The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -3.5) m/s. Its current heading (yaw) is -2.25

The most relevant actors are: A vehicle with ID 13 is 14.4 meters away at (4.2, 13.8). A unknown object with ID 14 is 20.4 meters away at (19.1, 7.2). A unknown object with ID 15 is 22.4 meters away at (20.5, 9.2). A unknown object with ID 17 is 24.0 meters away at (21.3, 10.9). A unknown object with ID 21 is 25.9 meters away at (22.9, 12.1). A unknown object with ID 26 is 37.7 meters away at (14.5, 34.8). A unknown object with ID 27 is 38.7 meters away at (15.2, 35.6). A vehicle with ID 23 is 42.7 meters away at (29.7, 30.6). A vehicle with ID 24 is 51.9 meters away at (20.3, -47.7). A vehicle with ID 25 is 54.2 meters away at (-54.2, -0.5).

The vehicle with ID 13 is traveling at a (x, y) velocity of [6.8099327 6.897379 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-3.560294  -4.1956472] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 8.312954  -6.8885775] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-8.492746   7.7707996] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.4) m/s. Its current heading (yaw) is -2.24

The most relevant actors are: A unknown object with ID 14 is 26.1 meters away at (23.1, 12.2). A vehicle with ID 5 is 27.8 meters away at (-27.6, 3.3). A unknown object with ID 15 is 28.3 meters away at (24.5, 14.1). A unknown object with ID 17 is 30.0 meters away at (25.4, 15.9). A unknown object with ID 21 is 31.9 meters away at (26.9, 17.1). A vehicle with ID 23 is 37.9 meters away at (26.1, 27.5). A vehicle with ID 13 is 40.0 meters away at (21.5, 33.7). A unknown object with ID 26 is 43.8 meters away at (18.6, 39.7). A unknown object with ID 27 is 44.8 meters away at (19.3, 40.5). A unknown object with ID 1 is 51.6 meters away at (-43.6, 27.7).

The unknown object with ID 14 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 [ 9.597085 -8.99143 ] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-3.899773  -3.6703258] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [6.468723  7.8327045] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-21.762854 -25.138481]
 [-21.930508 -25.323933]]

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [23.127289 12.160152], 26.129308700561523 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 -2.25

The most relevant actors are: A vehicle with ID 5 is 15.3 meters away at (-7.4, -13.4). A unknown object with ID 14 is 27.3 meters away at (23.9, 13.2). A unknown object with ID 15 is 29.6 meters away at (25.3, 15.2). A vehicle with ID 23 is 30.2 meters away at (20.2, 22.5). A unknown object with ID 17 is 31.2 meters away at (26.2, 17.0). A unknown object with ID 21 is 33.1 meters away at (27.7, 18.1). A unknown object with ID 16 is 45.0 meters away at (-36.0, -27.0). A unknown object with ID 26 is 45.1 meters away at (19.5, 40.7). A unknown object with ID 18 is 45.4 meters away at (18.8, 41.3). A unknown object with ID 27 is 46.0 meters away at (20.0, 41.5).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 9.826131 -8.90923 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-2.8496327 -2.6431699] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-21.762854 -25.138481]
 [-21.930508 -25.323933]]

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 -2.25

The most relevant actors are: A vehicle with ID 23 is 23.4 meters away at (15.3, 17.7). A unknown object with ID 14 is 27.5 meters away at (24.1, 13.3). A unknown object with ID 15 is 29.7 meters away at (25.5, 15.3). A unknown object with ID 17 is 31.3 meters away at (26.3, 17.1). A unknown object with ID 21 is 33.3 meters away at (27.8, 18.2). A vehicle with ID 5 is 33.9 meters away at (12.4, -31.5). A unknown object with ID 16 is 44.9 meters away at (-36.0, -26.9). A unknown object with ID 26 is 45.3 meters away at (19.7, 40.8). A unknown object with ID 18 is 45.6 meters away at (19.0, 41.4). A unknown object with ID 27 is 46.2 meters away at (20.0, 41.7).

The vehicle with ID 23 is traveling at a (x, y) velocity of [-2.1476765 -2.2102044] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 [10.195925 -9.37481 ] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-21.762854 -25.138481]
 [-21.930508 -25.323933]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 1.4) m/s. Its current heading (yaw) is 0.67

The most relevant actors are: A vehicle with ID 44 is 10.6 meters away at (-4.2, -9.7). A vehicle with ID 45 is 13.5 meters away at (-12.8, -4.3). A vehicle with ID 46 is 18.2 meters away at (-16.3, -8.3). A unknown object with ID 47 is 18.9 meters away at (-3.1, 18.7). A unknown object with ID 48 is 18.9 meters away at (-0.0, 18.9). A unknown object with ID 50 is 20.7 meters away at (1.5, 20.7). A unknown object with ID 42 is 22.9 meters away at (22.8, 1.8). A vehicle with ID 49 is 23.8 meters away at (-20.0, -13.0). A unknown object with ID 43 is 23.9 meters away at (23.7, 2.9). A unknown object with ID 53 is 24.4 meters away at (-8.6, 22.8).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 0.3) m/s. Its current heading (yaw) is 0.08

The most relevant actors are: A vehicle with ID 44 is 16.1 meters away at (-10.2, -12.5). A unknown object with ID 42 is 16.8 meters away at (16.8, -0.9). A unknown object with ID 48 is 17.3 meters away at (-6.2, 16.1). A unknown object with ID 43 is 17.7 meters away at (17.7, 0.3). A unknown object with ID 47 is 18.3 meters away at (-9.2, 15.9). A unknown object with ID 50 is 18.5 meters away at (-4.6, 17.9). A vehicle with ID 45 is 20.1 meters away at (-18.8, -7.1). A unknown object with ID 53 is 24.8 meters away at (-14.6, 20.0). A vehicle with ID 55 is 24.9 meters away at (9.0, 23.2). A vehicle with ID 46 is 24.9 meters away at (-22.3, -11.1).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 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 unknown object 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -3.0) m/s. Its current heading (yaw) is -0.59

The most relevant actors are: A unknown object with ID 42 is 8.2 meters away at (8.0, 1.7). A unknown object with ID 43 is 9.4 meters away at (9.0, 2.9). A vehicle with ID 44 is 21.3 meters away at (-18.9, -9.7). A unknown object with ID 48 is 23.9 meters away at (-14.8, 18.8). A unknown object with ID 50 is 24.5 meters away at (-13.2, 20.6). A unknown object with ID 47 is 25.7 meters away at (-17.8, 18.6). A vehicle with ID 55 is 25.9 meters away at (0.1, 25.9). A vehicle with ID 45 is 27.9 meters away at (-27.6, -4.3). A vehicle with ID 46 is 32.1 meters away at (-31.0, -8.2). A unknown object with ID 53 is 32.6 meters away at (-23.3, 22.8).

The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [8.045625  1.7134758], 8.22606086730957 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -4.8) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A unknown object with ID 42 is 9.9 meters away at (-2.1, 9.7). A unknown object with ID 43 is 10.9 meters away at (-1.2, 10.8). A unknown object with ID 30 is 15.3 meters away at (-2.9, -15.1). A vehicle with ID 40 is 25.6 meters away at (23.3, -10.7). A vehicle with ID 39 is 30.8 meters away at (27.3, -14.3). A vehicle with ID 38 is 36.5 meters away at (31.7, -18.0). A unknown object with ID 48 is 36.6 meters away at (-24.9, 26.8). A unknown object with ID 50 is 36.9 meters away at (-23.4, 28.6). A unknown object with ID 47 is 38.6 meters away at (-28.0, 26.6). A pedestrian with ID 60 is 43.9 meters away at (-25.8, 35.5).

