The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -1.4) m/s. Its current heading (yaw) is -0.31

The most relevant actors are: A vehicle with ID 66 is 13.3 meters away at (-9.3, 9.5). A vehicle with ID 72 is 13.7 meters away at (-5.8, -12.4). A pedestrian with ID 28 is 15.5 meters away at (6.9, -13.9). A vehicle with ID 69 is 15.5 meters away at (-11.8, -10.2). A vehicle with ID 79 is 18.3 meters away at (8.6, -16.2). A vehicle with ID 68 is 18.5 meters away at (-14.5, 11.4). A vehicle with ID 77 is 19.4 meters away at (5.1, 18.7). A vehicle with ID 62 is 19.4 meters away at (17.3, -8.9). A vehicle with ID 75 is 24.1 meters away at (-23.6, 5.0). A vehicle with ID 3 is 24.2 meters away at (-3.3, -24.0).

The vehicle with ID 66 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 pedestrian with ID 28 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 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 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 75 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 [2.5913732 6.370211 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -1.9) m/s. Its current heading (yaw) is -0.31

The most relevant actors are: A vehicle with ID 62 is 8.8 meters away at (6.8, -5.5). A pedestrian with ID 33 is 8.8 meters away at (-4.8, -7.4). A pedestrian with ID 28 is 11.0 meters away at (-3.6, -10.5). A vehicle with ID 79 is 12.9 meters away at (-2.0, -12.8). A vehicle with ID 3 is 13.6 meters away at (-9.3, -9.9). A vehicle with ID 63 is 13.8 meters away at (11.7, -7.2). A vehicle with ID 64 is 18.0 meters away at (18.0, -0.1). A vehicle with ID 72 is 18.6 meters away at (-16.3, -9.0). A vehicle with ID 61 is 19.7 meters away at (17.5, -9.1). A vehicle with ID 65 is 22.7 meters away at (22.7, -1.7).

The vehicle with ID 62 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 [0.00932144 0.0080169 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.0200504  0.00444473] m/s.The vehicle with ID 79 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 [1.552942  3.4674582] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -4.0) m/s. Its current heading (yaw) is -1.51

The most relevant actors are: A vehicle with ID 64 is 8.1 meters away at (-2.2, 7.8). A pedestrian with ID 66 is 9.3 meters away at (8.7, -3.3). A vehicle with ID 50 is 11.8 meters away at (-11.7, -1.6). A pedestrian with ID 68 is 12.6 meters away at (-4.3, -11.9). A vehicle with ID 65 is 15.8 meters away at (-11.7, -10.6). A vehicle with ID 67 is 19.7 meters away at (-10.3, -16.8). A vehicle with ID 70 is 21.9 meters away at (-1.7, -21.9). A cyclist with ID 28 is 23.9 meters away at (-19.5, 13.8). A vehicle with ID 69 is 26.4 meters away at (4.9, 25.9). A vehicle with ID 35 is 28.0 meters away at (-26.5, 8.9).

The vehicle with ID 64 is traveling at a (x, y) velocity of [-0.9802421 -2.7082744] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.41375348 -0.96633124] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.930587 -5.8677  ] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.38047078 -1.3314794 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-1.6581461 -6.0686336] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.9845308 -7.767121 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [ 3.32376  10.105128] m/s.The vehicle with ID 69 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 [ 3.7968318 10.854248 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -3.8) m/s. Its current heading (yaw) is -1.22

The most relevant actors are: A pedestrian with ID 66 is 8.5 meters away at (8.3, 2.0). A pedestrian with ID 68 is 9.5 meters away at (-6.6, -6.9). A vehicle with ID 64 is 11.1 meters away at (-6.0, 9.4). A vehicle with ID 70 is 14.9 meters away at (-3.3, -14.5). A vehicle with ID 50 is 19.2 meters away at (-17.5, -8.0). A vehicle with ID 65 is 23.5 meters away at (-16.2, -16.9). A vehicle with ID 75 is 28.0 meters away at (-26.2, 10.0). A vehicle with ID 79 is 30.1 meters away at (-30.0, -2.4). A vehicle with ID 67 is 31.2 meters away at (-15.6, -27.0). A vehicle with ID 69 is 32.4 meters away at (2.9, 32.2).

The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.65687245 -1.0300276 ] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.4148626 -1.1920954] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-1.347979  -3.6769938] m/s.The vehicle with ID 70 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 [-2.088077 -7.891581] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-1.4429827 -8.365887 ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [2.6360278 8.337704 ] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [2.0425138 7.305782 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.8466659 -9.834271 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.45032954 -1.1645346 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [8.265038 2.01995 ], 8.508293151855469 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -4.2) m/s. Its current heading (yaw) is -0.78

The most relevant actors are: A pedestrian with ID 66 is 9.0 meters away at (3.8, 8.1). A vehicle with ID 70 is 10.5 meters away at (-8.6, -6.1). A pedestrian with ID 68 is 12.7 meters away at (-12.7, -0.8). A vehicle with ID 64 is 17.0 meters away at (-14.4, 9.0). A vehicle with ID 27 is 26.3 meters away at (-13.7, 22.4). A vehicle with ID 50 is 32.2 meters away at (-27.0, -17.5). A vehicle with ID 77 is 34.9 meters away at (-34.2, -7.1). A vehicle with ID 19 is 35.3 meters away at (-33.7, 10.7). A vehicle with ID 69 is 36.5 meters away at (-4.2, 36.3). A vehicle with ID 79 is 37.3 meters away at (-30.6, 21.4).

The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.709769  -1.1912771] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.30813664 -1.247853  ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-1.7027915 -5.0900226] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ -5.409688 -14.250751] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ -1.8307004 -10.063535 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0.5821402 1.1759319] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [2.3864825 8.034563 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.2119638 -3.0530612] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [2.8799005 8.60257  ] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [3.838419 8.097891], 8.96154499053955 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -4.2) m/s. Its current heading (yaw) is -0.56

The most relevant actors are: A vehicle with ID 70 is 20.1 meters away at (-19.9, 2.3). A pedestrian with ID 68 is 25.1 meters away at (-24.5, 5.2). A vehicle with ID 64 is 30.0 meters away at (-29.4, 5.8). A vehicle with ID 69 is 41.9 meters away at (-18.4, 37.7). A vehicle with ID 77 is 44.1 meters away at (-43.9, 4.1). A vehicle with ID 78 is 45.9 meters away at (-45.1, -8.3). A vehicle with ID 80 is 48.9 meters away at (-48.5, -6.5). A vehicle with ID 50 is 51.8 meters away at (-41.5, -31.0). A vehicle with ID 81 is 53.0 meters away at (-51.9, 10.8). A vehicle with ID 19 is 53.7 meters away at (-38.1, 37.9).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.18182725 -1.2589941 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-1.7470948 -6.8456516] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.7030191 -4.5195913] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0.7019717 1.0446036] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0.15813644 1.0248333 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ -1.1746461 -11.70991  ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [1.9530468 6.808047 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 4.3497005 10.344486 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.9) m/s. Its current heading (yaw) is 1.61

The most relevant actors are: A vehicle with ID 25 is 34.2 meters away at (5.2, -33.8). A pedestrian with ID 20 is 37.8 meters away at (-29.4, 23.8). A vehicle with ID 26 is 40.3 meters away at (5.6, -39.9). A pedestrian with ID 24 is 42.9 meters away at (-21.8, 37.0). A pedestrian with ID 22 is 47.5 meters away at (-6.8, 47.0). A pedestrian with ID 23 is 48.0 meters away at (-7.7, 47.4). A pedestrian with ID 27 is 49.4 meters away at (-30.6, 38.7).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [1.2761912  0.03903297] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.2117027   0.31968954] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.02545732 -1.1599504 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.07564101 -1.226646  ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.3187869   0.22600046] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A unknown object with ID 6 is 29.6 meters away at (15.5, 25.2). A vehicle with ID 25 is 34.7 meters away at (5.2, -34.3). A pedestrian with ID 20 is 37.3 meters away at (-27.5, 25.2). A cyclist with ID 5 is 38.5 meters away at (-28.4, 26.0). A vehicle with ID 26 is 40.8 meters away at (5.5, -40.4). A pedestrian with ID 24 is 44.0 meters away at (-23.9, 37.0). A pedestrian with ID 22 is 44.8 meters away at (-6.9, 44.2). A pedestrian with ID 23 is 45.4 meters away at (-7.7, 44.7). A pedestrian with ID 27 is 51.1 meters away at (-33.2, 38.9).

