meters away at (-22.6, -44.5).

The vehicle with ID 15 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 [6.6569242 7.7957535] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.96676767 0.85641664] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [4.809637  5.6190834] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [7.171964 8.319557] m/s.The vehicle with ID 30 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 [-6.10861  -7.578073] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 2.3) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 81 is 4.9 meters away at (-1.4, 4.7). A vehicle with ID 71 is 5.1 meters away at (4.1, 3.1). A vehicle with ID 69 is 9.1 meters away at (-6.8, 6.0). A vehicle with ID 82 is 10.8 meters away at (-4.5, -9.8). A vehicle with ID 79 is 11.8 meters away at (7.8, -8.9). A vehicle with ID 80 is 12.0 meters away at (2.0, -11.9). A pedestrian with ID 83 is 12.6 meters away at (-7.0, 10.5). A pedestrian with ID 37 is 12.8 meters away at (-8.0, 9.9). A unknown object with ID 85 is 14.0 meters away at (-11.6, -7.7). A unknown object with ID 86 is 14.3 meters away at (-12.9, -6.2).

The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [ 1.1518228  -0.18378808] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-1.2402225   0.43397567] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.2216015   0.45786363] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 2.2) m/s. Its current heading (yaw) is 2.84

The most relevant actors are: A vehicle with ID 43 is 3.8 meters away at (1.2, 3.7). A vehicle with ID 41 is 6.9 meters away at (-4.5, 5.2). A vehicle with ID 69 is 7.5 meters away at (7.2, 1.9). A pedestrian with ID 37 is 7.6 meters away at (3.8, 6.6). A pedestrian with ID 83 is 8.3 meters away at (4.7, 6.8). A unknown object with ID 77 is 9.6 meters away at (-1.9, -9.4). A unknown object with ID 86 is 10.4 meters away at (1.3, -10.3). A vehicle with ID 99 is 10.6 meters away at (6.5, -8.3). A unknown object with ID 85 is 12.1 meters away at (2.5, -11.8). A vehicle with ID 81 is 12.6 meters away at (12.6, 0.6).

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 69 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 [-1.1695546   0.41668174] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-1.2132591   0.40645176] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [ 3.4109073 -0.8903646] m/s.The unknown object with ID 85 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 2.2) m/s. Its current heading (yaw) is 2.84

The most relevant actors are: A vehicle with ID 42 is 4.2 meters away at (3.0, 3.0). A vehicle with ID 41 is 9.3 meters away at (9.3, 1.1). A vehicle with ID 74 is 10.4 meters away at (-0.5, -10.4). A vehicle with ID 72 is 11.8 meters away at (-8.5, -8.2). A unknown object with ID 62 is 12.7 meters away at (3.8, -12.1). A unknown object with ID 63 is 12.9 meters away at (5.7, -11.5). A vehicle with ID 43 is 15.2 meters away at (15.2, -0.5). A pedestrian with ID 96 is 15.3 meters away at (4.1, -14.8). A unknown object with ID 57 is 15.3 meters away at (8.8, -12.5). A pedestrian with ID 37 is 15.8 meters away at (15.4, 3.3).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [0.03036734 0.06168066] m/s.The unknown object with ID 57 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 [-1.1491014  0.4488998] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 1.8) m/s. Its current heading (yaw) is 2.89

The most relevant actors are: A pedestrian with ID 20 is 9.8 meters away at (-3.0, 9.3). A vehicle with ID 73 is 9.8 meters away at (-4.6, -8.7). A pedestrian with ID 17 is 10.0 meters away at (-4.1, 9.1). A pedestrian with ID 47 is 10.7 meters away at (-3.7, 10.0). A unknown object with ID 45 is 12.8 meters away at (2.3, -12.6). A vehicle with ID 72 is 13.0 meters away at (5.3, -11.9). A vehicle with ID 75 is 13.0 meters away at (-11.3, -6.5). A vehicle with ID 35 is 14.4 meters away at (11.2, -9.0). A vehicle with ID 70 is 15.3 meters away at (-13.0, 8.2). A vehicle with ID 32 is 16.9 meters away at (-16.9, -0.3).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00053096  0.02666947] m/s.The vehicle with ID 73 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 [0.00110543 0.01458896] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.01037394 0.02378936] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 8.027786  -2.2371993] m/s.The vehicle with ID 70 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 [ 9.509097  -2.7570689] m/s.