The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.9352087 -0.8020372] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-2.1106186  9.683241 ], 9.91059398651123 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.3) m/s. Its current heading (yaw) is 2.85

The most relevant actors are: A unknown object with ID 48 is 7.0 meters away at (-0.1, -7.0). A vehicle with ID 51 is 7.3 meters away at (5.0, -5.3). A unknown object with ID 49 is 7.3 meters away at (2.4, -6.9). A unknown object with ID 50 is 7.6 meters away at (-2.5, -7.2). A vehicle with ID 62 is 9.9 meters away at (-9.9, -0.3). A vehicle with ID 52 is 16.6 meters away at (-3.5, -16.2). A vehicle with ID 54 is 18.4 meters away at (13.9, -12.1). A vehicle with ID 55 is 19.4 meters away at (-1.1, 19.4). A vehicle with ID 56 is 21.9 meters away at (-5.6, -21.2). A unknown object with ID 57 is 22.5 meters away at (-8.9, 20.7).

The unknown object with ID 48 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 [ 8.861542  -2.7806652] 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 8.869656  -2.7319698] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -1.2) m/s. Its current heading (yaw) is -2.85

The most relevant actors are: A unknown object with ID 50 is 7.8 meters away at (2.7, -7.3). A unknown object with ID 48 is 8.8 meters away at (5.1, -7.1). A unknown object with ID 49 is 10.5 meters away at (7.7, -7.1). A vehicle with ID 62 is 14.5 meters away at (13.4, -5.6). A vehicle with ID 52 is 16.4 meters away at (1.6, -16.4). A pedestrian with ID 53 is 17.6 meters away at (-17.0, -4.6). A vehicle with ID 55 is 19.8 meters away at (4.3, 19.3). A unknown object with ID 57 is 20.8 meters away at (-3.3, 20.5). A vehicle with ID 56 is 21.3 meters away at (-0.4, -21.3). A vehicle with ID 54 is 22.7 meters away at (19.0, -12.3).

The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 9.329812  -2.2560492] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 1.1717389  -0.62872046] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 2.7042263 -7.3003798], 7.7851386070251465 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -6.1) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A pedestrian with ID 53 is 7.4 meters away at (-7.2, 2.0). A unknown object with ID 50 is 10.5 meters away at (10.5, 0.7). A vehicle with ID 52 is 12.6 meters away at (9.4, -8.5). A unknown object with ID 48 is 13.0 meters away at (13.0, 0.9). A vehicle with ID 56 is 15.3 meters away at (7.4, -13.4). A unknown object with ID 49 is 15.6 meters away at (15.5, 0.9). A vehicle with ID 15 is 17.3 meters away at (6.8, -15.9). A vehicle with ID 12 is 21.9 meters away at (-3.5, -21.7). A vehicle with ID 64 is 22.1 meters away at (-19.5, 10.5). A unknown object with ID 47 is 26.6 meters away at (-17.0, -20.5).

The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.7527384 -0.4721102] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 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 unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 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 (-2.8, -7.6) m/s. Its current heading (yaw) is -1.92

The most relevant actors are: A vehicle with ID 12 is 7.9 meters away at (2.0, -7.6). A vehicle with ID 15 is 12.3 meters away at (12.2, -1.9). A vehicle with ID 56 is 12.9 meters away at (12.9, 0.7). A unknown object with ID 47 is 13.3 meters away at (-11.7, -6.3). A pedestrian with ID 53 is 14.9 meters away at (0.4, 14.9). A vehicle with ID 52 is 15.8 meters away at (14.8, 5.6). A unknown object with ID 45 is 16.2 meters away at (-12.9, -9.9). A unknown object with ID 50 is 21.7 meters away at (15.9, 14.8). A unknown object with ID 48 is 23.7 meters away at (18.3, 15.0). A unknown object with ID 49 is 25.7 meters away at (20.9, 15.0).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 1.0751631 -0.6060568] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 1.1) m/s. Its current heading (yaw) is 1.64

The most relevant actors are: A vehicle with ID 25 is 33.9 meters away at (5.2, -33.5). A pedestrian with ID 20 is 38.1 meters away at (-29.8, 23.7). A vehicle with ID 26 is 40.0 meters away at (5.6, -39.6). A pedestrian with ID 24 is 43.0 meters away at (-21.5, 37.2). A pedestrian with ID 22 is 48.0 meters away at (-6.9, 47.5). A pedestrian with ID 23 is 48.6 meters away at (-7.8, 47.9). A pedestrian with ID 27 is 49.4 meters away at (-30.3, 38.9).

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 [ 1.1405611  -0.22081175] 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 [-1.4250742   0.20437019] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.03168919 -1.2523551 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.06767457 -1.3294325 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.4026792   0.18894137] 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 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 (-27.6, 25.0). A cyclist with ID 5 is 38.6 meters away at (-28.6, 26.0). A vehicle with ID 26 is 40.8 meters away at (5.5, -40.4). A pedestrian with ID 24 is 43.9 meters away at (-23.6, 37.0). A pedestrian with ID 22 is 45.1 meters away at (-6.9, 44.6). A pedestrian with ID 23 is 45.7 meters away at (-7.6, 45.0). A pedestrian with ID 27 is 50.8 meters away at (-32.7, 38.9).

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 [0.25173593 0.9480408 ] 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 [-1.1601875   0.27059758] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.14937408 -1.1443199 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.22292444 -1.1892773 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.3691151  0.1910753] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.1) m/s. Its current heading (yaw) is 1.58

The most relevant actors are: A vehicle with ID 25 is 34.8 meters away at (5.2, -34.4). A pedestrian with ID 20 is 37.1 meters away at (-26.3, 26.2). A pedestrian with ID 13 is 38.6 meters away at (-26.7, 27.8). A vehicle with ID 26 is 40.9 meters away at (5.5, -40.5). A pedestrian with ID 22 is 42.6 meters away at (-7.4, 42.0). A pedestrian with ID 23 is 43.3 meters away at (-8.0, 42.5). A pedestrian with ID 24 is 45.3 meters away at (-25.7, 37.4). A pedestrian with ID 27 is 52.6 meters away at (-35.3, 39.0). A unknown object with ID 8 is 67.8 meters away at (65.6, 16.9). A unknown object with ID 7 is 69.9 meters away at (67.3, 18.7).

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 [0.40371493 0.73847836] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.83161414 0.5468344 ] 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 [-0.42474243 -1.3043606 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.25420782 -1.3590131 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.394365   0.2987044] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.2271905   0.20025581] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.6) m/s. Its current heading (yaw) is 1.62

The most relevant actors are: A vehicle with ID 25 is 35.8 meters away at (5.2, -35.5). A pedestrian with ID 20 is 36.9 meters away at (-24.6, 27.5). A pedestrian with ID 13 is 37.8 meters away at (-24.5, 28.8). A pedestrian with ID 22 is 39.7 meters away at (-8.4, 38.8). A vehicle with ID 26 is 41.9 meters away at (5.5, -41.6). A pedestrian with ID 24 is 45.9 meters away at (-27.8, 36.5). A vehicle with ID 15 is 51.9 meters away at (1.2, 51.9). A pedestrian with ID 27 is 53.9 meters away at (-37.8, 38.4). A pedestrian with ID 1 is 59.2 meters away at (15.3, 57.2).