The unknown object with ID 6 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 pedestrian with ID 20 is traveling at a (x, y) velocity of [0.50872433 0.7529024 ] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [0.717002   0.27716908] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0220037   0.20960216] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.10726079 -1.2623616 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.19144776 -1.2316095 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.5335003   0.06419119] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [15.487429 25.184925], 29.565874099731445 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.3) m/s. Its current heading (yaw) is 1.58

The most relevant actors are: A vehicle with ID 25 is 34.9 meters away at (5.2, -34.5). A pedestrian with ID 20 is 37.1 meters away at (-26.1, 26.3). A pedestrian with ID 13 is 38.5 meters away at (-26.5, 27.9). A vehicle with ID 26 is 40.9 meters away at (5.5, -40.5). A pedestrian with ID 22 is 42.3 meters away at (-7.6, 41.6). A pedestrian with ID 23 is 43.0 meters away at (-8.2, 42.2). A pedestrian with ID 24 is 45.4 meters away at (-25.9, 37.3). A pedestrian with ID 27 is 52.7 meters away at (-35.6, 38.9). A unknown object with ID 8 is 67.7 meters away at (65.6, 16.8). A vehicle with ID 15 is 69.3 meters away at (0.6, 69.3).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.50078815 0.8364154 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.70336837 0.71638083] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.39545497 -1.2943249 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.46445042 -1.2447456 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0257493   0.24814549] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.3240079   0.05702225] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.38313335 -9.97237   ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.7) m/s. Its current heading (yaw) is 1.62

The most relevant actors are: A unknown object with ID 4 is 28.4 meters away at (15.6, 23.7). A vehicle with ID 25 is 36.0 meters away at (5.2, -35.6). A pedestrian with ID 20 is 36.8 meters away at (-24.3, 27.6). A pedestrian with ID 13 is 37.7 meters away at (-24.3, 28.8). A pedestrian with ID 22 is 39.4 meters away at (-8.6, 38.4). A vehicle with ID 26 is 42.1 meters away at (5.5, -41.7). A pedestrian with ID 24 is 46.0 meters away at (-28.0, 36.4). A vehicle with ID 15 is 49.6 meters away at (1.3, 49.6). A pedestrian with ID 27 is 54.0 meters away at (-38.1, 38.3). A pedestrian with ID 1 is 58.8 meters away at (15.2, 56.8).

The unknown object with ID 4 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 pedestrian with ID 20 is traveling at a (x, y) velocity of [1.0961543  0.94987124] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.0150172 0.9090749] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.5273259 -1.0418992] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0239441   0.28797832] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.37565726 -8.493651  ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.090572    0.27964157] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.33032563 -1.1573368 ] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [15.562896 23.740246], 28.386669158935547 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.5, 0.0) m/s. Its current heading (yaw) is 0.00

The most relevant actors are: A vehicle with ID 94 is 14.9 meters away at (11.3, -9.7). A vehicle with ID 100 is 19.5 meters away at (16.6, -10.3). A vehicle with ID 105 is 21.8 meters away at (19.4, -9.9). A vehicle with ID 95 is 22.3 meters away at (5.7, -21.5). A vehicle with ID 92 is 22.4 meters away at (0.5, -22.4). A vehicle with ID 90 is 22.6 meters away at (-2.4, -22.5). A vehicle with ID 93 is 22.9 meters away at (3.2, -22.6). A vehicle with ID 87 is 23.0 meters away at (-5.2, -22.4). A vehicle with ID 86 is 23.5 meters away at (-7.9, -22.1). A vehicle with ID 98 is 23.5 meters away at (8.5, -21.9).

The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 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 (11.1, 0.0) m/s. Its current heading (yaw) is 0.00

The most relevant actors are: A vehicle with ID 78 is 9.3 meters away at (8.3, 4.4). A vehicle with ID 105 is 10.0 meters away at (-2.3, -9.8). A vehicle with ID 100 is 11.4 meters away at (-5.0, -10.2). A vehicle with ID 111 is 11.5 meters away at (6.0, -9.8). A vehicle with ID 94 is 14.2 meters away at (-10.4, -9.7). A vehicle with ID 109 is 22.5 meters away at (-2.2, -22.3). A vehicle with ID 108 is 23.0 meters away at (-5.2, -22.4). A vehicle with ID 114 is 23.1 meters away at (5.4, -22.4). A vehicle with ID 110 is 23.2 meters away at (0.4, -23.2). A vehicle with ID 112 is 23.2 meters away at (2.7, -23.1).

The vehicle with ID 78 is traveling at a (x, y) velocity of [-9.661834    0.24075402] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 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 94 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 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 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 (11.0, 0.0) m/s. Its current heading (yaw) is 0.00

The most relevant actors are: A vehicle with ID 111 is 18.8 meters away at (-16.0, -9.8). A vehicle with ID 116 is 26.2 meters away at (-13.4, -22.6). A vehicle with ID 105 is 26.3 meters away at (-24.4, -9.8). A vehicle with ID 114 is 27.9 meters away at (-16.6, -22.4). A pedestrian with ID 74 is 28.9 meters away at (-2.5, -28.8). A vehicle with ID 70 is 28.9 meters away at (17.9, -22.8). A vehicle with ID 100 is 29.0 meters away at (-27.2, -10.2). A pedestrian with ID 80 is 29.7 meters away at (16.5, -24.7). A vehicle with ID 112 is 30.1 meters away at (-19.3, -23.1). A vehicle with ID 54 is 30.6 meters away at (28.7, -10.4).

The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-1.0820916  -0.12641236] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.00397412 0.00022337] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.8, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A vehicle with ID 54 is 12.4 meters away at (7.1, -10.2). A vehicle with ID 52 is 14.1 meters away at (10.0, -10.0). A vehicle with ID 69 is 18.3 meters away at (15.1, -10.3). A vehicle with ID 46 is 20.8 meters away at (18.0, -10.4). A vehicle with ID 70 is 22.9 meters away at (-3.6, -22.6). A vehicle with ID 66 is 22.9 meters away at (-0.9, -22.9). A vehicle with ID 77 is 23.7 meters away at (7.1, -22.6). A vehicle with ID 55 is 24.8 meters away at (9.9, -22.7). A pedestrian with ID 80 is 24.9 meters away at (-5.0, -24.4). A vehicle with ID 53 is 26.1 meters away at (12.8, -22.7).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.00328477  0.00504868] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.63

The most relevant actors are: A vehicle with ID 22 is 9.4 meters away at (8.2, -4.6). A vehicle with ID 21 is 9.5 meters away at (-8.2, 4.9). A vehicle with ID 23 is 13.2 meters away at (-9.6, 9.0). A vehicle with ID 29 is 13.8 meters away at (10.0, -9.5). A pedestrian with ID 25 is 18.3 meters away at (-18.2, -1.7). A pedestrian with ID 26 is 18.6 meters away at (-18.6, 0.3). A pedestrian with ID 27 is 19.2 meters away at (-19.2, -0.2). A pedestrian with ID 37 is 27.5 meters away at (-11.5, 25.0). A pedestrian with ID 39 is 29.0 meters away at (-12.5, 26.2). A pedestrian with ID 2 is 30.9 meters away at (-2.5, 30.8).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-6.7555275  3.546054 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.04266401  0.11003576] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.0343357 0.0001755] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.00489442 0.00723285] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00114906 -0.01877471] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00089647 -0.00349203] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.00048519  0.00035973] 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 2.63

The most relevant actors are: A vehicle with ID 29 is 3.5 meters away at (-1.2, -3.3). A vehicle with ID 22 is 9.1 meters away at (7.9, -4.5). A vehicle with ID 21 is 9.5 meters away at (-8.2, 4.9). A vehicle with ID 23 is 13.2 meters away at (-9.6, 9.1). A pedestrian with ID 25 is 18.3 meters away at (-18.2, -1.4). A pedestrian with ID 26 is 18.6 meters away at (-18.6, 0.2). A pedestrian with ID 27 is 19.2 meters away at (-19.2, -0.2). A vehicle with ID 34 is 27.5 meters away at (-17.6, 21.1). A pedestrian with ID 37 is 27.6 meters away at (-11.6, 25.1). A pedestrian with ID 39 is 29.1 meters away at (-12.5, 26.3).