There are active red lights at the following coordinates: [[16.856956 -6.9805  ]]

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [-3.011238  9.277714], 9.754154205322266 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -3.2) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A pedestrian with ID 7 is 7.7 meters away at (0.4, -7.7). A pedestrian with ID 4 is 9.1 meters away at (-2.3, 8.8). A pedestrian with ID 27 is 13.0 meters away at (-13.0, -0.7). A pedestrian with ID 29 is 41.0 meters away at (40.6, 5.7). A unknown object with ID 32 is 47.5 meters away at (41.3, 23.4). A pedestrian with ID 33 is 53.6 meters away at (-23.5, 48.1). A cyclist with ID 20 is 53.6 meters away at (-23.5, 48.2). A unknown object with ID 31 is 53.8 meters away at (-50.7, 18.1). A pedestrian with ID 34 is 54.2 meters away at (-24.7, 48.2). A vehicle with ID 1 is 68.4 meters away at (54.8, -41.0).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.06689365 -0.0422409 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.2874659  -0.78289294] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.00054107 -0.0001107 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.42565623 0.08974003] m/s.The unknown object with ID 32 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 [1.8620701 2.0753417] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [2.0493615 2.089202 ] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [1.6997149 2.1792362] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [ 0.3753128 -7.701732 ], 7.71087121963501 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -3.1) m/s. Its current heading (yaw) is -0.52

The most relevant actors are: A pedestrian with ID 4 is 17.6 meters away at (-11.1, 13.7). A pedestrian with ID 29 is 32.6 meters away at (30.3, 11.9). A unknown object with ID 12 is 41.4 meters away at (2.3, 41.3). A unknown object with ID 32 is 42.2 meters away at (29.9, 29.8). A vehicle with ID 1 is 55.5 meters away at (43.3, -34.7). A unknown object with ID 31 is 66.6 meters away at (-61.9, 24.6). A pedestrian with ID 33 is 67.3 meters away at (-31.4, 59.5). A cyclist with ID 20 is 67.6 meters away at (-31.2, 60.0). A pedestrian with ID 34 is 67.9 meters away at (-32.8, 59.5). A vehicle with ID 10 is 76.5 meters away at (76.4, 3.0).

The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.3148408 -0.7279132] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.634002   -0.01570476] 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 [1.4372475 2.594776 ] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [1.6072812 3.0758543] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.7504948 2.6535459] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -2.1) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A pedestrian with ID 4 is 24.8 meters away at (-17.5, 17.6). A pedestrian with ID 29 is 28.3 meters away at (22.6, 17.0). A unknown object with ID 17 is 38.4 meters away at (26.8, 27.5). A unknown object with ID 32 is 40.7 meters away at (20.9, 34.9). A vehicle with ID 1 is 45.1 meters away at (34.2, -29.4). A unknown object with ID 21 is 60.4 meters away at (-43.0, 42.4). A vehicle with ID 10 is 67.9 meters away at (67.3, 8.3). A vehicle with ID 5 is 69.8 meters away at (69.5, 5.9).

The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.47769   -0.6760199] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.86261064 -0.20413043] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -0.8) m/s. Its current heading (yaw) is -0.56

The most relevant actors are: A pedestrian with ID 29 is 27.4 meters away at (19.1, 19.6). A pedestrian with ID 4 is 27.5 meters away at (-19.7, 19.2). A vehicle with ID 2 is 34.4 meters away at (3.2, -34.3). A unknown object with ID 17 is 37.4 meters away at (22.0, 30.3). A vehicle with ID 1 is 39.5 meters away at (29.2, -26.6). A unknown object with ID 32 is 41.1 meters away at (16.0, 37.8). A vehicle with ID 3 is 41.5 meters away at (12.3, -39.7). A vehicle with ID 10 is 63.4 meters away at (62.4, 11.2). A vehicle with ID 5 is 65.3 meters away at (64.7, 8.9). A unknown object with ID 21 is 65.8 meters away at (-47.8, 45.3).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.51946044 -0.44559902] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.2841992  -0.67130876] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 3 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 5 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -1.5) m/s. Its current heading (yaw) is -2.29

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -1.3) m/s. Its current heading (yaw) is -2.38

The most relevant actors are: A vehicle with ID 3 is 75.4 meters away at (-8.8, -74.9).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0.01344773 1.1045232 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.5) m/s. Its current heading (yaw) is -2.43

The most relevant actors are: A vehicle with ID 4 is 69.6 meters away at (-6.8, -69.3).

The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.05278894  2.3041043 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.2) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A unknown object with ID 2 is 30.7 meters away at (15.2, -26.7). A pedestrian with ID 5 is 61.0 meters away at (3.3, -60.9). A vehicle with ID 4 is 63.3 meters away at (-5.3, -63.1).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.01168492 -0.00150718] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.03138726  2.356087  ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 15.236959 -26.660372], 30.707334518432617 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 5.0) m/s. Its current heading (yaw) is 1.56

The most relevant actors are: A unknown object with ID 110 is 13.0 meters away at (-10.0, 8.3). A vehicle with ID 109 is 14.0 meters away at (-12.6, -5.9). A vehicle with ID 108 is 15.4 meters away at (-12.3, -9.3). A vehicle with ID 111 is 17.7 meters away at (-17.3, 4.1). A vehicle with ID 112 is 20.3 meters away at (-19.9, 3.7). A vehicle with ID 119 is 21.2 meters away at (18.4, 10.7). A vehicle with ID 115 is 22.9 meters away at (-22.6, 3.7). A vehicle with ID 122 is 24.8 meters away at (22.5, 10.4). A pedestrian with ID 41 is 27.2 meters away at (6.9, 26.3). A vehicle with ID 113 is 27.6 meters away at (-26.1, -8.9).

The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 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 [1.4273766  0.02313673] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-9.971325  8.300842], 12.974255561828613 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 1.7) m/s. Its current heading (yaw) is 1.43

The most relevant actors are: A unknown object with ID 110 is 10.6 meters away at (-10.5, 1.6). A vehicle with ID 111 is 17.9 meters away at (-17.7, -2.7). A vehicle with ID 109 is 18.3 meters away at (-13.1, -12.7). A vehicle with ID 119 is 18.3 meters away at (17.9, 4.0). A vehicle with ID 108 is 20.5 meters away at (-12.7, -16.1). A vehicle with ID 112 is 20.6 meters away at (-20.4, -2.7). A pedestrian with ID 41 is 21.7 meters away at (9.5, 19.5). A pedestrian with ID 106 is 22.3 meters away at (9.4, 20.3). A vehicle with ID 122 is 22.5 meters away at (22.2, 3.7). A vehicle with ID 115 is 23.2 meters away at (-23.0, -3.0).

The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [1.6474048 0.0328714] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [1.6301265  0.05745342] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-10.509928    1.5669003], 10.62608814239502 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.41

The most relevant actors are: A unknown object with ID 110 is 10.7 meters away at (-10.7, 0.3). A vehicle with ID 119 is 17.8 meters away at (17.7, 2.6). A vehicle with ID 111 is 18.4 meters away at (-18.0, -4.0). A vehicle with ID 109 is 19.4 meters away at (-13.4, -14.0). A vehicle with ID 112 is 21.1 meters away at (-20.7, -4.1). A vehicle with ID 108 is 21.7 meters away at (-12.9, -17.4). A cyclist with ID 77 is 21.7 meters away at (21.7, 0.6). A pedestrian with ID 41 is 22.0 meters away at (12.4, 18.1). A pedestrian with ID 106 is 22.6 meters away at (12.4, 18.9). A vehicle with ID 115 is 23.6 meters away at (-23.2, -4.1).

The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 77 is traveling at a (x, y) velocity of [6.6696124e-08 5.1521035e-08] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.431318   -0.20327257] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [ 1.4625846  -0.20450899] m/s.The vehicle with ID 115 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 [-10.709064     0.30008888], 10.71326732635498 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.2) m/s. Its current heading (yaw) is 1.20

The most relevant actors are: A unknown object with ID 110 is 11.3 meters away at (-11.2, -1.8). A vehicle with ID 119 is 17.2 meters away at (17.2, 0.7). A vehicle with ID 111 is 19.4 meters away at (-18.4, -6.1). A vehicle with ID 109 is 21.2 meters away at (-13.8, -16.1). A vehicle with ID 112 is 21.9 meters away at (-21.1, -6.0). A pedestrian with ID 41 is 22.0 meters away at (14.9, 16.1). A pedestrian with ID 106 is 22.6 meters away at (14.9, 17.0). A vehicle with ID 108 is 23.6 meters away at (-13.3, -19.5). A vehicle with ID 115 is 24.4 meters away at (-23.7, -5.9). A pedestrian with ID 75 is 25.5 meters away at (15.0, 20.6).

The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.537825   -0.01370674] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [1.5397905  0.05269894] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.00187958  0.00520884] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-11.16703    -1.8030281], 11.311652183532715 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.5) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 47 is 3.6 meters away at (-2.5, 2.6). A vehicle with ID 48 is 6.2 meters away at (-6.0, -1.8). A vehicle with ID 46 is 11.7 meters away at (4.3, 10.9). A vehicle with ID 17 is 17.1 meters away at (7.8, 15.2). A vehicle with ID 53 is 21.9 meters away at (-21.6, -3.4). A vehicle with ID 55 is 22.2 meters away at (1.5, -22.1). A vehicle with ID 54 is 23.7 meters away at (-20.3, -12.3). A vehicle with ID 68 is 27.3 meters away at (-7.5, -26.3). A vehicle with ID 56 is 27.8 meters away at (-25.1, -11.9). A vehicle with ID 59 is 29.9 meters away at (-3.2, -29.8).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 2.2016926 -1.7725241] m/s.The vehicle with ID 68 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 4.2) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 46 is 3.6 meters away at (-2.8, 2.3). A vehicle with ID 17 is 6.5 meters away at (0.7, 6.4). A vehicle with ID 47 is 11.4 meters away at (-9.6, -6.2). A vehicle with ID 48 is 16.8 meters away at (-13.1, -10.6). A vehicle with ID 49 is 22.5 meters away at (5.5, 21.8). A pedestrian with ID 15 is 24.0 meters away at (9.9, 21.9). A pedestrian with ID 16 is 24.2 meters away at (9.3, 22.4). A pedestrian with ID 2 is 25.1 meters away at (9.9, 23.0). A vehicle with ID 7 is 26.7 meters away at (-0.4, 26.7). A vehicle with ID 9 is 28.4 meters away at (-2.3, 28.3).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.93093216 1.049685  ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.90917826 1.0398208 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.8803931 1.0421779] m/s.The vehicle with ID 7 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 17 is 6.2 meters away at (-5.9, -1.8). A vehicle with ID 46 is 11.2 meters away at (-9.5, -6.1). A vehicle with ID 49 is 13.6 meters away at (-1.2, 13.5). A pedestrian with ID 15 is 16.6 meters away at (5.1, 15.8). A pedestrian with ID 16 is 16.9 meters away at (4.4, 16.3). A pedestrian with ID 2 is 17.6 meters away at (5.1, 16.9). A vehicle with ID 7 is 19.7 meters away at (-7.1, 18.3). A vehicle with ID 47 is 21.9 meters away at (-16.3, -14.6). A vehicle with ID 9 is 22.0 meters away at (-9.1, 20.1). A vehicle with ID 10 is 24.8 meters away at (-11.2, 22.1).

The vehicle with ID 17 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [1.0488818 1.0148557] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [1.0112945 1.0262809] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.9856311  0.98728687] m/s.The vehicle with ID 7 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


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

The most relevant actors are: A vehicle with ID 49 is 9.4 meters away at (-7.5, 5.7). A pedestrian with ID 15 is 10.3 meters away at (0.6, 10.3). A pedestrian with ID 16 is 10.8 meters away at (0.0, 10.8). A pedestrian with ID 2 is 11.4 meters away at (0.6, 11.4). A unknown object with ID 22 is 12.9 meters away at (0.8, 12.8). A unknown object with ID 38 is 13.1 meters away at (1.0, 13.0). A vehicle with ID 17 is 15.4 meters away at (-12.1, -9.5). A vehicle with ID 7 is 17.1 meters away at (-13.3, 10.6). A vehicle with ID 51 is 17.2 meters away at (-1.9, 17.0). A vehicle with ID 52 is 19.2 meters away at (-4.1, 18.7).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.8616579 1.170123 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.8977143 1.1381873] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.8797501 1.1194788] 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.