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 [1.0986425 1.0316585] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.95841515 0.9610433 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.34397325 -1.1394173 ] 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 [-1.0069203   0.22318965] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.38260892 -8.68897   ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1406367   0.34964928] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.70805895 -1.00836   ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -6.4) m/s. Its current heading (yaw) is -2.17

The most relevant actors are: A vehicle with ID 69 is 13.6 meters away at (2.5, 13.3). A vehicle with ID 79 is 16.8 meters away at (16.8, 0.1). A vehicle with ID 76 is 18.1 meters away at (17.9, 2.4). A vehicle with ID 75 is 19.8 meters away at (19.3, 4.5). A vehicle with ID 34 is 20.0 meters away at (-14.5, -13.8). A vehicle with ID 70 is 21.1 meters away at (7.4, 19.7). A vehicle with ID 77 is 22.2 meters away at (21.0, 7.1). A vehicle with ID 78 is 24.3 meters away at (22.4, 9.4). A pedestrian with ID 72 is 24.8 meters away at (9.2, 23.0). A pedestrian with ID 73 is 25.3 meters away at (8.8, 23.7).

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 76 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 34 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.05372221 0.03381623] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.00844798 -0.00166568] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -6.9) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A vehicle with ID 34 is 5.5 meters away at (-5.5, -0.4). A vehicle with ID 33 is 14.8 meters away at (-11.8, -9.0). A vehicle with ID 35 is 21.9 meters away at (-16.0, -14.9). A vehicle with ID 40 is 26.4 meters away at (24.0, 11.1). A vehicle with ID 36 is 27.9 meters away at (-19.3, -20.1). A vehicle with ID 79 is 29.0 meters away at (25.7, 13.5). A vehicle with ID 69 is 29.1 meters away at (11.5, 26.7). A vehicle with ID 65 is 30.2 meters away at (8.8, -28.9). A vehicle with ID 76 is 31.2 meters away at (26.9, 15.8). A vehicle with ID 75 is 33.5 meters away at (28.3, 17.8).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -6.8) m/s. Its current heading (yaw) is -2.13

The most relevant actors are: A vehicle with ID 33 is 5.3 meters away at (-3.0, 4.4). A vehicle with ID 35 is 7.4 meters away at (-7.2, -1.5). A vehicle with ID 36 is 12.3 meters away at (-10.5, -6.5). A vehicle with ID 34 is 13.5 meters away at (3.3, 13.1). A vehicle with ID 67 is 19.6 meters away at (-14.8, -12.9). A vehicle with ID 65 is 23.5 meters away at (17.7, -15.5). A vehicle with ID 91 is 24.5 meters away at (8.5, -22.9). A vehicle with ID 29 is 26.5 meters away at (-18.6, -18.8). A vehicle with ID 61 is 30.9 meters away at (12.4, -28.3). A vehicle with ID 68 is 31.0 meters away at (-10.5, -29.2).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -6.3) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A vehicle with ID 67 is 6.4 meters away at (-6.4, -0.2). A vehicle with ID 36 is 6.4 meters away at (-2.2, 6.0). A vehicle with ID 35 is 11.3 meters away at (1.1, 11.2). A vehicle with ID 29 is 11.9 meters away at (-10.3, -6.1). A pedestrian with ID 26 is 16.5 meters away at (-13.9, -9.0). A vehicle with ID 68 is 16.6 meters away at (-2.1, -16.5). A vehicle with ID 33 is 17.9 meters away at (5.4, 17.1). A vehicle with ID 91 is 19.7 meters away at (16.9, -10.1). A vehicle with ID 65 is 26.3 meters away at (26.1, -2.8). A vehicle with ID 13 is 26.9 meters away at (-7.9, -25.7).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.01691095 -0.01066038] m/s.The vehicle with ID 68 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 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -0.2) m/s. Its current heading (yaw) is -0.02

The most relevant actors are: A vehicle with ID 35 is 9.4 meters away at (0.9, -9.4). A vehicle with ID 37 is 10.2 meters away at (3.5, -9.5). A vehicle with ID 46 is 11.9 meters away at (5.9, 10.4). A vehicle with ID 51 is 22.6 meters away at (-1.1, -22.5). A vehicle with ID 49 is 22.7 meters away at (-3.8, -22.3). A vehicle with ID 39 is 23.0 meters away at (20.5, -10.4). A vehicle with ID 23 is 25.6 meters away at (8.7, -24.1). A vehicle with ID 45 is 26.6 meters away at (-14.6, -22.2). A vehicle with ID 41 is 27.6 meters away at (-25.4, 10.8). A vehicle with ID 42 is 30.8 meters away at (-28.4, -12.0).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 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 49 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -0.6) m/s. Its current heading (yaw) is -0.07

The most relevant actors are: A vehicle with ID 39 is 10.9 meters away at (4.7, -9.9). A vehicle with ID 46 is 14.6 meters away at (-9.9, 10.7). A vehicle with ID 37 is 15.3 meters away at (-12.2, -9.2). A vehicle with ID 35 is 17.4 meters away at (-14.8, -9.0). A vehicle with ID 53 is 18.2 meters away at (14.6, 10.8). A vehicle with ID 40 is 19.1 meters away at (13.0, -14.0). A vehicle with ID 23 is 24.7 meters away at (-7.0, -23.7). A vehicle with ID 55 is 25.2 meters away at (22.6, 11.1). A unknown object with ID 33 is 26.1 meters away at (21.0, 15.6). A vehicle with ID 51 is 27.9 meters away at (-16.9, -22.2).

The vehicle with ID 39 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -3.3) m/s. Its current heading (yaw) is -0.47

The most relevant actors are: A vehicle with ID 40 is 10.9 meters away at (-1.2, -10.8). A vehicle with ID 39 is 11.7 meters away at (-9.5, -6.7). A vehicle with ID 53 is 14.1 meters away at (0.3, 14.1). A vehicle with ID 58 is 15.6 meters away at (15.5, -0.9). A vehicle with ID 55 is 16.5 meters away at (8.2, 14.3). A vehicle with ID 57 is 26.4 meters away at (22.1, 14.4). A vehicle with ID 37 is 27.2 meters away at (-26.5, -6.1). A vehicle with ID 46 is 28.0 meters away at (-24.3, 13.9). A vehicle with ID 23 is 29.6 meters away at (-21.2, -20.6). A unknown object with ID 14 is 29.7 meters away at (27.4, -11.4).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.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 [-4.4718657  4.984345 ] 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 37 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -6.2) m/s. Its current heading (yaw) is -0.98

The most relevant actors are: A vehicle with ID 40 is 12.2 meters away at (-12.1, -1.4). A unknown object with ID 14 is 16.5 meters away at (16.4, -2.0). A vehicle with ID 58 is 16.9 meters away at (-7.3, 15.2). A vehicle with ID 39 is 20.7 meters away at (-20.5, 2.7). A vehicle with ID 55 is 24.0 meters away at (-2.6, 23.9). A vehicle with ID 53 is 25.8 meters away at (-10.6, 23.6). A vehicle with ID 38 is 26.1 meters away at (-0.2, -26.1). A vehicle with ID 57 is 26.4 meters away at (11.1, 23.9). A vehicle with ID 12 is 27.4 meters away at (-14.1, -23.6). A vehicle with ID 36 is 28.8 meters away at (-0.2, -28.8).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-7.254717  1.573993] m/s.The vehicle with ID 39 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 38 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 12 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -0.6) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 23 is 3.4 meters away at (-3.2, 1.2). A vehicle with ID 27 is 6.7 meters away at (1.5, 6.5). A unknown object with ID 18 is 8.1 meters away at (5.5, -6.0). A vehicle with ID 26 is 10.1 meters away at (-6.4, -7.8). A vehicle with ID 31 is 12.5 meters away at (5.6, 11.2). A pedestrian with ID 34 is 16.7 meters away at (-8.8, -14.2). A vehicle with ID 48 is 19.9 meters away at (17.3, 9.8). A vehicle with ID 46 is 20.1 meters away at (10.5, 17.1). A vehicle with ID 58 is 26.2 meters away at (14.6, 21.8). A vehicle with ID 60 is 26.5 meters away at (21.7, 15.1).