The vehicle with ID 29 is traveling at a (x, y) velocity of [-4.4426026  2.5851657] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.0278483  0.01225697] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00077111 -0.00788558] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.00875976 -0.00253428] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-2.4575272 -7.608829 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.00088107 0.0022395 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.00788017 -0.02747744] 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 2.63

The most relevant actors are: A vehicle with ID 29 is 8.0 meters away at (-8.0, 0.7). A vehicle with ID 22 is 9.1 meters away at (7.9, -4.5). A vehicle with ID 21 is 9.5 meters away at (-8.2, 4.9). A vehicle with ID 23 is 13.2 meters away at (-9.6, 9.0). A pedestrian with ID 25 is 18.2 meters away at (-18.1, -1.4). A pedestrian with ID 26 is 18.6 meters away at (-18.6, 0.2). A pedestrian with ID 27 is 19.1 meters away at (-19.1, -0.2). A vehicle with ID 52 is 21.6 meters away at (19.0, -10.3). A vehicle with ID 34 is 22.9 meters away at (-22.2, 5.7). A pedestrian with ID 37 is 27.6 meters away at (-11.6, 25.1).

The vehicle with ID 29 is traveling at a (x, y) velocity of [-2.2871132  1.3706853] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.00578789 -0.00266717] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.01742377 0.02705557] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [5.8410667e-02 9.8327382e-06] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-3.3197002  3.7762024] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-1.824328  -7.6505427] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00527405  0.02643136] 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 2.63

The most relevant actors are: A vehicle with ID 22 is 9.1 meters away at (7.9, -4.5). A vehicle with ID 21 is 9.5 meters away at (-8.2, 4.9). A vehicle with ID 29 is 10.8 meters away at (-10.5, 2.3). A vehicle with ID 52 is 12.5 meters away at (12.0, -3.5). A vehicle with ID 23 is 13.2 meters away at (-9.7, 9.1). A pedestrian with ID 25 is 18.2 meters away at (-18.2, -1.4). A pedestrian with ID 26 is 18.6 meters away at (-18.6, 0.3). A pedestrian with ID 27 is 19.2 meters away at (-19.2, -0.1). A vehicle with ID 8 is 24.4 meters away at (-14.0, 20.0). A vehicle with ID 34 is 26.9 meters away at (-25.2, -9.6).

The vehicle with ID 22 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 29 is traveling at a (x, y) velocity of [-0.26395783  0.16559294] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-3.7605865  2.6426554] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.00056669  0.00222192] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00896963  0.01556941] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00560844  0.00469858] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 5.6445026 -1.5987761] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-1.119611 -8.039582] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -1.9) m/s. Its current heading (yaw) is -2.13

The most relevant actors are: A vehicle with ID 30 is 21.3 meters away at (5.4, 20.6). A unknown object with ID 31 is 27.1 meters away at (2.5, -27.0). A cyclist with ID 39 is 28.6 meters away at (10.0, -26.8). A vehicle with ID 32 is 28.6 meters away at (-2.5, -28.5). A unknown object with ID 34 is 33.0 meters away at (-2.2, 33.0). A vehicle with ID 33 is 33.1 meters away at (29.7, 14.7). A vehicle with ID 27 is 33.5 meters away at (11.3, -31.5). A unknown object with ID 38 is 38.3 meters away at (37.9, 5.4). A vehicle with ID 41 is 39.7 meters away at (-4.3, -39.5). A vehicle with ID 40 is 40.1 meters away at (-39.6, 6.3).

The vehicle with ID 30 is traveling at a (x, y) velocity of [-11.015874   6.641598] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-3.7188733  2.322511 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -3.2) m/s. Its current heading (yaw) is -1.83

The most relevant actors are: A cyclist with ID 39 is 18.8 meters away at (5.3, -18.0). A vehicle with ID 32 is 23.5 meters away at (-0.2, -23.5). A unknown object with ID 22 is 28.3 meters away at (3.6, -28.1). A vehicle with ID 27 is 29.9 meters away at (13.6, -26.7). A vehicle with ID 41 is 34.5 meters away at (-2.0, -34.5). A vehicle with ID 33 is 37.7 meters away at (32.3, 19.4). A unknown object with ID 34 is 37.9 meters away at (0.7, 37.9). A vehicle with ID 40 is 38.8 meters away at (-37.0, 11.6). A unknown object with ID 8 is 40.8 meters away at (39.2, 11.5). A vehicle with ID 30 is 41.0 meters away at (-13.9, 38.6).

The cyclist with ID 39 is traveling at a (x, y) velocity of [-3.261914   1.6165688] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-10.715696    6.2156057] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -3.8) m/s. Its current heading (yaw) is -1.01

The most relevant actors are: A cyclist with ID 39 is 7.1 meters away at (-1.5, -6.9). A vehicle with ID 32 is 16.0 meters away at (-1.2, -16.0). A vehicle with ID 27 is 22.9 meters away at (12.6, -19.2). A vehicle with ID 41 is 27.1 meters away at (-3.0, -26.9). A vehicle with ID 33 is 41.4 meters away at (31.4, 26.9). A vehicle with ID 40 is 42.7 meters away at (-38.1, 19.3). A unknown object with ID 38 is 43.1 meters away at (39.4, 17.5). A unknown object with ID 34 is 45.4 meters away at (-0.1, 45.4). A vehicle with ID 21 is 46.7 meters away at (43.7, 16.6). A vehicle with ID 36 is 63.7 meters away at (63.7, 1.6).

The cyclist with ID 39 is traveling at a (x, y) velocity of [-2.7871737  2.0134008] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -3.5) m/s. Its current heading (yaw) is -0.63

The most relevant actors are: A vehicle with ID 32 is 12.0 meters away at (-8.4, -8.5). A vehicle with ID 27 is 12.8 meters away at (5.3, -11.7). A cyclist with ID 39 is 14.6 meters away at (-13.6, 5.2). A vehicle with ID 41 is 22.0 meters away at (-10.3, -19.5). A unknown object with ID 20 is 39.6 meters away at (10.8, 38.1). A vehicle with ID 33 is 41.9 meters away at (23.9, 34.4). A vehicle with ID 21 is 43.6 meters away at (36.2, 24.3). A vehicle with ID 5 is 45.4 meters away at (39.0, 23.2). A vehicle with ID 40 is 52.7 meters away at (-45.5, 26.5). A unknown object with ID 34 is 53.4 meters away at (-7.7, 52.9).