The vehicle with ID 23 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.3494308  -0.67593473] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 -2.29

The most relevant actors are: A vehicle with ID 23 is 3.3 meters away at (-2.9, 1.6). A vehicle with ID 27 is 7.1 meters away at (1.8, 6.9). A unknown object with ID 18 is 8.1 meters away at (6.0, -5.5). A vehicle with ID 26 is 9.6 meters away at (-6.0, -7.5). A vehicle with ID 31 is 12.9 meters away at (5.9, 11.5). A pedestrian with ID 34 is 16.2 meters away at (-5.7, -15.1). A vehicle with ID 48 is 20.3 meters away at (17.6, 10.2). A vehicle with ID 46 is 20.6 meters away at (10.9, 17.5). A vehicle with ID 58 is 26.8 meters away at (14.9, 22.2). A vehicle with ID 60 is 27.0 meters away at (22.1, 15.5).

The vehicle with ID 23 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.4192873 -0.6906719] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 -2.29

The most relevant actors are: A vehicle with ID 23 is 3.3 meters away at (-2.8, 1.6). A vehicle with ID 27 is 7.2 meters away at (1.8, 6.9). A unknown object with ID 18 is 8.1 meters away at (6.0, -5.5). A vehicle with ID 26 is 11.9 meters away at (-7.6, -9.1). A vehicle with ID 31 is 13.1 meters away at (6.0, 11.6). A pedestrian with ID 34 is 16.3 meters away at (-2.8, -16.0). A vehicle with ID 48 is 20.4 meters away at (17.7, 10.3). A vehicle with ID 46 is 20.8 meters away at (11.0, 17.6). A vehicle with ID 58 is 26.9 meters away at (15.0, 22.3). A vehicle with ID 60 is 27.1 meters away at (22.1, 15.6).

The vehicle with ID 23 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-1.5973525 -1.6218369] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.4113369  -0.36405993] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -1.7) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 23 is 3.5 meters away at (-1.4, 3.2). A unknown object with ID 18 is 8.3 meters away at (7.4, -3.9). A vehicle with ID 27 is 9.2 meters away at (3.3, 8.6). A pedestrian with ID 34 is 15.0 meters away at (1.5, -14.9). A vehicle with ID 31 is 15.3 meters away at (7.5, 13.3). A vehicle with ID 26 is 15.6 meters away at (-10.7, -11.4). A pedestrian with ID 4 is 19.5 meters away at (7.4, -18.1). A vehicle with ID 48 is 22.5 meters away at (19.1, 11.9). A vehicle with ID 46 is 22.9 meters away at (12.4, 19.2). A pedestrian with ID 45 is 24.1 meters away at (-5.6, -23.4).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [1.3893977  0.06077665] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.7172868 -1.6921719] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.2167021   0.28721726] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [1.1355196 1.1475053] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 4.8) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A unknown object with ID 105 is 8.9 meters away at (-8.3, -3.4). A pedestrian with ID 102 is 12.0 meters away at (12.0, 0.8). A pedestrian with ID 106 is 12.9 meters away at (-9.5, -8.8). A unknown object with ID 111 is 15.5 meters away at (-10.7, 11.2). A vehicle with ID 101 is 17.4 meters away at (6.7, -16.1). A vehicle with ID 32 is 18.5 meters away at (14.1, -12.0). A vehicle with ID 35 is 21.7 meters away at (-17.3, 13.1). A pedestrian with ID 108 is 24.1 meters away at (-6.2, -23.3). A vehicle with ID 103 is 24.2 meters away at (20.5, -12.8). A pedestrian with ID 109 is 24.2 meters away at (-8.0, -22.8).

The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [-0.9186207  1.066495 ] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [-0.00064671  0.01174574] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.5828094  4.0925465] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-7.6153398  4.82113  ] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [ 0.39299455 -0.51387453] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-0.04894611  0.03410892] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-8.262603  -3.4006453], 8.935043334960938 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 5.0) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A unknown object with ID 111 is 2.7 meters away at (2.4, 1.3). A unknown object with ID 92 is 8.4 meters away at (-5.3, 6.5). A pedestrian with ID 117 is 8.8 meters away at (-1.8, 8.6). A pedestrian with ID 114 is 8.9 meters away at (-1.0, 8.9). A unknown object with ID 105 is 14.1 meters away at (4.7, -13.3). A unknown object with ID 69 is 17.1 meters away at (-13.0, 11.1). A pedestrian with ID 119 is 18.6 meters away at (-11.0, 14.9). A unknown object with ID 90 is 18.7 meters away at (17.5, -6.5). A pedestrian with ID 106 is 18.9 meters away at (3.5, -18.6). A vehicle with ID 32 is 21.1 meters away at (16.9, -12.7).

The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [ 0.6193603  -0.44276994] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [ 0.57919264 -0.3673611 ] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [-1.2623652   0.51956314] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [-0.07928247 -0.00533399] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-6.007496   5.0574164] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [2.3705044 1.3025475], 2.7047958374023438 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 4.8) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A unknown object with ID 69 is 2.7 meters away at (2.4, 1.2). A unknown object with ID 93 is 5.6 meters away at (-4.2, -3.6). A pedestrian with ID 119 is 6.7 meters away at (2.2, 6.3). A unknown object with ID 64 is 7.7 meters away at (-5.2, 5.7). A unknown object with ID 88 is 9.4 meters away at (3.9, -8.5). A unknown object with ID 92 is 10.7 meters away at (10.1, -3.3). A unknown object with ID 83 is 12.5 meters away at (-12.4, 1.3). A pedestrian with ID 117 is 15.4 meters away at (15.3, -2.3). A pedestrian with ID 114 is 16.0 meters away at (15.9, -1.6). A unknown object with ID 74 is 16.9 meters away at (-13.3, 10.5).

The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [-1.1572226  0.6639363] 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 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [ 0.76280504 -0.43863013] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [ 0.74969256 -0.44754377] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-12.357399   4.873585]
 [-13.293896   4.079414]]

Instruction: Continue straight.

(The closest actor is a unknown object at [2.3508644 1.2433052], 2.659393072128296 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 5.0) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A unknown object with ID 74 is 3.4 meters away at (3.3, 0.5). A vehicle with ID 59 is 3.7 meters away at (-3.2, -1.9). A unknown object with ID 54 is 5.4 meters away at (-3.5, -4.2). A unknown object with ID 94 is 6.8 meters away at (-4.5, 5.1). A unknown object with ID 83 is 9.6 meters away at (4.2, -8.7). A unknown object with ID 64 is 12.2 meters away at (11.5, -4.2). A unknown object with ID 99 is 15.8 meters away at (-12.4, 9.8). A pedestrian with ID 119 is 16.9 meters away at (16.7, -2.3). A unknown object with ID 97 is 20.1 meters away at (-19.4, 5.1). A unknown object with ID 69 is 21.0 meters away at (19.1, -8.6).

The unknown object with ID 74 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 [12.126269  -7.2257657] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 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 pedestrian with ID 119 is traveling at a (x, y) velocity of [-1.1171738   0.61094236] 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 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [3.3245392 0.5439415], 3.368743658065796 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -2.5) m/s. Its current heading (yaw) is -1.66

The most relevant actors are: A vehicle with ID 10 is 26.2 meters away at (23.4, -11.8). A unknown object with ID 5 is 33.7 meters away at (-29.8, 15.7). A pedestrian with ID 15 is 39.5 meters away at (-37.7, -11.6). A pedestrian with ID 11 is 48.4 meters away at (45.9, -15.4). A pedestrian with ID 12 is 48.9 meters away at (46.0, -16.8). A pedestrian with ID 13 is 51.6 meters away at (49.1, -15.9). A pedestrian with ID 14 is 51.9 meters away at (49.0, -17.0). A vehicle with ID 17 is 75.4 meters away at (-74.4, 12.6).

The vehicle with ID 10 is traveling at a (x, y) velocity of [5.0637164 0.9038125] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.1242377  0.4816848] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.3308185   0.04103203] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.2783457   0.08132093] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.4593357  -0.01055902] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.39302     0.02451373] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -2.2) m/s. Its current heading (yaw) is -0.83

The most relevant actors are: A vehicle with ID 10 is 31.3 meters away at (31.3, -2.3). A pedestrian with ID 15 is 41.8 meters away at (-41.5, -5.1). A pedestrian with ID 11 is 43.3 meters away at (42.3, -9.4). A pedestrian with ID 12 is 43.7 meters away at (42.3, -10.8). A pedestrian with ID 14 is 46.3 meters away at (45.0, -11.1). A pedestrian with ID 13 is 46.4 meters away at (45.2, -10.3). A pedestrian with ID 2 is 60.4 meters away at (59.7, 9.0). A pedestrian with ID 3 is 60.8 meters away at (60.3, 8.1). A vehicle with ID 17 is 78.0 meters away at (-75.8, 18.2).

The vehicle with ID 10 is traveling at a (x, y) velocity of [4.016018  3.2563252] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.326992   0.4390714] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0142674  0.4898547] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.89080465  0.561389  ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0540574  0.565891 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.0418969   0.59537417] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.9643232  -0.49784005] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.90324754 -0.45986977] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.1) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A vehicle with ID 10 is 34.3 meters away at (33.4, 8.0). A pedestrian with ID 11 is 35.9 meters away at (35.5, -5.7). A pedestrian with ID 12 is 36.4 meters away at (35.7, -7.3). A pedestrian with ID 14 is 38.4 meters away at (37.7, -7.1). A pedestrian with ID 13 is 38.4 meters away at (37.9, -6.3). A pedestrian with ID 15 is 49.0 meters away at (-48.9, -2.4). A pedestrian with ID 2 is 54.0 meters away at (52.9, 10.9). A pedestrian with ID 3 is 54.2 meters away at (53.3, 10.1).

The vehicle with ID 10 is traveling at a (x, y) velocity of [3.2982793 3.539956 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.32936376  0.13066626] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.65232104  0.3440366 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.1174195   0.35797715] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.1285715  0.4133975] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.1255987  -0.08509515] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.868756   -0.68921256] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.97686446 -0.61195993] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -1.1) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A pedestrian with ID 11 is 28.1 meters away at (28.0, -3.1). A pedestrian with ID 12 is 28.3 meters away at (27.9, -4.4). A pedestrian with ID 13 is 29.8 meters away at (29.5, -3.7). A pedestrian with ID 14 is 29.8 meters away at (29.4, -4.9). A vehicle with ID 10 is 37.5 meters away at (33.5, 16.8). A vehicle with ID 9 is 38.3 meters away at (34.1, 17.5). A pedestrian with ID 2 is 46.9 meters away at (45.2, 12.6). A pedestrian with ID 3 is 47.1 meters away at (45.7, 11.8). A vehicle with ID 1 is 47.5 meters away at (44.3, 17.1).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0042727   0.07387361] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.8990709   0.16940656] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.9865781   0.12184916] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.9830218   0.12493555] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.6642208 2.7342114] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [2.96324   2.8926268] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.91285694 -0.5692814 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.86954874 -0.63586104] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.409651  -3.7902787] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.4) m/s. Its current heading (yaw) is -0.30

The most relevant actors are: A unknown object with ID 11 is 7.4 meters away at (-7.1, -2.3). A pedestrian with ID 1 is 7.9 meters away at (4.9, -6.3). A vehicle with ID 14 is 69.6 meters away at (-47.6, -50.8). A vehicle with ID 15 is 70.3 meters away at (-49.8, -49.6).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.225889   -0.46451268] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-7.0746202 -2.261915 ], 7.4274163246154785 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 0.4) m/s. Its current heading (yaw) is 0.13

The most relevant actors are: A pedestrian with ID 1 is 7.4 meters away at (3.0, -6.8). A unknown object with ID 11 is 11.5 meters away at (-11.4, -1.8).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.0079691 -0.4439725] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [ 3.005268 -6.815398], 7.4485764503479 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.3) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A pedestrian with ID 1 is 12.5 meters away at (-2.9, -12.1). A unknown object with ID 8 is 18.5 meters away at (-17.7, -5.5). A unknown object with ID 11 is 20.6 meters away at (-19.7, -6.0).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.2310094  -0.47196594] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 4.7) m/s. Its current heading (yaw) is 1.03

The most relevant actors are: A unknown object with ID 9 is 21.5 meters away at (-10.1, 19.0). A pedestrian with ID 1 is 23.6 meters away at (-6.5, -22.7). A unknown object with ID 11 is 30.1 meters away at (-25.6, -15.8).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.1568251 -0.4712659] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-10.09744   19.031391], 21.544189453125 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -2.5) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A vehicle with ID 84 is 3.1 meters away at (-1.7, -2.5). A vehicle with ID 87 is 5.0 meters away at (3.0, -4.1). A vehicle with ID 85 is 6.1 meters away at (1.2, 6.0). A vehicle with ID 88 is 7.5 meters away at (6.0, 4.4). A unknown object with ID 86 is 7.5 meters away at (-0.8, -7.5). A unknown object with ID 83 is 9.5 meters away at (-3.0, 9.1). A vehicle with ID 100 is 11.5 meters away at (11.5, -0.6). A vehicle with ID 81 is 12.3 meters away at (-12.3, 1.0). A vehicle with ID 104 is 32.1 meters away at (29.5, -12.6). A vehicle with ID 31 is 34.2 meters away at (-32.6, 10.3).

The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [-8.433354   2.7241685] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 4.1236525 -1.4602461] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -2.7) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 87 is 11.7 meters away at (-11.7, 0.8). A vehicle with ID 88 is 12.7 meters away at (-8.7, 9.3). A unknown object with ID 86 is 15.8 meters away at (-15.6, -2.6). A vehicle with ID 104 is 16.5 meters away at (14.7, -7.6). A vehicle with ID 84 is 16.9 meters away at (-16.7, 2.4). A vehicle with ID 85 is 17.5 meters away at (-13.7, 10.8). A vehicle with ID 100 is 20.4 meters away at (-18.2, 9.2). A vehicle with ID 73 is 25.2 meters away at (19.1, 16.4). A vehicle with ID 81 is 27.7 meters away at (-27.1, 6.0). A vehicle with ID 80 is 28.0 meters away at (25.6, -11.3).