The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-1.3358052  2.5372686] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -0.9) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A vehicle with ID 57 is 6.6 meters away at (-0.5, 6.6). A vehicle with ID 58 is 13.8 meters away at (13.7, -1.1). A vehicle with ID 24 is 14.1 meters away at (-13.4, 4.4). A vehicle with ID 61 is 14.9 meters away at (-14.8, 2.1). A vehicle with ID 62 is 19.4 meters away at (-5.4, -18.7). A vehicle with ID 63 is 19.6 meters away at (-1.7, -19.5). A vehicle with ID 59 is 20.8 meters away at (-20.4, 4.3). A vehicle with ID 45 is 22.8 meters away at (17.9, 14.1). A vehicle with ID 60 is 23.7 meters away at (-19.7, 13.1). A pedestrian with ID 67 is 29.4 meters away at (28.6, 6.8).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [3.1201098 1.8797491] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 2.612644  -0.9307119] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.5822994 1.3188492] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.2) m/s. Its current heading (yaw) is -0.37

The most relevant actors are: A vehicle with ID 57 is 8.6 meters away at (-3.7, 7.7). A vehicle with ID 24 is 10.3 meters away at (-9.8, 3.2). A vehicle with ID 58 is 16.4 meters away at (15.5, 5.3). A vehicle with ID 61 is 18.3 meters away at (-18.0, 3.3). A vehicle with ID 63 is 19.0 meters away at (-4.9, -18.4). A vehicle with ID 62 is 19.6 meters away at (-8.6, -17.6). A vehicle with ID 45 is 21.2 meters away at (14.8, 15.2). A vehicle with ID 59 is 24.3 meters away at (-23.7, 5.5). A vehicle with ID 60 is 27.0 meters away at (-22.9, 14.3). A vehicle with ID 69 is 27.1 meters away at (18.4, -19.9).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 2.8718414 -1.0646679] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [2.2631342 3.40063  ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 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 69 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 (1.9, -0.7) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 24 is 8.7 meters away at (-8.3, 2.7). A vehicle with ID 57 is 10.0 meters away at (-5.4, 8.4). A vehicle with ID 63 is 18.8 meters away at (-6.6, -17.6). A vehicle with ID 62 is 19.9 meters away at (-10.4, -16.9). A vehicle with ID 61 is 20.2 meters away at (-19.8, 4.0). A vehicle with ID 45 is 20.5 meters away at (13.0, 15.9). A vehicle with ID 28 is 22.4 meters away at (17.5, 14.1). A vehicle with ID 74 is 24.5 meters away at (24.1, -4.6). A vehicle with ID 69 is 25.3 meters away at (16.6, -19.1). A vehicle with ID 59 is 26.1 meters away at (-25.4, 6.1).

The vehicle with ID 24 is traveling at a (x, y) velocity of [ 0.8794869  -0.32688144] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [1.7614269 4.4687867] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-3.697663   1.2938017] m/s.The vehicle with ID 69 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -1.7) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 74 is 7.5 meters away at (7.4, 1.2). A vehicle with ID 24 is 13.0 meters away at (-12.3, 4.1). A vehicle with ID 57 is 16.7 meters away at (-12.6, 11.0). A vehicle with ID 69 is 19.0 meters away at (9.5, -16.5). A vehicle with ID 45 is 19.4 meters away at (5.9, 18.5). A vehicle with ID 63 is 20.4 meters away at (-13.7, -15.1). A vehicle with ID 62 is 22.6 meters away at (-17.5, -14.3). A vehicle with ID 68 is 24.3 meters away at (15.4, 18.8). A vehicle with ID 13 is 25.4 meters away at (23.0, -10.9). A unknown object with ID 15 is 26.8 meters away at (26.8, -1.0).

The vehicle with ID 74 is traveling at a (x, y) velocity of [-5.6431317  1.9014957] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 2.659141  -0.9405453] m/s.The vehicle with ID 57 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 (-1.9, 0.7) m/s. Its current heading (yaw) is 2.80

The most relevant actors are: A vehicle with ID 46 is 6.0 meters away at (-1.5, -5.8). A vehicle with ID 45 is 8.1 meters away at (-7.0, -4.0). A vehicle with ID 48 is 9.1 meters away at (4.0, -8.2). A pedestrian with ID 49 is 10.9 meters away at (10.6, 2.3). A pedestrian with ID 50 is 11.6 meters away at (11.5, 2.0). A vehicle with ID 51 is 15.0 meters away at (10.3, -10.9). A vehicle with ID 52 is 21.8 meters away at (16.6, -14.2). A vehicle with ID 53 is 28.6 meters away at (22.6, -17.4). A vehicle with ID 55 is 33.3 meters away at (-5.7, 32.9). A pedestrian with ID 54 is 33.5 meters away at (31.3, -11.8).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.01124036  0.00148785] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.00478948 -0.01622305] 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 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 pedestrian with ID 54 is traveling at a (x, y) velocity of [0.89713824 1.1520122 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.3) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A vehicle with ID 46 is 6.5 meters away at (0.5, -6.5). A vehicle with ID 45 is 6.9 meters away at (-5.0, -4.8). A vehicle with ID 48 is 10.8 meters away at (6.1, -9.0). A pedestrian with ID 49 is 12.7 meters away at (12.6, 1.6). A pedestrian with ID 50 is 13.5 meters away at (13.5, 1.2). A vehicle with ID 51 is 17.0 meters away at (12.4, -11.6). A vehicle with ID 52 is 23.8 meters away at (18.6, -14.9). A vehicle with ID 53 is 30.6 meters away at (24.7, -18.2). A vehicle with ID 55 is 32.2 meters away at (-3.7, 32.0). A vehicle with ID 57 is 36.0 meters away at (-0.2, 36.0).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.02572473 -0.00316546] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.05560497 -0.01837517] 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 vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 1.3) m/s. Its current heading (yaw) is 2.80

The most relevant actors are: A vehicle with ID 45 is 6.4 meters away at (-0.5, -6.4). A vehicle with ID 46 is 9.6 meters away at (5.0, -8.2). A vehicle with ID 48 is 14.9 meters away at (10.6, -10.6). A pedestrian with ID 49 is 17.2 meters away at (17.2, 0.0). A pedestrian with ID 50 is 18.1 meters away at (18.1, -0.5). A vehicle with ID 51 is 21.4 meters away at (16.9, -13.2). A vehicle with ID 52 is 28.4 meters away at (23.1, -16.5). A vehicle with ID 55 is 30.4 meters away at (0.8, 30.4). A vehicle with ID 57 is 34.7 meters away at (4.3, 34.4). A vehicle with ID 53 is 35.2 meters away at (29.1, -19.7).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.00413526 -0.00318043] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.00320612 -0.00755205] 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 vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 1.9) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 45 is 13.2 meters away at (9.0, -9.7). A vehicle with ID 46 is 18.6 meters away at (14.6, -11.5). A vehicle with ID 48 is 24.6 meters away at (20.2, -13.9). A pedestrian with ID 49 is 27.0 meters away at (26.8, -3.3). A pedestrian with ID 50 is 27.9 meters away at (27.7, -3.8). A vehicle with ID 55 is 29.0 meters away at (10.4, 27.1). A vehicle with ID 51 is 31.3 meters away at (26.5, -16.5). A vehicle with ID 61 is 31.5 meters away at (-26.8, -16.5). A vehicle with ID 57 is 34.1 meters away at (14.0, 31.1). A vehicle with ID 44 is 35.9 meters away at (-32.4, 15.4).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.02578627 -0.00281763] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.01942     0.00093435] m/s.The vehicle with ID 55 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 61 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 44 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, -2.0) m/s. Its current heading (yaw) is -1.61

The most relevant actors are: A pedestrian with ID 31 is 28.2 meters away at (-23.0, -16.3). A unknown object with ID 30 is 48.7 meters away at (-47.9, 8.4). A cyclist with ID 37 is 51.8 meters away at (-45.4, 24.9).

The pedestrian with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [0.11335285 0.15409511] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -2.5) m/s. Its current heading (yaw) is -0.86

The most relevant actors are: A unknown object with ID 21 is 20.8 meters away at (-14.4, -15.0). A unknown object with ID 30 is 51.5 meters away at (-49.6, 13.8). A cyclist with ID 37 is 55.8 meters away at (-46.8, 30.4). A vehicle with ID 27 is 70.4 meters away at (53.0, -46.4).

The unknown object with ID 21 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 cyclist with ID 37 is traveling at a (x, y) velocity of [ 0.02161481 -0.00720578] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-2.4993572  4.4351087] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -1.8) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A pedestrian with ID 29 is 32.2 meters away at (-31.5, -6.9). A vehicle with ID 27 is 51.5 meters away at (39.1, -33.5). A cyclist with ID 37 is 63.6 meters away at (-53.4, 34.6). A unknown object with ID 35 is 71.3 meters away at (-63.4, 32.7). A unknown object with ID 20 is 73.5 meters away at (-65.5, 33.5). A unknown object with ID 36 is 75.6 meters away at (-67.3, 34.5).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.03685931 0.00631864] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.322262   3.5112815] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [0.01401069 0.13807818] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -2.0) m/s. Its current heading (yaw) is -0.37

The most relevant actors are: A unknown object with ID 7 is 25.0 meters away at (9.6, -23.1). A unknown object with ID 6 is 27.3 meters away at (12.3, -24.4). A vehicle with ID 27 is 28.6 meters away at (16.5, -23.4). A unknown object with ID 5 is 29.3 meters away at (14.6, -25.3). A unknown object with ID 4 is 30.9 meters away at (16.4, -26.2). A unknown object with ID 3 is 32.5 meters away at (18.2, -26.9). A unknown object with ID 2 is 34.0 meters away at (19.8, -27.6). A cyclist with ID 37 is 73.4 meters away at (-62.7, 38.1).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-7.0916557  3.142424 ] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [ 0.03260439 -0.10047451] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [  9.605335 -23.110094], 25.026763916015625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 9.3) m/s. Its current heading (yaw) is 1.71

The most relevant actors are: A vehicle with ID 2 is 40.4 meters away at (8.4, -39.5). A vehicle with ID 3 is 47.2 meters away at (9.0, -46.4). A vehicle with ID 4 is 78.4 meters away at (32.8, -71.2).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 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, 9.5) m/s. Its current heading (yaw) is 1.75

The most relevant actors are: A vehicle with ID 2 is 59.5 meters away at (11.8, -58.3). A vehicle with ID 3 is 66.3 meters away at (12.0, -65.2).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 9.0) m/s. Its current heading (yaw) is 1.90

The most relevant actors are: A vehicle with ID 2 is 78.7 meters away at (16.3, -77.0).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 8.3) m/s. Its current heading (yaw) is 2.06

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 (8.8, -5.2) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A pedestrian with ID 83 is 25.9 meters away at (25.8, 2.5). A unknown object with ID 100 is 27.6 meters away at (25.1, -11.3). A unknown object with ID 68 is 34.0 meters away at (30.6, -14.7). A unknown object with ID 91 is 35.5 meters away at (35.2, -4.9). A unknown object with ID 118 is 36.9 meters away at (33.1, -16.4). A unknown object with ID 64 is 37.7 meters away at (-31.4, 20.9). A unknown object with ID 109 is 39.7 meters away at (-32.9, 22.1). A vehicle with ID 55 is 41.6 meters away at (-36.7, 19.6). A unknown object with ID 95 is 43.5 meters away at (-31.7, 29.7). A unknown object with ID 63 is 44.7 meters away at (39.8, -20.4).

The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.9467185  0.4827342] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 6.2286954 -3.9042926] m/s.The unknown object with ID 95 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -5.1) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A unknown object with ID 100 is 8.6 meters away at (8.5, -1.3). A unknown object with ID 68 is 14.5 meters away at (13.8, -4.5). A unknown object with ID 118 is 17.4 meters away at (16.3, -6.2). A pedestrian with ID 76 is 18.3 meters away at (-17.3, -5.9). A unknown object with ID 91 is 19.0 meters away at (18.3, 5.2). A pedestrian with ID 123 is 19.5 meters away at (-18.5, -6.2). A unknown object with ID 114 is 20.7 meters away at (19.1, -8.0). A unknown object with ID 97 is 22.2 meters away at (21.9, 3.8). A pedestrian with ID 94 is 22.8 meters away at (8.9, -21.0). A unknown object with ID 63 is 25.1 meters away at (22.9, -10.2).

The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.7080471   0.98856026] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [-0.7116323  1.1992964] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-1.1210409   0.70341027] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 8.49258   -1.2711716], 8.587187767028809 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -5.0) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A unknown object with ID 114 is 2.9 meters away at (1.8, 2.3). A unknown object with ID 118 is 4.1 meters away at (-0.8, 4.0). A unknown object with ID 63 is 5.8 meters away at (5.8, -0.1). A unknown object with ID 68 is 6.6 meters away at (-3.4, 5.6). A unknown object with ID 60 is 7.5 meters away at (7.4, -0.9). A unknown object with ID 99 is 9.4 meters away at (9.3, -1.8). A unknown object with ID 65 is 12.4 meters away at (11.9, -3.4). A unknown object with ID 100 is 12.4 meters away at (-8.7, 8.9). A unknown object with ID 97 is 14.7 meters away at (4.8, 13.9). A unknown object with ID 91 is 15.3 meters away at (1.3, 15.3).

The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 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 unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [1.8291092 2.2987156], 2.937640905380249 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -4.7) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A unknown object with ID 77 is 3.3 meters away at (0.6, 3.2). A unknown object with ID 84 is 5.2 meters away at (-2.0, 4.8). A unknown object with ID 88 is 6.2 meters away at (6.2, 0.1). A unknown object with ID 65 is 7.8 meters away at (-4.6, 6.4). A unknown object with ID 74 is 9.0 meters away at (8.9, -1.4). A unknown object with ID 99 is 10.7 meters away at (-7.2, 7.9). A unknown object with ID 49 is 12.0 meters away at (11.6, -3.1). A unknown object with ID 60 is 12.6 meters away at (-9.0, 8.8). A unknown object with ID 48 is 13.8 meters away at (13.3, -4.0). A unknown object with ID 63 is 14.4 meters away at (-10.6, 9.7).

The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 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 unknown object with ID 60 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [0.63308716 3.2240028 ], 3.285573720932007 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 1.4) m/s. Its current heading (yaw) is 0.55

The most relevant actors are: A pedestrian with ID 20 is 6.5 meters away at (5.7, -3.2). A vehicle with ID 3 is 7.2 meters away at (-7.2, 0.0). A pedestrian with ID 22 is 8.0 meters away at (-2.8, -7.5). A pedestrian with ID 2 is 8.2 meters away at (-0.3, -8.2). A vehicle with ID 15 is 11.5 meters away at (4.5, 10.6). A pedestrian with ID 14 is 11.6 meters away at (-4.4, -10.7). A pedestrian with ID 21 is 13.3 meters away at (13.3, 0.4). A vehicle with ID 16 is 19.4 meters away at (-18.4, -6.0). A vehicle with ID 38 is 22.7 meters away at (6.5, 21.7). A pedestrian with ID 31 is 22.8 meters away at (22.1, 5.8).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.9611308  -0.58634615] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [4.158591 2.070562] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.2223653 -0.7693878] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.01754771 0.01553645] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [2.922895 3.032767] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.02278804 0.01589747] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.04979673 0.04794747] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [3.9809828 2.5583491] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.3551036  5.3129206] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [1.259651   0.64899796] m/s.

Instruction: right u-turn approaching.

(The closest actor is a pedestrian at [ 5.70646  -3.151876], 6.519049644470215 meters away.)


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 0.53

The most relevant actors are: A vehicle with ID 3 is 3.4 meters away at (-2.3, 2.4). A pedestrian with ID 20 is 5.9 meters away at (2.2, -5.5). A pedestrian with ID 1 is 8.8 meters away at (6.2, -6.3). A pedestrian with ID 5 is 8.8 meters away at (8.4, -2.7). A pedestrian with ID 2 is 9.3 meters away at (-1.7, -9.1). A pedestrian with ID 21 is 11.9 meters away at (11.9, -0.5). A pedestrian with ID 22 is 12.2 meters away at (-6.8, -10.1). A vehicle with ID 16 is 12.4 meters away at (-12.2, -2.1). A pedestrian with ID 14 is 13.0 meters away at (-5.9, -11.6). A vehicle with ID 26 is 17.8 meters away at (6.1, 16.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [1.6804911 0.9309895] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.1611397 -0.8324788] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00352598 -0.00450767] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.02914826 -0.01078784] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.0029608  -0.00657769] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.00430448 -0.01556109] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.4412851 -0.9935779] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [3.4621778 2.2539866] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00634138 -0.00964953] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0.16034035 3.842433  ] 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 0.53

The most relevant actors are: A vehicle with ID 3 is 3.3 meters away at (-1.3, 3.0). A pedestrian with ID 20 is 7.1 meters away at (0.0, -7.1). A vehicle with ID 16 is 8.0 meters away at (-7.9, 0.9). A pedestrian with ID 1 is 8.8 meters away at (6.1, -6.3). A pedestrian with ID 2 is 9.4 meters away at (-1.9, -9.2). A pedestrian with ID 21 is 11.7 meters away at (11.7, -0.6). A vehicle with ID 25 is 13.0 meters away at (-12.4, -3.8). A pedestrian with ID 22 is 15.1 meters away at (-9.4, -11.9). A vehicle with ID 26 is 25.3 meters away at (3.6, 25.0). A pedestrian with ID 31 is 26.3 meters away at (25.4, 6.8).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.1107286  -0.80276656] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0.7209434  0.53108674] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00561944 -0.00188154] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.00562914 -0.00162061] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00297695 -0.00058475] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [1.4998804  0.96219194] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1822504 -0.8905448] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.5126464  4.6003923] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [1.1965847 0.6494029] 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 0.53

The most relevant actors are: A vehicle with ID 3 is 3.3 meters away at (-1.4, 3.0). A vehicle with ID 16 is 7.7 meters away at (-7.6, 1.2). A pedestrian with ID 20 is 8.7 meters away at (-2.2, -8.4). A pedestrian with ID 1 is 8.8 meters away at (6.0, -6.3). A pedestrian with ID 2 is 9.6 meters away at (-2.0, -9.3). A pedestrian with ID 21 is 11.7 meters away at (11.7, -0.6). A vehicle with ID 25 is 11.9 meters away at (-11.4, -3.2). A pedestrian with ID 22 is 17.9 meters away at (-11.7, -13.6). A pedestrian with ID 31 is 29.0 meters away at (27.9, 8.1). A vehicle with ID 26 is 33.9 meters away at (-2.3, 33.9).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.1833518 -0.6010964] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00230433 0.00203607] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.17837536 -0.21285638] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-3.2963378e-03 -3.7144197e-05] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.271023   -0.83257705] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [1.1901753  0.67121637] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.9563406  4.2159076] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 0.2) m/s. Its current heading (yaw) is 3.09

The most relevant actors are: A vehicle with ID 9 is 9.3 meters away at (8.9, 2.7). A vehicle with ID 11 is 21.8 meters away at (21.7, 2.4). A vehicle with ID 10 is 31.5 meters away at (-14.3, 28.0). A unknown object with ID 12 is 34.1 meters away at (32.4, -10.6). A vehicle with ID 2 is 37.9 meters away at (-14.7, 34.9).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 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 (-1.5, 0.1) m/s. Its current heading (yaw) is 3.09

The most relevant actors are: A vehicle with ID 9 is 14.5 meters away at (14.3, 2.5). A vehicle with ID 11 is 27.2 meters away at (27.1, 2.1). A vehicle with ID 10 is 29.2 meters away at (-9.0, 27.8). A vehicle with ID 2 is 35.8 meters away at (-9.4, 34.5). A unknown object with ID 12 is 39.3 meters away at (37.8, -10.9).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 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 unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.1) m/s. Its current heading (yaw) is 3.08

The most relevant actors are: A vehicle with ID 9 is 16.6 meters away at (16.4, 2.4). A vehicle with ID 10 is 28.6 meters away at (-6.9, 27.7). A vehicle with ID 11 is 29.2 meters away at (29.1, 2.0). A vehicle with ID 2 is 35.3 meters away at (-7.4, 34.5). A unknown object with ID 12 is 41.2 meters away at (39.7, -11.0).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 0.9) m/s. Its current heading (yaw) is 2.84

The most relevant actors are: A vehicle with ID 9 is 20.8 meters away at (20.7, 1.9). A vehicle with ID 10 is 27.4 meters away at (-2.8, 27.2). A vehicle with ID 11 is 33.5 meters away at (33.5, 1.6). A vehicle with ID 2 is 34.1 meters away at (-3.4, 33.9).

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.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -6.3) m/s. Its current heading (yaw) is -1.59

The most relevant actors are: A vehicle with ID 50 is 8.2 meters away at (-7.0, -4.3). A vehicle with ID 51 is 9.6 meters away at (-6.9, -6.7). A vehicle with ID 53 is 11.8 meters away at (-6.9, -9.5). A vehicle with ID 55 is 14.3 meters away at (-7.2, -12.3). A vehicle with ID 58 is 19.1 meters away at (-7.1, -17.7). A vehicle with ID 54 is 21.0 meters away at (-20.9, -1.7). A vehicle with ID 63 is 21.7 meters away at (-6.9, -20.5). A vehicle with ID 56 is 21.7 meters away at (-20.6, -6.7). A vehicle with ID 49 is 22.0 meters away at (-14.7, 16.4). A unknown object with ID 48 is 22.1 meters away at (9.7, 19.8).

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 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 58 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 55 is 7.1 meters away at (-7.1, -0.0). A vehicle with ID 53 is 7.4 meters away at (-6.9, 2.7). A vehicle with ID 58 is 8.8 meters away at (-7.0, -5.4). A vehicle with ID 51 is 8.9 meters away at (-6.9, 5.6). A vehicle with ID 50 is 10.6 meters away at (-6.9, 8.0). A vehicle with ID 63 is 10.6 meters away at (-6.8, -8.2). A vehicle with ID 70 is 15.2 meters away at (-7.1, -13.5). A vehicle with ID 72 is 17.9 meters away at (-7.4, -16.3). A vehicle with ID 74 is 20.4 meters away at (-7.4, -19.0). A vehicle with ID 56 is 21.2 meters away at (-20.5, 5.5).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -6.1) m/s. Its current heading (yaw) is -1.54

The most relevant actors are: A vehicle with ID 70 is 7.2 meters away at (-7.2, -0.7). A vehicle with ID 63 is 8.2 meters away at (-6.8, 4.6). A vehicle with ID 72 is 8.3 meters away at (-7.6, -3.4). A vehicle with ID 74 is 9.8 meters away at (-7.6, -6.2). A vehicle with ID 58 is 10.2 meters away at (-7.0, 7.4). A vehicle with ID 55 is 14.7 meters away at (-7.2, 12.8). A vehicle with ID 53 is 17.1 meters away at (-6.9, 15.6). A vehicle with ID 51 is 19.6 meters away at (-6.8, 18.4). A vehicle with ID 50 is 22.0 meters away at (-6.9, 20.8). A unknown object with ID 28 is 27.5 meters away at (12.2, -24.7).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -5.0) m/s. Its current heading (yaw) is -1.72

The most relevant actors are: A vehicle with ID 74 is 8.9 meters away at (-7.5, 4.9). A vehicle with ID 72 is 10.7 meters away at (-7.5, 7.7). A vehicle with ID 70 is 12.6 meters away at (-7.1, 10.4). A vehicle with ID 63 is 17.1 meters away at (-6.9, 15.7). A unknown object with ID 28 is 18.2 meters away at (12.3, -13.4). A vehicle with ID 58 is 19.9 meters away at (-7.1, 18.6). A vehicle with ID 55 is 25.0 meters away at (-7.1, 23.9). A vehicle with ID 53 is 27.6 meters away at (-6.9, 26.8). A vehicle with ID 51 is 30.4 meters away at (-6.9, 29.6). A vehicle with ID 50 is 32.7 meters away at (-6.9, 32.0).

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 vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.8) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A pedestrian with ID 36 is 6.3 meters away at (-4.9, -4.0). A unknown object with ID 30 is 7.4 meters away at (-4.9, -5.5). A vehicle with ID 35 is 23.6 meters away at (15.6, -17.8). A vehicle with ID 38 is 24.7 meters away at (-16.1, 18.8). A vehicle with ID 14 is 28.1 meters away at (21.3, -18.3). A unknown object with ID 37 is 31.3 meters away at (-17.8, -25.7). A vehicle with ID 39 is 32.6 meters away at (-27.0, -18.2). A vehicle with ID 41 is 47.5 meters away at (-20.2, -43.0). A vehicle with ID 11 is 53.7 meters away at (-53.7, 1.0). A unknown object with ID 26 is 56.0 meters away at (-55.8, 4.5).

The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.08066351 -0.0288028 ] m/s.The unknown object with ID 30 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 [ 6.5092196 -5.682315 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.2255182  1.9806638] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [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 11 is traveling at a (x, y) velocity of [-0.3055204   0.33962926] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 5.5) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 38 is 9.5 meters away at (-4.1, 8.5). A pedestrian with ID 36 is 16.0 meters away at (6.9, -14.4). A unknown object with ID 30 is 17.2 meters away at (6.9, -15.7). A vehicle with ID 39 is 32.4 meters away at (-15.4, -28.6). A vehicle with ID 14 is 38.5 meters away at (29.3, -25.1). A vehicle with ID 11 is 43.4 meters away at (-42.5, -8.5). A vehicle with ID 41 is 53.9 meters away at (-8.2, -53.3). A vehicle with ID 35 is 58.8 meters away at (42.2, -41.0). A unknown object with ID 28 is 58.9 meters away at (-42.6, 40.7). A vehicle with ID 33 is 58.9 meters away at (-8.2, -58.4).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.00586731 -0.00519787] m/s.The unknown object with ID 30 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 14 is traveling at a (x, y) velocity of [-2.6729836  2.2552242] m/s.The vehicle with ID 11 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 [ 7.978451  -7.0843816] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 5.8) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 38 is 9.0 meters away at (8.6, -2.6). A vehicle with ID 21 is 27.2 meters away at (-7.9, 26.0). A pedestrian with ID 36 is 32.3 meters away at (19.8, -25.6). A vehicle with ID 20 is 34.8 meters away at (-27.7, -21.1). A vehicle with ID 11 is 35.8 meters away at (-30.0, -19.4). A vehicle with ID 39 is 39.5 meters away at (-2.9, -39.4). A vehicle with ID 14 is 46.8 meters away at (35.4, -30.6). A vehicle with ID 2 is 53.1 meters away at (-37.6, 37.5). A vehicle with ID 41 is 64.6 meters away at (4.6, -64.4).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.01100531  0.04170232] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-3.981075   3.5358262] m/s.The vehicle with ID 2 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.5) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 38 is 26.0 meters away at (21.9, -14.0). A vehicle with ID 11 is 35.0 meters away at (-16.9, -30.7). A vehicle with ID 20 is 35.6 meters away at (-14.5, -32.5). A vehicle with ID 2 is 35.8 meters away at (-24.4, 26.1). A pedestrian with ID 36 is 49.7 meters away at (33.3, -36.9). A vehicle with ID 14 is 52.2 meters away at (39.6, -34.0). A pedestrian with ID 17 is 65.8 meters away at (-54.8, 36.4). A pedestrian with ID 15 is 66.7 meters away at (-55.3, 37.2). A pedestrian with ID 6 is 74.8 meters away at (-69.2, 28.5). A vehicle with ID 41 is 77.9 meters away at (17.9, -75.8).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 pedestrian with ID 36 is traveling at a (x, y) velocity of [0.25508803 0.02650462] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.228123   4.3120003] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.1042489  -0.47915545] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.1064875  -0.54420817] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.3058007 -1.1410519] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 4 is 3.4 meters away at (-3.3, 0.7). A vehicle with ID 5 is 7.9 meters away at (-2.5, -7.4). A vehicle with ID 6 is 13.4 meters away at (9.9, 9.0). A pedestrian with ID 9 is 19.8 meters away at (6.3, -18.8). A vehicle with ID 11 is 22.9 meters away at (7.9, 21.5). A unknown object with ID 15 is 36.8 meters away at (-0.2, -36.8). A vehicle with ID 3 is 36.8 meters away at (-31.5, -19.1). A vehicle with ID 7 is 38.3 meters away at (15.1, -35.2). A vehicle with ID 17 is 39.9 meters away at (11.1, -38.3). A vehicle with ID 18 is 41.3 meters away at (-34.3, -22.9).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-9.743390e-05 -1.946492e-03] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.8683577 -5.197856 ] m/s.The unknown object with ID 15 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 [12.004628  -3.9587235] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [11.989037 -4.303388] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 4 is 3.4 meters away at (-3.3, 0.8). A vehicle with ID 5 is 7.9 meters away at (-2.5, -7.4). A vehicle with ID 6 is 13.3 meters away at (9.8, 9.0). A vehicle with ID 11 is 14.1 meters away at (5.0, 13.2). A pedestrian with ID 9 is 19.8 meters away at (6.3, -18.8). A vehicle with ID 3 is 28.1 meters away at (-7.7, -27.0). A unknown object with ID 15 is 36.8 meters away at (-0.2, -36.8). A vehicle with ID 17 is 39.9 meters away at (11.1, -38.3). A vehicle with ID 18 is 41.3 meters away at (-34.3, -22.9). A vehicle with ID 19 is 44.7 meters away at (18.2, -40.8).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.0094457 -2.839351 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 2.2386790e-05 -1.4293857e-03] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [11.844846  -3.9698334] m/s.The unknown object with ID 15 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 4 is 3.4 meters away at (-3.3, 0.7). A vehicle with ID 5 is 7.9 meters away at (-2.5, -7.4). A vehicle with ID 11 is 10.9 meters away at (3.9, 10.2). A vehicle with ID 6 is 13.3 meters away at (9.9, 9.0). A pedestrian with ID 9 is 19.8 meters away at (6.3, -18.8). A vehicle with ID 2 is 28.8 meters away at (-11.4, -26.4). A unknown object with ID 15 is 36.8 meters away at (-0.2, -36.8). A vehicle with ID 3 is 38.2 meters away at (15.4, -34.9). A vehicle with ID 17 is 39.9 meters away at (11.1, -38.3). A vehicle with ID 18 is 41.3 meters away at (-34.3, -22.9).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.17379276 -0.44362268] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00064507 -0.00178196] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [11.5006695 -3.966474 ] m/s.The unknown object with ID 15 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 [10.87758   -3.8804228] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 4 is 3.4 meters away at (-3.3, 0.8). A vehicle with ID 5 is 7.9 meters away at (-2.5, -7.4). A vehicle with ID 11 is 10.3 meters away at (3.7, 9.6). A vehicle with ID 6 is 13.3 meters away at (9.9, 9.0). A pedestrian with ID 9 is 19.8 meters away at (6.3, -18.8). A vehicle with ID 2 is 35.4 meters away at (10.3, -33.8). A unknown object with ID 15 is 36.8 meters away at (-0.2, -36.8). A vehicle with ID 17 is 39.9 meters away at (11.1, -38.3). A vehicle with ID 18 is 41.3 meters away at (-34.3, -22.9). A vehicle with ID 19 is 44.6 meters away at (18.1, -40.8).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.12838432 -0.32423517] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.00491452 0.00209109] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 9.976286 -3.462401] m/s.The unknown object with ID 15 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 2.4) m/s. Its current heading (yaw) is 2.80

The most relevant actors are: A vehicle with ID 67 is 6.2 meters away at (-4.0, -4.8). A vehicle with ID 65 is 10.8 meters away at (6.6, -8.5). A pedestrian with ID 28 is 14.0 meters away at (-12.9, -5.3). A pedestrian with ID 29 is 14.4 meters away at (-13.1, -6.0). A vehicle with ID 68 is 15.7 meters away at (-3.1, -15.4). A vehicle with ID 5 is 18.1 meters away at (17.2, -5.5). A vehicle with ID 64 is 18.6 meters away at (14.8, -11.3). A vehicle with ID 54 is 20.8 meters away at (-5.0, -20.2). A vehicle with ID 70 is 22.7 meters away at (-13.2, 18.4). A vehicle with ID 66 is 23.6 meters away at (19.9, -12.8).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.3660573  0.436107 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.3595703   0.46674407] m/s.The vehicle with ID 68 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 [-7.9300065  2.5031962] m/s.The vehicle with ID 64 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 66 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 (-6.6, 2.3) m/s. Its current heading (yaw) is 2.80

The most relevant actors are: A vehicle with ID 81 is 3.0 meters away at (-1.5, -2.6). A pedestrian with ID 28 is 9.2 meters away at (-2.1, -9.0). A pedestrian with ID 29 is 10.0 meters away at (-2.3, -9.8). A vehicle with ID 60 is 11.1 meters away at (-10.8, -2.6). A vehicle with ID 67 is 13.3 meters away at (9.3, -9.5). A vehicle with ID 70 is 13.7 meters away at (0.1, 13.7). A vehicle with ID 5 is 15.8 meters away at (15.0, -5.1). A unknown object with ID 38 is 18.6 meters away at (15.8, 9.8). A pedestrian with ID 59 is 19.1 meters away at (16.1, 10.4). A pedestrian with ID 45 is 19.9 meters away at (16.3, 11.5).

The vehicle with ID 81 is traveling at a (x, y) velocity of [ 9.346217 -3.130911] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2840452   0.52132225] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.2719795  0.5191716] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 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 [-7.595385   2.6720116] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 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 [-0.00228509  0.00137578] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 2.4) m/s. Its current heading (yaw) is 2.82

The most relevant actors are: A vehicle with ID 60 is 7.8 meters away at (2.8, -7.3). A vehicle with ID 61 is 14.6 meters away at (-14.5, -1.7). A vehicle with ID 5 is 14.7 meters away at (13.9, -4.6). A pedestrian with ID 28 is 15.4 meters away at (9.2, -12.4). A pedestrian with ID 29 is 15.9 meters away at (8.9, -13.1). A vehicle with ID 70 is 16.4 meters away at (13.7, 9.0). A unknown object with ID 43 is 20.6 meters away at (17.2, 11.4). A vehicle with ID 62 is 25.1 meters away at (-25.0, 2.0). A vehicle with ID 75 is 25.9 meters away at (17.6, 19.1). A vehicle with ID 67 is 27.0 meters away at (23.0, -14.2).

The vehicle with ID 60 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 5 is traveling at a (x, y) velocity of [-7.148968   2.4280155] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2609544  0.716123 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.2874358  0.7261449] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 2.1) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A unknown object with ID 40 is 4.9 meters away at (4.1, 2.6). A vehicle with ID 61 is 6.4 meters away at (-0.8, -6.3). A unknown object with ID 39 is 10.9 meters away at (-7.9, 7.4). A unknown object with ID 37 is 11.1 meters away at (-6.3, -9.1). A vehicle with ID 62 is 11.6 meters away at (-11.3, -2.6). A vehicle with ID 5 is 14.1 meters away at (13.3, -4.5). A vehicle with ID 63 is 16.6 meters away at (-16.6, -0.7). A vehicle with ID 60 is 20.2 meters away at (16.4, -11.8). A pedestrian with ID 28 is 25.8 meters away at (20.3, -15.9). A pedestrian with ID 29 is 25.9 meters away at (20.1, -16.5).

The unknown object with ID 40 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 unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 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 [-7.1784415  2.377439 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2863526  0.5028635] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.3851215  0.538266 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [4.1349144 2.6471825], 4.909693717956543 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -2.4) m/s. Its current heading (yaw) is -1.57

The most relevant actors are: A vehicle with ID 16 is 16.4 meters away at (-9.2, 13.6). A unknown object with ID 79 is 17.0 meters away at (15.0, -8.0). A unknown object with ID 80 is 17.7 meters away at (16.5, -6.3). A unknown object with ID 82 is 18.4 meters away at (16.2, -8.6). A unknown object with ID 81 is 18.6 meters away at (17.2, -6.9). A unknown object with ID 83 is 18.8 meters away at (16.9, -8.1). A pedestrian with ID 74 is 20.6 meters away at (-0.2, 20.6). A unknown object with ID 85 is 22.8 meters away at (-7.4, -21.5). A vehicle with ID 25 is 24.8 meters away at (-11.7, 21.9). A pedestrian with ID 84 is 26.3 meters away at (-6.1, 25.6).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.01150478 0.00371687] m/s.The unknown object with ID 85 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 [ 1.3842769  -0.37516934] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.26559326 -0.0417859 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -2.8) m/s. Its current heading (yaw) is -0.84

The most relevant actors are: A unknown object with ID 79 is 13.1 meters away at (12.8, -2.6). A unknown object with ID 67 is 14.4 meters away at (14.1, -3.1). A unknown object with ID 80 is 14.4 meters away at (14.4, -0.9). A unknown object with ID 83 is 15.1 meters away at (14.9, -2.5). A unknown object with ID 81 is 15.2 meters away at (15.1, -1.5). A unknown object with ID 85 is 18.5 meters away at (-9.7, -15.8). A vehicle with ID 16 is 20.5 meters away at (-9.4, 18.2). A vehicle with ID 25 is 27.7 meters away at (-9.8, 26.0). A pedestrian with ID 84 is 32.2 meters away at (-9.1, 30.9). A vehicle with ID 88 is 34.3 meters away at (-20.0, 27.9).

The unknown object with ID 79 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 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 1.9257436 -1.313725 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 2.2575827 -1.2186377] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.34247592 -0.3651863 ] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [3.856539  0.7304739] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [12.817814  -2.5530863], 13.069605827331543 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -1.8) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A unknown object with ID 79 is 5.8 meters away at (5.5, 1.7). A unknown object with ID 67 is 6.9 meters away at (6.8, 1.2). A unknown object with ID 51 is 7.3 meters away at (6.9, 2.2). A unknown object with ID 83 is 7.8 meters away at (7.6, 1.7). A unknown object with ID 80 is 7.9 meters away at (7.2, 3.4). A unknown object with ID 81 is 8.3 meters away at (7.8, 2.8). A vehicle with ID 16 is 21.7 meters away at (-12.5, 17.7). A vehicle with ID 25 is 30.3 meters away at (-13.1, 27.3). A vehicle with ID 42 is 35.0 meters away at (23.8, -25.7). A vehicle with ID 88 is 37.6 meters away at (-20.0, 31.8).

The unknown object with ID 79 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 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 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 [ 1.716428  -2.9463465] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.8169202 -1.7015042] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-9.122261  4.699127] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 2.3887904 -0.5886861] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [5.534219  1.7267218], 5.79733943939209 meters away.)