The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 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 [-6.0570717  1.9704998] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -2.6) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 104 is 2.8 meters away at (-1.1, -2.6). A vehicle with ID 80 is 11.6 meters away at (9.7, -6.3). A vehicle with ID 32 is 19.5 meters away at (19.5, -0.0). A unknown object with ID 53 is 21.1 meters away at (17.4, 11.9). A unknown object with ID 45 is 21.7 meters away at (17.6, 12.8). A vehicle with ID 73 is 21.7 meters away at (3.3, 21.5). A pedestrian with ID 50 is 23.1 meters away at (18.0, 14.5). A pedestrian with ID 38 is 23.4 meters away at (19.4, -13.2). A vehicle with ID 30 is 24.3 meters away at (24.3, -1.7). A unknown object with ID 69 is 26.5 meters away at (18.2, 19.2).

The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.00903929 0.00301131] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.4126309   0.38836598] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object 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 (7.1, -2.3) m/s. Its current heading (yaw) is -0.31

The most relevant actors are: A vehicle with ID 80 is 5.1 meters away at (-4.8, -1.7). A vehicle with ID 32 is 6.7 meters away at (4.8, 4.6). A pedestrian with ID 38 is 7.5 meters away at (1.3, -7.4). A vehicle with ID 30 is 10.0 meters away at (9.6, 3.0). A vehicle with ID 43 is 14.0 meters away at (12.1, -7.0). A vehicle with ID 104 is 16.0 meters away at (-15.8, 2.1). A vehicle with ID 70 is 17.8 meters away at (-4.0, -17.4). A vehicle with ID 20 is 19.1 meters away at (17.0, -8.7). A vehicle with ID 15 is 24.2 meters away at (21.9, -10.3). A vehicle with ID 17 is 24.9 meters away at (24.8, -1.9).

The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.7161205  0.4664504] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 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, 5.6) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A unknown object with ID 62 is 6.7 meters away at (-6.2, -2.5). A unknown object with ID 63 is 6.9 meters away at (-6.8, -1.2). A unknown object with ID 60 is 7.5 meters away at (-6.0, -4.5). A unknown object with ID 61 is 9.7 meters away at (-8.4, -4.7). A pedestrian with ID 71 is 13.5 meters away at (10.8, -8.1). A pedestrian with ID 58 is 14.2 meters away at (11.5, -8.3). A pedestrian with ID 83 is 14.4 meters away at (-0.4, 14.4). A unknown object with ID 64 is 21.4 meters away at (-11.1, -18.3). A unknown object with ID 65 is 21.5 meters away at (-12.4, -17.5). A unknown object with ID 85 is 22.0 meters away at (3.8, 21.6).

The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.4059108 1.0085301] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.41013682 1.0198823 ] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.46802253 -1.1997948 ] 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 65 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-6.2292156 -2.5493317], 6.730692386627197 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.5) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A pedestrian with ID 83 is 5.3 meters away at (-5.3, 0.8). A unknown object with ID 85 is 10.5 meters away at (0.1, 10.5). A unknown object with ID 87 is 10.8 meters away at (-0.6, 10.8). A unknown object with ID 63 is 16.1 meters away at (-10.4, -12.3). A unknown object with ID 62 is 16.9 meters away at (-10.0, -13.6). A unknown object with ID 60 is 18.4 meters away at (-9.8, -15.6). A pedestrian with ID 27 is 18.8 meters away at (8.0, -17.0). A pedestrian with ID 71 is 18.8 meters away at (8.0, -17.0). A pedestrian with ID 58 is 19.4 meters away at (8.8, -17.3). A pedestrian with ID 81 is 19.7 meters away at (18.8, 5.9).

The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.52261984 -1.2520214 ] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 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 62 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 pedestrian with ID 27 is traveling at a (x, y) velocity of [0.5605031 0.9864677] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.5078878 1.0310591] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.51264405 1.0611432 ] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.67505735 0.80149096] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 4.4) m/s. Its current heading (yaw) is 1.34

The most relevant actors are: A unknown object with ID 85 is 2.9 meters away at (-2.9, 0.5). A unknown object with ID 31 is 3.3 meters away at (-3.3, 0.7). A unknown object with ID 87 is 3.7 meters away at (-3.6, 0.8). A pedestrian with ID 83 is 15.1 meters away at (-9.4, -11.8). A pedestrian with ID 81 is 17.5 meters away at (17.3, -3.0). A pedestrian with ID 27 is 25.7 meters away at (5.9, -25.1). A unknown object with ID 4 is 25.8 meters away at (-9.1, 24.2). A unknown object with ID 3 is 25.9 meters away at (-8.8, 24.4). A unknown object with ID 63 is 26.1 meters away at (-13.5, -22.3). A pedestrian with ID 58 is 26.2 meters away at (6.7, -25.3).

The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.41513315 -1.1428032 ] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.8416411 0.5956075] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.44534713 1.0731372 ] 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.4623271 1.0835472] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-2.8870993  0.5032387], 2.9306299686431885 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 2.8) m/s. Its current heading (yaw) is 1.57

The most relevant actors are: A unknown object with ID 31 is 7.5 meters away at (-3.9, -6.4). A unknown object with ID 85 is 7.5 meters away at (-4.1, -6.3). A unknown object with ID 87 is 7.6 meters away at (-4.6, -6.1). A vehicle with ID 14 is 13.6 meters away at (-11.3, 7.6). A unknown object with ID 6 is 19.4 meters away at (-11.7, 15.5). A unknown object with ID 5 is 19.5 meters away at (-10.6, 16.4). A unknown object with ID 3 is 20.0 meters away at (-9.8, 17.4). A unknown object with ID 4 is 20.0 meters away at (-10.2, 17.2). A pedestrian with ID 81 is 20.4 meters away at (18.2, -9.1). A unknown object with ID 7 is 20.6 meters away at (-13.6, 15.4).

The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 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 pedestrian with ID 81 is traveling at a (x, y) velocity of [0.9647441 0.3484848] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-3.911941 -6.398041], 7.499213695526123 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.51

The most relevant actors are: A unknown object with ID 103 is 9.0 meters away at (-7.6, 4.8). A unknown object with ID 104 is 9.2 meters away at (-7.3, 5.5). A unknown object with ID 105 is 9.7 meters away at (-9.1, 3.2). A unknown object with ID 108 is 10.1 meters away at (-8.1, 6.1). A unknown object with ID 109 is 10.9 meters away at (-9.2, 5.7). A vehicle with ID 115 is 11.0 meters away at (-4.8, -9.9). A vehicle with ID 12 is 11.1 meters away at (-8.3, -7.4). A unknown object with ID 111 is 11.3 meters away at (-11.3, 0.4). A unknown object with ID 112 is 11.8 meters away at (-9.5, 7.0). A unknown object with ID 113 is 13.6 meters away at (-11.0, 7.9).

The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 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 115 is traveling at a (x, y) velocity of [0.58233285 0.64006895] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-7.5927706  4.8096423], 8.987926483154297 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.2) m/s. Its current heading (yaw) is -2.51

The most relevant actors are: A unknown object with ID 103 is 8.8 meters away at (-7.1, 5.2). A vehicle with ID 115 is 8.9 meters away at (-3.2, -8.4). A unknown object with ID 104 is 9.0 meters away at (-6.7, 5.9). A unknown object with ID 105 is 9.3 meters away at (-8.6, 3.7). A unknown object with ID 108 is 10.0 meters away at (-7.6, 6.5). A unknown object with ID 109 is 10.6 meters away at (-8.7, 6.1). A unknown object with ID 111 is 10.9 meters away at (-10.8, 0.8). A vehicle with ID 12 is 11.6 meters away at (-8.2, -8.2). A unknown object with ID 112 is 11.6 meters away at (-8.9, 7.4). A unknown object with ID 114 is 13.4 meters away at (-1.7, -13.2).

The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0.9513536 1.0026512] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 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 unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.46245483 -1.2671183 ] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-7.1341124  5.228416 ], 8.844879150390625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -1.5) m/s. Its current heading (yaw) is -2.33

The most relevant actors are: A vehicle with ID 115 is 4.6 meters away at (0.6, -4.5). A unknown object with ID 103 is 8.7 meters away at (-5.6, 6.6). A unknown object with ID 105 is 8.7 meters away at (-7.1, 5.1). A unknown object with ID 104 is 9.0 meters away at (-5.2, 7.4). A unknown object with ID 111 is 9.6 meters away at (-9.3, 2.2). A unknown object with ID 108 is 9.9 meters away at (-6.0, 7.9). A unknown object with ID 109 is 10.5 meters away at (-7.2, 7.6). A unknown object with ID 112 is 11.6 meters away at (-7.4, 8.9). A unknown object with ID 117 is 11.7 meters away at (-11.7, -1.1). A vehicle with ID 96 is 12.1 meters away at (-2.3, -11.9).

The vehicle with ID 115 is traveling at a (x, y) velocity of [1.1292123 1.2673696] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -3.1) m/s. Its current heading (yaw) is -2.25

The most relevant actors are: A vehicle with ID 115 is 7.2 meters away at (6.5, 3.0). A vehicle with ID 96 is 7.4 meters away at (1.8, -7.2). A vehicle with ID 93 is 7.5 meters away at (-6.6, -3.4). A unknown object with ID 117 is 8.4 meters away at (-7.5, 3.6). A unknown object with ID 111 is 8.6 meters away at (-5.2, 6.9). A unknown object with ID 121 is 10.1 meters away at (-10.0, 1.0). A unknown object with ID 105 is 10.3 meters away at (-3.0, 9.9). A unknown object with ID 103 is 11.5 meters away at (-1.5, 11.4). A unknown object with ID 104 is 12.2 meters away at (-1.1, 12.2). A unknown object with ID 109 is 12.9 meters away at (-3.1, 12.5).

The vehicle with ID 115 is traveling at a (x, y) velocity of [0.7039286 1.7134402] m/s.The vehicle with ID 96 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 unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 1.6) m/s. Its current heading (yaw) is 2.68

The most relevant actors are: A pedestrian with ID 30 is 6.8 meters away at (1.4, 6.6). A pedestrian with ID 29 is 8.3 meters away at (7.5, 3.6). A pedestrian with ID 31 is 9.9 meters away at (5.0, 8.5). A vehicle with ID 32 is 19.9 meters away at (12.3, -15.7). A vehicle with ID 41 is 21.4 meters away at (-16.0, -14.2). A vehicle with ID 34 is 25.7 meters away at (18.9, -17.4). A vehicle with ID 35 is 27.1 meters away at (26.8, -4.2). A pedestrian with ID 36 is 27.6 meters away at (27.4, -3.3). A vehicle with ID 28 is 28.0 meters away at (-27.6, 4.8). A vehicle with ID 39 is 29.6 meters away at (-29.5, 1.5).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.00098754 0.0066162 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.008567    0.15386105] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.00423458 0.00558044] m/s.The vehicle with ID 32 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.06244424  0.03706744] m/s.The vehicle with ID 28 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 [ 0.9668008 -0.3160837] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 3.7) m/s. Its current heading (yaw) is 2.01

The most relevant actors are: A pedestrian with ID 30 is 7.0 meters away at (6.8, 1.7). A pedestrian with ID 31 is 11.1 meters away at (10.5, 3.6). A pedestrian with ID 29 is 13.0 meters away at (13.0, -1.3). A vehicle with ID 39 is 19.1 meters away at (-18.3, -5.4). A vehicle with ID 28 is 19.3 meters away at (-19.2, -1.1). A vehicle with ID 41 is 21.9 meters away at (-10.4, -19.3). A vehicle with ID 32 is 27.2 meters away at (17.9, -20.6). A vehicle with ID 34 is 33.1 meters away at (24.5, -22.3). A pedestrian with ID 36 is 33.6 meters away at (32.6, -8.2). A vehicle with ID 35 is 33.7 meters away at (32.5, -9.1).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.00619444 0.02202707] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.00424234 0.01796871] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.05056269 0.0077448 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 4.54276   -1.3970622] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 2.9969857 -0.6115384] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 [-0.01024926  0.00851683] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [6.839816  1.6869726], 7.044782638549805 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 4.8) m/s. Its current heading (yaw) is 1.31

The most relevant actors are: A pedestrian with ID 30 is 10.3 meters away at (7.5, -7.1). A pedestrian with ID 31 is 12.5 meters away at (11.3, -5.3). A vehicle with ID 28 is 14.7 meters away at (-10.8, -10.0). A pedestrian with ID 29 is 17.1 meters away at (13.8, -10.1). A vehicle with ID 39 is 18.9 meters away at (-6.1, -17.9). A vehicle with ID 41 is 29.7 meters away at (-9.7, -28.1). A vehicle with ID 32 is 34.9 meters away at (18.5, -29.5). A vehicle with ID 35 is 37.7 meters away at (33.2, -18.0). A vehicle with ID 34 is 40.1 meters away at (25.1, -31.3). A vehicle with ID 49 is 49.7 meters away at (-49.1, -7.7).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.0070533  -0.01148459] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.01132911 -0.04331951] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [4.304077  1.1935767] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.03819646 -0.01676975] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 6.7019396 -2.0768504] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 (2.4, 4.1) m/s. Its current heading (yaw) is 1.03

The most relevant actors are: A vehicle with ID 28 is 15.9 meters away at (-7.2, -14.2). A pedestrian with ID 30 is 16.2 meters away at (3.5, -15.8). A vehicle with ID 39 is 31.5 meters away at (4.4, -31.2). A vehicle with ID 41 is 39.4 meters away at (-13.8, -36.9). A vehicle with ID 2 is 44.2 meters away at (5.4, 43.9). A vehicle with ID 3 is 49.8 meters away at (7.1, 49.3). A pedestrian with ID 20 is 51.7 meters away at (-12.2, -50.2). A vehicle with ID 4 is 52.7 meters away at (24.4, 46.7). A vehicle with ID 26 is 55.2 meters away at (9.2, 54.5). A vehicle with ID 49 is 55.8 meters away at (-53.4, -16.4).

The vehicle with ID 28 is traveling at a (x, y) velocity of [3.2142339 3.1681936] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.02732959 0.01785192] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 7.4942937 -2.203872 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [-2.9413935e-04  8.1402351e-05] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 (0.3, 2.2) m/s. Its current heading (yaw) is 1.46

The most relevant actors are: A unknown object with ID 21 is 9.4 meters away at (4.1, -8.5). A vehicle with ID 25 is 18.5 meters away at (-10.0, -15.6). A cyclist with ID 33 is 22.6 meters away at (-17.3, 14.6). A unknown object with ID 41 is 25.7 meters away at (18.8, 17.5). A unknown object with ID 40 is 26.1 meters away at (17.7, 19.1). A vehicle with ID 48 is 26.2 meters away at (-22.4, 13.6). A unknown object with ID 24 is 27.1 meters away at (17.1, 21.0). A unknown object with ID 30 is 27.1 meters away at (17.1, 21.1). A unknown object with ID 28 is 28.0 meters away at (27.6, -4.9). A unknown object with ID 43 is 28.4 meters away at (16.4, 23.1).

The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [-1.0972909   0.08452283] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-1.2080917  -0.33161443] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-14.652578  45.988266]
 [-13.284407  49.57901 ]]

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [ 4.087391 -8.494127], 9.426397323608398 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 3.5) m/s. Its current heading (yaw) is 1.91

The most relevant actors are: A unknown object with ID 21 is 15.0 meters away at (4.4, -14.4). A cyclist with ID 33 is 22.0 meters away at (-20.3, 8.6). A unknown object with ID 40 is 22.4 meters away at (18.1, 13.2). A unknown object with ID 41 is 22.4 meters away at (19.2, 11.6). A unknown object with ID 24 is 23.1 meters away at (17.5, 15.1). A unknown object with ID 30 is 23.2 meters away at (17.4, 15.3). A vehicle with ID 25 is 23.6 meters away at (-9.8, -21.5). A unknown object with ID 43 is 24.0 meters away at (16.8, 17.1). A vehicle with ID 48 is 27.8 meters away at (-27.3, 5.6). A cyclist with ID 26 is 29.7 meters away at (-6.8, 28.9).

The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [-2.5600004 -0.393361 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 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 [-4.0045233 -2.5686188] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [-1.1703277  1.8998994] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [  4.40299  -14.360744], 15.020563125610352 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 2.1) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A cyclist with ID 33 is 21.1 meters away at (-21.0, 1.8). A unknown object with ID 21 is 21.7 meters away at (8.3, -20.1). A unknown object with ID 40 is 23.1 meters away at (21.8, 7.6). A unknown object with ID 24 is 23.2 meters away at (21.2, 9.4). A unknown object with ID 30 is 23.3 meters away at (21.2, 9.6). A unknown object with ID 43 is 23.5 meters away at (20.6, 11.4). A unknown object with ID 41 is 23.7 meters away at (22.9, 6.0). A unknown object with ID 13 is 24.8 meters away at (24.4, 4.6). A cyclist with ID 26 is 24.8 meters away at (-3.7, 24.5). A unknown object with ID 17 is 25.5 meters away at (25.4, 2.3).

The cyclist with ID 33 is traveling at a (x, y) velocity of [-1.8642852 -0.4903247] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.01137748 -0.01092675] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-14.652578  45.988266]
 [-13.284407  49.57901 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 0.7) m/s. Its current heading (yaw) is 2.91

The most relevant actors are: A cyclist with ID 33 is 17.4 meters away at (-17.3, -1.5). A vehicle with ID 4 is 19.3 meters away at (-14.9, 12.2). A cyclist with ID 26 is 21.7 meters away at (1.7, 21.6). A vehicle with ID 19 is 22.5 meters away at (-18.6, 12.6). A vehicle with ID 7 is 26.5 meters away at (-26.4, -1.8). A unknown object with ID 43 is 27.4 meters away at (26.0, 8.6). A unknown object with ID 30 is 27.5 meters away at (26.6, 6.8). A unknown object with ID 24 is 27.5 meters away at (26.7, 6.6). A unknown object with ID 40 is 27.7 meters away at (27.2, 4.9). A unknown object with ID 41 is 28.6 meters away at (28.4, 3.2).

The cyclist with ID 33 is traveling at a (x, y) velocity of [-0.39544216 -0.10975679] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ -6.428537 -11.343719] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.02567871 -0.01295856] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ -7.3918824 -14.001595 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -8.213955 -13.503115] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-14.652578  45.988266]
 [-13.284407  49.57901 ]]

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 -0.56

The most relevant actors are: A unknown object with ID 12 is 2.9 meters away at (-2.7, -0.9). A unknown object with ID 14 is 3.4 meters away at (1.0, -3.3). A vehicle with ID 15 is 4.1 meters away at (0.5, 4.1). A unknown object with ID 13 is 6.6 meters away at (-6.4, 1.6). A pedestrian with ID 24 is 7.0 meters away at (-6.0, -3.6). A pedestrian with ID 26 is 8.1 meters away at (-8.0, -1.4). A pedestrian with ID 16 is 8.8 meters away at (-0.1, -8.8). A vehicle with ID 17 is 10.0 meters away at (-8.6, 5.2). A vehicle with ID 22 is 13.0 meters away at (-8.7, 9.7). A pedestrian with ID 21 is 15.4 meters away at (-15.3, 2.3).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.1927202   0.84759605] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.9894585  1.0304266] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [1.097153  0.1017226] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 0.6189364  -0.45621574] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.0505832  -0.69477254] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.56

The most relevant actors are: A unknown object with ID 12 is 2.9 meters away at (-2.7, -0.9). A unknown object with ID 14 is 3.4 meters away at (1.0, -3.3). A vehicle with ID 15 is 4.1 meters away at (0.5, 4.1). A unknown object with ID 13 is 6.6 meters away at (-6.4, 1.6). A pedestrian with ID 24 is 8.3 meters away at (-8.1, -1.7). A pedestrian with ID 16 is 8.5 meters away at (1.3, -8.4). A vehicle with ID 17 is 8.7 meters away at (-7.5, 4.5). A pedestrian with ID 26 is 10.3 meters away at (-10.3, 0.5). A vehicle with ID 22 is 13.0 meters away at (-8.7, 9.7). A pedestrian with ID 21 is 13.1 meters away at (-13.1, 1.0).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0957487  0.886936 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.4492408 0.3748428] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 0.6157691  -0.42902216] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.194689    0.87076956] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.0809866 -0.6937175] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.56

The most relevant actors are: A unknown object with ID 12 is 2.9 meters away at (-2.7, -0.9). A unknown object with ID 14 is 3.4 meters away at (1.0, -3.3). A vehicle with ID 15 is 4.1 meters away at (0.5, 4.1). A vehicle with ID 17 is 7.5 meters away at (-6.5, 3.8). A pedestrian with ID 16 is 8.2 meters away at (1.9, -8.0). A pedestrian with ID 24 is 10.1 meters away at (-10.1, 0.1). A pedestrian with ID 21 is 11.0 meters away at (-11.0, -0.5). A pedestrian with ID 23 is 11.6 meters away at (-11.5, -1.2). A pedestrian with ID 26 is 12.8 meters away at (-12.6, 2.1). A vehicle with ID 22 is 13.0 meters away at (-8.7, 9.6).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [ 0.27058238 -0.1935756 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.21572942 0.19618766] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0878005  0.879208 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.0659425  -0.69453704] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.0721451  -0.68762666] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.1792744  0.730724 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.56

The most relevant actors are: A unknown object with ID 12 is 2.9 meters away at (-2.7, -0.9). A unknown object with ID 14 is 3.4 meters away at (1.0, -3.3). A vehicle with ID 15 is 4.1 meters away at (0.5, 4.1). A unknown object with ID 2 is 6.6 meters away at (-6.4, 1.6). A vehicle with ID 17 is 7.2 meters away at (-6.2, 3.6). A pedestrian with ID 16 is 8.0 meters away at (2.3, -7.7). A pedestrian with ID 21 is 9.0 meters away at (-8.8, -1.9). A pedestrian with ID 23 is 9.7 meters away at (-9.3, -2.7). A pedestrian with ID 24 is 12.4 meters away at (-12.3, 1.4). A vehicle with ID 22 is 13.0 meters away at (-8.7, 9.6).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00710501 0.2367582 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.0827907  -0.77130187] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.0718238  -0.73545694] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.1602191   0.67040694] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching