The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, 3.5) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A vehicle with ID 25 is 13.9 meters away at (9.8, 9.9). A vehicle with ID 58 is 14.7 meters away at (10.8, -9.9). A pedestrian with ID 95 is 15.2 meters away at (-6.4, -13.8). A pedestrian with ID 30 is 15.8 meters away at (-5.8, -14.7). A pedestrian with ID 97 is 19.4 meters away at (-10.1, -16.6). A pedestrian with ID 96 is 19.7 meters away at (-9.6, -17.2). A vehicle with ID 31 is 21.3 meters away at (13.6, 16.5). A pedestrian with ID 85 is 22.0 meters away at (-10.8, -19.1). A unknown object with ID 76 is 23.7 meters away at (-14.4, -18.8). A vehicle with ID 36 is 23.7 meters away at (18.1, 15.3).

The vehicle with ID 25 is traveling at a (x, y) velocity of [1.0096483  0.65838414] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.0700425 -0.8647822] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.1090829  -0.80567735] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [-1.1891909 -0.7655842] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-1.2054459 -0.7154653] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.4781402  0.25161162] m/s.The unknown object with ID 76 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 (5.4, 3.4) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A vehicle with ID 25 is 3.8 meters away at (-0.1, 3.8). A vehicle with ID 31 is 10.0 meters away at (2.6, 9.7). A vehicle with ID 36 is 11.2 meters away at (7.2, 8.6). A vehicle with ID 58 is 16.7 meters away at (-0.1, -16.7). A vehicle with ID 37 is 18.4 meters away at (13.5, 12.5). A vehicle with ID 84 is 25.1 meters away at (16.7, 18.7). A vehicle with ID 1 is 27.1 meters away at (20.9, 17.4). A pedestrian with ID 95 is 29.7 meters away at (-19.6, -22.3). A pedestrian with ID 30 is 30.0 meters away at (-19.1, -23.1). A vehicle with ID 2 is 33.2 meters away at (26.3, 20.3).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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 37 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.1742504 -0.6836825] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.2081856 -0.6661303] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 3.1) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A vehicle with ID 6 is 33.3 meters away at (20.8, -26.0). A vehicle with ID 7 is 35.2 meters away at (20.1, -28.9). A unknown object with ID 10 is 37.8 meters away at (18.9, 32.7). A vehicle with ID 8 is 46.0 meters away at (33.7, -31.3). A vehicle with ID 4 is 49.9 meters away at (-23.3, 44.1). A pedestrian with ID 5 is 52.2 meters away at (-49.5, 16.7). A pedestrian with ID 3 is 57.2 meters away at (-53.6, 19.9). A unknown object with ID 12 is 58.9 meters away at (58.4, 7.7). A vehicle with ID 9 is 60.2 meters away at (-31.4, 51.4). A cyclist with ID 15 is 65.4 meters away at (51.8, -39.9).

The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-7.2803807  3.3914866] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.2456669 -0.4802018] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.77507484  0.3295394 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [ 1.7044612  -0.33583024] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 3.4) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A pedestrian with ID 5 is 37.2 meters away at (-35.9, 9.6). A unknown object with ID 10 is 40.1 meters away at (30.1, 26.5). A vehicle with ID 6 is 45.4 meters away at (31.9, -32.2). A pedestrian with ID 3 is 46.0 meters away at (-43.8, 14.1). A vehicle with ID 7 is 47.0 meters away at (31.3, -35.1). A vehicle with ID 9 is 49.6 meters away at (-20.2, 45.3). A vehicle with ID 4 is 50.5 meters away at (-25.6, 43.6). A vehicle with ID 8 is 58.5 meters away at (44.9, -37.6). A cyclist with ID 15 is 81.0 meters away at (65.8, -47.2).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.0949361  -0.41918486] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.7397013   0.30655444] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-5.9784884  1.3136946] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [ 1.8642226 -0.6860245] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 3.0) m/s. Its current heading (yaw) is 2.66

The most relevant actors are: A pedestrian with ID 5 is 22.3 meters away at (-22.2, 2.4). A pedestrian with ID 3 is 34.7 meters away at (-33.7, 8.1). A vehicle with ID 9 is 40.1 meters away at (-8.5, 39.2). A vehicle with ID 4 is 41.3 meters away at (-24.5, 33.3). A unknown object with ID 10 is 46.5 meters away at (41.8, 20.4). A vehicle with ID 6 is 58.0 meters away at (43.7, -38.2). A unknown object with ID 2 is 62.2 meters away at (48.2, -39.3). A vehicle with ID 8 is 71.5 meters away at (56.6, -43.6).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.0853205 -0.5102348] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.71784043  0.31072935] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.1627877 -4.401651 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 2.6) m/s. Its current heading (yaw) is 2.67

The most relevant actors are: A pedestrian with ID 5 is 9.8 meters away at (-8.9, -4.2). A pedestrian with ID 3 is 24.2 meters away at (-23.9, 3.5). A vehicle with ID 4 is 26.5 meters away at (-17.7, 19.8). A vehicle with ID 9 is 33.8 meters away at (2.7, 33.7).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.081588   -0.37080026] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.616369   0.5037577] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.407586  -2.7974694] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 5.1) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A unknown object with ID 54 is 5.0 meters away at (5.0, -0.3). A unknown object with ID 116 is 5.3 meters away at (-2.6, 4.6). A unknown object with ID 111 is 8.5 meters away at (1.8, -8.3). A unknown object with ID 106 is 13.6 meters away at (12.6, -5.3). A unknown object with ID 90 is 14.4 meters away at (-10.5, 9.8). A unknown object with ID 74 is 16.9 meters away at (-6.6, -15.6). A unknown object with ID 100 is 17.6 meters away at (-13.9, -10.8). A pedestrian with ID 42 is 19.8 meters away at (-13.1, -14.9). A unknown object with ID 113 is 20.6 meters away at (1.1, -20.6). A pedestrian with ID 43 is 20.7 meters away at (-13.5, -15.7).

The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 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 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.0769901   0.81649154] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-1.1062405  0.7527512] m/s.

There are active red lights at the following coordinates: [[ 35.339268 -40.011765]
 [ 33.18647  -42.385357]]

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 4.976015  -0.3383503], 4.987504959106445 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 4.9) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A unknown object with ID 90 is 4.5 meters away at (4.5, -0.2). A unknown object with ID 80 is 5.5 meters away at (-3.0, 4.6). A unknown object with ID 116 is 13.5 meters away at (12.3, -5.4). A unknown object with ID 57 is 14.6 meters away at (-10.9, 9.7). A vehicle with ID 125 is 17.0 meters away at (-0.9, -16.9). A unknown object with ID 63 is 17.1 meters away at (-7.0, -15.6). A unknown object with ID 89 is 17.9 meters away at (-14.4, -10.7). A unknown object with ID 100 is 20.8 meters away at (1.1, -20.8). A unknown object with ID 82 is 22.7 meters away at (-22.0, -5.9). A pedestrian with ID 42 is 23.5 meters away at (-0.3, -23.5).

The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 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 125 is traveling at a (x, y) velocity of [ 7.463485 -4.62786 ] 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 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.1224741   0.67877257] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 4.465391   -0.23394394], 4.47151517868042 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.5) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A unknown object with ID 57 is 3.6 meters away at (3.6, 0.3). A unknown object with ID 52 is 6.8 meters away at (-4.2, 5.3). A unknown object with ID 80 is 12.5 meters away at (11.5, -4.9). A unknown object with ID 98 is 14.9 meters away at (-11.2, 9.9). A unknown object with ID 82 is 17.0 meters away at (-7.4, -15.3). A vehicle with ID 97 is 17.2 meters away at (-15.9, -6.8). A pedestrian with ID 39 is 17.9 meters away at (-10.4, 14.5). A unknown object with ID 66 is 18.4 meters away at (-15.3, -10.2). A unknown object with ID 89 is 20.2 meters away at (0.1, -20.2). A unknown object with ID 55 is 23.6 meters away at (-23.0, -5.2).

The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [ 6.8688126 -4.5907907] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.1335796 -0.777143 ] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 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 [3.6391678  0.25865555], 3.648348331451416 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.4) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A unknown object with ID 98 is 2.7 meters away at (2.5, 1.0). A pedestrian with ID 39 is 6.9 meters away at (5.5, 4.1). A unknown object with ID 75 is 8.2 meters away at (-5.5, 6.2). A unknown object with ID 52 is 10.2 meters away at (9.5, -3.6). A vehicle with ID 72 is 12.7 meters away at (-2.2, -12.5). A unknown object with ID 55 is 16.9 meters away at (-9.2, -14.2). A unknown object with ID 84 is 17.3 meters away at (-13.2, 11.2). A unknown object with ID 66 is 19.2 meters away at (-1.5, -19.2). A unknown object with ID 45 is 19.3 meters away at (-17.0, -9.2). A unknown object with ID 57 is 19.4 meters away at (17.4, -8.7).

The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.1004977 -0.7540671] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 7.7386227 -4.8323526] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [2.545498   0.97239304], 2.724905014038086 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 -2.15

The most relevant actors are: A pedestrian with ID 18 is 4.8 meters away at (-4.3, -2.1). A pedestrian with ID 19 is 5.0 meters away at (-4.8, -1.5). A vehicle with ID 22 is 5.9 meters away at (5.8, -1.2). A vehicle with ID 17 is 6.8 meters away at (3.0, -6.1). A vehicle with ID 21 is 9.2 meters away at (-4.8, -7.9). A vehicle with ID 20 is 10.4 meters away at (0.3, -10.4). A vehicle with ID 24 is 14.2 meters away at (14.1, 1.2). A vehicle with ID 23 is 15.0 meters away at (-2.4, -14.8). A vehicle with ID 28 is 17.5 meters away at (-9.5, -14.7). A vehicle with ID 27 is 24.0 meters away at (23.6, 4.2).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6823768 -1.0709757] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.70617557 -1.066161  ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.1656245  -0.26212665] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 (-0.4, -0.7) m/s. Its current heading (yaw) is -2.09

The most relevant actors are: A vehicle with ID 17 is 6.3 meters away at (3.5, -5.2). A vehicle with ID 22 is 6.3 meters away at (6.3, -0.4). A pedestrian with ID 18 is 6.3 meters away at (-5.3, -3.5). A pedestrian with ID 19 is 6.6 meters away at (-5.9, -3.0). A vehicle with ID 21 is 9.0 meters away at (-4.6, -7.7). A vehicle with ID 20 is 9.5 meters away at (0.9, -9.5). A vehicle with ID 23 is 14.0 meters away at (-1.9, -13.9). A vehicle with ID 24 is 14.9 meters away at (14.7, 2.2). A vehicle with ID 28 is 17.0 meters away at (-9.3, -14.3). A vehicle with ID 30 is 18.7 meters away at (9.7, 16.0).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.7481513 -1.073857 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7598087 -1.0412878] m/s.The vehicle with ID 21 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.23685522 -0.33427227] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.731758  -2.9287183] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.6) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 17 is 5.7 meters away at (4.5, -3.5). A pedestrian with ID 18 is 7.2 meters away at (-5.8, -4.2). A pedestrian with ID 19 is 7.4 meters away at (-6.4, -3.6). A vehicle with ID 22 is 7.4 meters away at (7.3, 1.2). A vehicle with ID 21 is 7.8 meters away at (-4.1, -6.7). A vehicle with ID 20 is 8.1 meters away at (1.8, -7.9). A vehicle with ID 23 is 12.3 meters away at (-0.9, -12.3). A vehicle with ID 30 is 14.9 meters away at (7.8, 12.8). A vehicle with ID 24 is 16.0 meters away at (15.6, 3.7). A vehicle with ID 28 is 17.2 meters away at (-9.4, -14.4).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.747833  -1.2572709] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7821179 -1.2967709] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.45717734 -0.6930824 ] m/s.The vehicle with ID 20 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 30 is traveling at a (x, y) velocity of [-1.1809173 -1.9183935] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.7562671 -1.1155105] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.3) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 17 is 5.7 meters away at (4.8, -3.0). A vehicle with ID 20 is 7.6 meters away at (2.2, -7.3). A vehicle with ID 22 is 7.9 meters away at (7.7, 1.9). A pedestrian with ID 18 is 9.1 meters away at (-6.9, -6.0). A pedestrian with ID 19 is 9.3 meters away at (-7.5, -5.6). A vehicle with ID 21 is 9.4 meters away at (-4.9, -8.0). A vehicle with ID 23 is 11.7 meters away at (-0.5, -11.7). A vehicle with ID 30 is 11.9 meters away at (6.2, 10.2). A unknown object with ID 15 is 16.1 meters away at (15.7, -3.6). A vehicle with ID 24 is 16.7 meters away at (16.1, 4.4).

The vehicle with ID 17 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6905694 -1.068819 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7198728 -1.1335337] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.8858102 -1.3869348] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.951137  -1.5714207] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.9) m/s. Its current heading (yaw) is 0.83

The most relevant actors are: A vehicle with ID 29 is 3.7 meters away at (1.6, -3.3). A vehicle with ID 32 is 8.4 meters away at (-8.4, 0.0). A vehicle with ID 34 is 10.0 meters away at (-3.5, -9.3). A vehicle with ID 37 is 13.6 meters away at (-12.7, -4.9). A vehicle with ID 40 is 17.5 meters away at (-8.5, -15.3). A unknown object with ID 51 is 19.3 meters away at (2.4, 19.2). A vehicle with ID 42 is 19.6 meters away at (-16.9, -9.9). A unknown object with ID 50 is 20.4 meters away at (7.4, 19.1). A unknown object with ID 57 is 21.9 meters away at (-1.3, 21.9). A unknown object with ID 33 is 24.7 meters away at (24.6, 2.6).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 57 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 1.4) m/s. Its current heading (yaw) is 0.38

The most relevant actors are: A vehicle with ID 29 is 7.0 meters away at (-2.6, -6.5). A vehicle with ID 32 is 13.0 meters away at (-12.6, -3.2). A vehicle with ID 34 is 14.8 meters away at (-7.8, -12.6). A unknown object with ID 51 is 16.0 meters away at (-2.0, 15.9). A unknown object with ID 50 is 16.0 meters away at (2.9, 15.8). A vehicle with ID 37 is 18.8 meters away at (-16.9, -8.1). A unknown object with ID 57 is 19.4 meters away at (-5.7, 18.6). A vehicle with ID 46 is 19.6 meters away at (14.0, 13.7). A unknown object with ID 33 is 20.3 meters away at (20.3, -0.6). A unknown object with ID 36 is 21.2 meters away at (21.2, 0.6).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 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 unknown object with ID 57 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -2.8) m/s. Its current heading (yaw) is -0.50

The most relevant actors are: A unknown object with ID 33 is 10.9 meters away at (10.9, 0.2). A unknown object with ID 36 is 12.0 meters away at (11.9, 1.4). A vehicle with ID 29 is 13.2 meters away at (-11.9, -5.7). A vehicle with ID 46 is 15.2 meters away at (4.6, 14.5). A unknown object with ID 50 is 17.8 meters away at (-6.3, 16.6). A unknown object with ID 51 is 20.1 meters away at (-11.1, 16.8). A vehicle with ID 34 is 20.7 meters away at (-17.0, -11.7). A vehicle with ID 32 is 22.0 meters away at (-21.9, -2.3). A unknown object with ID 57 is 24.5 meters away at (-14.9, 19.5). A vehicle with ID 37 is 27.3 meters away at (-26.3, -7.2).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 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.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [10.9236145  0.2226429], 10.925883293151855 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -4.7) m/s. Its current heading (yaw) is -0.77

The most relevant actors are: A unknown object with ID 33 is 8.3 meters away at (1.1, 8.2). A unknown object with ID 36 is 9.6 meters away at (2.0, 9.4). A unknown object with ID 9 is 16.5 meters away at (-0.0, -16.5). A unknown object with ID 2 is 17.4 meters away at (4.9, -16.7). A vehicle with ID 30 is 21.9 meters away at (20.5, -7.9). A vehicle with ID 29 is 22.0 meters away at (-21.9, 2.4). A vehicle with ID 46 is 23.0 meters away at (-5.4, 22.4). A vehicle with ID 24 is 26.7 meters away at (-16.0, -21.4). A vehicle with ID 25 is 28.0 meters away at (27.8, -2.6). A unknown object with ID 50 is 29.5 meters away at (-16.2, 24.7).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 30 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [1.0657845 8.240166 ], 8.30880355834961 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -3.9) m/s. Its current heading (yaw) is -0.74

The most relevant actors are: A unknown object with ID 27 is 8.9 meters away at (-4.0, -7.9). A unknown object with ID 26 is 9.5 meters away at (-8.3, -4.5). A unknown object with ID 28 is 9.5 meters away at (-2.8, -9.1). A unknown object with ID 8 is 10.6 meters away at (-5.5, -9.1). A unknown object with ID 16 is 11.0 meters away at (-4.1, -10.2). A unknown object with ID 17 is 11.9 meters away at (-6.1, -10.2). A unknown object with ID 13 is 12.1 meters away at (-4.9, -11.1). A unknown object with ID 29 is 14.2 meters away at (-1.3, -14.1). A vehicle with ID 23 is 14.5 meters away at (5.2, -13.6). A vehicle with ID 25 is 19.4 meters away at (-17.1, 9.1).

The unknown object with ID 27 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 [-3.765278   4.0288334] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-4.0462565 -7.9073186], 8.882448196411133 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -3.7) m/s. Its current heading (yaw) is -0.78

The most relevant actors are: A vehicle with ID 23 is 6.7 meters away at (-2.7, -6.1). A unknown object with ID 28 is 10.8 meters away at (-10.7, -1.6). A unknown object with ID 29 is 11.4 meters away at (-9.2, -6.7). A unknown object with ID 27 is 12.0 meters away at (-12.0, -0.5). A unknown object with ID 16 is 12.1 meters away at (-11.8, -2.7). A unknown object with ID 13 is 13.3 meters away at (-12.8, -3.6). A unknown object with ID 21 is 13.6 meters away at (-13.5, -1.7). A unknown object with ID 8 is 13.8 meters away at (-13.6, -2.2). A unknown object with ID 17 is 14.3 meters away at (-14.1, -2.8). A unknown object with ID 26 is 16.4 meters away at (-16.2, 2.9).

The vehicle with ID 23 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 29 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -3.4) m/s. Its current heading (yaw) is -0.81

The most relevant actors are: A vehicle with ID 23 is 9.6 meters away at (-9.6, 0.9). A vehicle with ID 5 is 10.3 meters away at (9.2, -4.5). A unknown object with ID 28 is 18.5 meters away at (-17.7, 5.4). A unknown object with ID 16 is 19.4 meters away at (-19.0, 4.2). A unknown object with ID 13 is 20.0 meters away at (-19.7, 3.5). A unknown object with ID 27 is 20.1 meters away at (-19.0, 6.6). A unknown object with ID 8 is 21.1 meters away at (-20.4, 5.4). A unknown object with ID 21 is 21.1 meters away at (-20.4, 5.4). A unknown object with ID 17 is 21.4 meters away at (-21.0, 4.3). A unknown object with ID 26 is 25.2 meters away at (-23.1, 10.0).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 13 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 8 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -3.0) m/s. Its current heading (yaw) is -0.78

The most relevant actors are: A vehicle with ID 5 is 3.6 meters away at (3.1, 1.8). A vehicle with ID 4 is 17.4 meters away at (15.0, -8.7). A vehicle with ID 23 is 17.5 meters away at (-15.9, 7.4). A unknown object with ID 15 is 22.3 meters away at (12.4, -18.6). A pedestrian with ID 24 is 24.3 meters away at (19.8, -14.0). A vehicle with ID 2 is 25.7 meters away at (21.6, -13.9). A vehicle with ID 34 is 46.7 meters away at (27.6, -37.6). A unknown object with ID 18 is 50.4 meters away at (30.0, -40.5). A unknown object with ID 11 is 51.1 meters away at (28.1, -42.7). A pedestrian with ID 33 is 61.7 meters away at (-52.9, 31.7).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.06912354 -0.07770886] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-2.325616  -3.5540154] 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 1.1478076 -0.7433227] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -7.1) m/s. Its current heading (yaw) is -1.26

The most relevant actors are: A vehicle with ID 26 is 22.3 meters away at (-9.7, 20.0). A vehicle with ID 27 is 43.4 meters away at (-17.5, 39.7).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -7.1) m/s. Its current heading (yaw) is -1.18

The most relevant actors are: A unknown object with ID 21 is 21.6 meters away at (5.8, -20.8). A pedestrian with ID 24 is 55.3 meters away at (51.2, 20.9). A vehicle with ID 27 is 58.3 meters away at (-22.4, 53.8).

The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.00589372 0.00225866] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  5.8093033 -20.845081 ], 21.639442443847656 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -7.0) m/s. Its current heading (yaw) is -1.16

The most relevant actors are: A unknown object with ID 21 is 6.7 meters away at (0.1, -6.7). A unknown object with ID 10 is 50.1 meters away at (15.2, -47.8). A vehicle with ID 5 is 67.0 meters away at (21.7, -63.4). A vehicle with ID 27 is 73.3 meters away at (-28.2, 67.6). A vehicle with ID 3 is 77.0 meters away at (23.6, -73.3).

The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 0.08105564 -6.7366905 ], 6.737177848815918 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -6.5) m/s. Its current heading (yaw) is -1.08

The most relevant actors are: A unknown object with ID 13 is 24.7 meters away at (14.8, -19.8). A unknown object with ID 7 is 35.2 meters away at (10.1, -33.8). A unknown object with ID 11 is 35.2 meters away at (11.0, -33.5). A unknown object with ID 16 is 35.3 meters away at (9.6, -34.0). A unknown object with ID 10 is 35.4 meters away at (8.8, -34.3). A vehicle with ID 5 is 52.2 meters away at (15.1, -49.9). A vehicle with ID 3 is 62.3 meters away at (17.3, -59.8).

The unknown object with ID 13 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.The unknown object with ID 11 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 14.820642 -19.755318], 24.696640014648438 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -0.5) m/s. Its current heading (yaw) is -3.05

The most relevant actors are: A vehicle with ID 3 is 25.8 meters away at (25.8, 0.2). A vehicle with ID 22 is 27.1 meters away at (26.9, -3.5). A unknown object with ID 23 is 60.5 meters away at (-60.3, -5.3).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.300482    0.41935462] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -2.2) m/s. Its current heading (yaw) is -2.66

The most relevant actors are: A vehicle with ID 3 is 24.6 meters away at (24.5, 2.2). A unknown object with ID 14 is 33.8 meters away at (-21.0, -26.5). A vehicle with ID 22 is 36.8 meters away at (36.8, -1.5). A unknown object with ID 23 is 50.5 meters away at (-50.4, -2.9).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.718247   -0.24838611] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -4.2) m/s. Its current heading (yaw) is -2.07

The most relevant actors are: A vehicle with ID 3 is 21.6 meters away at (19.9, 8.4). A vehicle with ID 22 is 43.6 meters away at (43.3, 4.8).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.2451735  -0.05121542] m/s.The vehicle with ID 22 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 (-1.8, -5.8) m/s. Its current heading (yaw) is -1.87

The most relevant actors are: A vehicle with ID 3 is 22.5 meters away at (13.9, 17.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6110477 -1.2852033] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.5) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A vehicle with ID 31 is 14.9 meters away at (-3.6, -14.4). A vehicle with ID 33 is 19.9 meters away at (-12.1, 15.8). A vehicle with ID 35 is 30.7 meters away at (-30.4, 3.8). A vehicle with ID 37 is 34.0 meters away at (-29.4, 17.1). A vehicle with ID 36 is 34.1 meters away at (-33.8, 4.4). A vehicle with ID 38 is 37.7 meters away at (-33.0, 18.2). A vehicle with ID 1 is 40.3 meters away at (-29.5, -27.5). A vehicle with ID 40 is 41.1 meters away at (-36.4, 19.0). A vehicle with ID 34 is 43.3 meters away at (34.3, -26.5). A unknown object with ID 39 is 55.9 meters away at (46.0, -31.7).

The vehicle with ID 31 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 [-0.4039128 -1.3082412] m/s.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 36 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 1 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.82

The most relevant actors are: A vehicle with ID 31 is 15.0 meters away at (-2.7, -14.8). A vehicle with ID 33 is 18.8 meters away at (-11.5, 14.9). A vehicle with ID 35 is 29.7 meters away at (-29.5, 3.5). A vehicle with ID 36 is 33.2 meters away at (-32.9, 4.2). A vehicle with ID 37 is 33.2 meters away at (-28.5, 17.0). A vehicle with ID 38 is 36.8 meters away at (-32.1, 18.0). A vehicle with ID 1 is 39.9 meters away at (-28.6, -27.8). A vehicle with ID 40 is 40.2 meters away at (-35.5, 18.8). A vehicle with ID 3 is 69.1 meters away at (-63.1, 28.1). A vehicle with ID 8 is 70.6 meters away at (3.0, 70.5).

The vehicle with ID 31 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 2.82

The most relevant actors are: A vehicle with ID 31 is 15.0 meters away at (-2.6, -14.7). A vehicle with ID 33 is 17.0 meters away at (-12.5, 11.6). A vehicle with ID 35 is 29.6 meters away at (-29.4, 3.5). A vehicle with ID 36 is 33.0 meters away at (-32.8, 4.1). A vehicle with ID 37 is 33.1 meters away at (-28.4, 16.9). A vehicle with ID 38 is 36.7 meters away at (-32.0, 18.0). A vehicle with ID 1 is 39.9 meters away at (-28.5, -27.8). A vehicle with ID 40 is 40.1 meters away at (-35.4, 18.8). A vehicle with ID 3 is 69.0 meters away at (-63.1, 28.0). A vehicle with ID 8 is 70.5 meters away at (3.1, 70.4).

The vehicle with ID 31 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 [-1.1098982 -3.7165782] 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.5) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 33 is 14.9 meters away at (-14.9, 0.4). A vehicle with ID 31 is 15.2 meters away at (-1.5, -15.2). A vehicle with ID 35 is 28.4 meters away at (-28.2, 3.2). A vehicle with ID 37 is 31.9 meters away at (-27.3, 16.6). A vehicle with ID 36 is 32.0 meters away at (-31.7, 3.9). A vehicle with ID 38 is 35.5 meters away at (-30.9, 17.6). A vehicle with ID 40 is 39.0 meters away at (-34.3, 18.6). A vehicle with ID 1 is 39.3 meters away at (-27.4, -28.2). A unknown object with ID 24 is 58.0 meters away at (48.0, -32.5). A vehicle with ID 8 is 70.2 meters away at (4.1, 70.0).

The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.262402 -6.946026] m/s.The vehicle with ID 31 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 37 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 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 (0.2, 5.6) m/s. Its current heading (yaw) is 1.54

The most relevant actors are: A vehicle with ID 75 is 9.4 meters away at (-3.1, 8.9). A cyclist with ID 71 is 10.8 meters away at (-0.1, -10.8). A vehicle with ID 76 is 12.0 meters away at (5.2, -10.8). A vehicle with ID 73 is 15.0 meters away at (4.5, -14.3). A vehicle with ID 74 is 15.8 meters away at (-1.4, 15.7). A vehicle with ID 82 is 15.8 meters away at (-13.2, -8.7). A vehicle with ID 78 is 22.4 meters away at (11.1, -19.4). A vehicle with ID 77 is 22.4 meters away at (11.1, -19.5). A vehicle with ID 85 is 25.9 meters away at (-25.5, -4.1). A vehicle with ID 80 is 28.9 meters away at (19.1, -21.7).

The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [-4.697490e-05 -1.184561e-02] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-3.6001282  2.5872812] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 5.6820307 -2.6314654] m/s.The vehicle with ID 78 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 85 is traveling at a (x, y) velocity of [ 4.777273  -1.8286728] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [-1.4322069  1.205306 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 5.8) m/s. Its current heading (yaw) is 0.98

The most relevant actors are: A vehicle with ID 74 is 7.0 meters away at (-5.6, 4.1). A vehicle with ID 75 is 7.8 meters away at (-7.3, -2.7). A vehicle with ID 76 is 18.9 meters away at (-9.2, -16.6). A vehicle with ID 72 is 20.9 meters away at (7.1, 19.6). A cyclist with ID 71 is 22.5 meters away at (-5.4, -21.8). A vehicle with ID 37 is 25.1 meters away at (18.0, 17.5). A vehicle with ID 73 is 26.0 meters away at (0.1, -26.0). A vehicle with ID 70 is 26.3 meters away at (10.8, 23.9). A vehicle with ID 85 is 27.3 meters away at (-17.7, -20.7). A vehicle with ID 82 is 28.0 meters away at (-5.0, -27.5).

The vehicle with ID 74 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 76 is traveling at a (x, y) velocity of [-6.282074   2.9005976] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [-1.0347073  0.6044453] m/s.The vehicle with ID 37 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 vehicle with ID 70 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 [ 7.18542  -3.270384] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 6.7879195 -4.563207 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.3) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 72 is 7.7 meters away at (-2.1, 7.4). A vehicle with ID 37 is 10.2 meters away at (8.7, 5.3). A vehicle with ID 70 is 11.8 meters away at (1.5, 11.7). A vehicle with ID 36 is 16.3 meters away at (12.8, 10.0). A vehicle with ID 74 is 16.9 meters away at (-14.9, -8.1). A vehicle with ID 75 is 22.3 meters away at (-16.6, -14.9). A vehicle with ID 35 is 22.4 meters away at (16.8, 14.9). A vehicle with ID 67 is 22.7 meters away at (9.2, 20.7). A vehicle with ID 66 is 28.3 meters away at (12.9, 25.1). A vehicle with ID 68 is 34.6 meters away at (17.0, 30.1).

The vehicle with ID 72 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 70 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [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 66 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, 6.0) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 36 is 3.4 meters away at (2.6, -2.2). A vehicle with ID 37 is 6.8 meters away at (-1.4, -6.7). A vehicle with ID 35 is 7.0 meters away at (6.5, 2.6). A vehicle with ID 67 is 8.6 meters away at (-1.0, 8.5). A vehicle with ID 70 is 8.7 meters away at (-8.7, -0.4). A vehicle with ID 66 is 13.2 meters away at (2.6, 12.9). A vehicle with ID 72 is 13.2 meters away at (-12.4, -4.8). A vehicle with ID 68 is 19.1 meters away at (6.7, 17.8). A vehicle with ID 34 is 19.1 meters away at (14.8, 12.0). A vehicle with ID 69 is 25.0 meters away at (10.7, 22.6).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 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 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 (3.5, -2.9) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A unknown object with ID 19 is 7.8 meters away at (-4.7, -6.2). A unknown object with ID 20 is 17.5 meters away at (14.9, -9.2). A vehicle with ID 18 is 19.7 meters away at (-13.9, 14.0). A unknown object with ID 22 is 31.0 meters away at (12.9, -28.2). A unknown object with ID 23 is 32.3 meters away at (11.0, -30.4). A vehicle with ID 21 is 38.2 meters away at (-32.9, 19.6). A unknown object with ID 24 is 48.1 meters away at (-42.3, 23.0). A vehicle with ID 27 is 77.3 meters away at (-62.3, 45.8).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 [-3.3008082  2.5803235] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-4.728279 -6.20682 ], 7.802643299102783 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -2.8) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A unknown object with ID 20 is 9.0 meters away at (8.2, -3.5). A unknown object with ID 19 is 11.4 meters away at (-11.4, -0.6). A vehicle with ID 18 is 28.5 meters away at (-20.6, 19.7). A vehicle with ID 21 is 47.0 meters away at (-39.7, 25.2). A unknown object with ID 24 is 56.8 meters away at (-49.0, 28.7).

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

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 8.231524  -3.5331497], 8.957741737365723 meters away.)


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

The most relevant actors are: A unknown object with ID 20 is 3.7 meters away at (2.8, 2.3). A unknown object with ID 15 is 22.6 meters away at (-21.7, -6.3). A vehicle with ID 18 is 36.5 meters away at (-26.3, 25.4). A vehicle with ID 21 is 54.8 meters away at (-45.4, 30.8).

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

Instruction: Continue straight.

(The closest actor is a unknown object at [2.8173409 2.338375 ], 3.661339521408081 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -3.5) m/s. Its current heading (yaw) is -1.67

The most relevant actors are: A unknown object with ID 20 is 9.5 meters away at (1.2, 9.4). A unknown object with ID 12 is 37.2 meters away at (14.0, -34.4). A vehicle with ID 18 is 42.8 meters away at (-28.0, 32.3). A vehicle with ID 21 is 60.3 meters away at (-47.1, 37.7).

The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [1.1903725 9.394856 ], 9.469968795776367 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 4.2) m/s. Its current heading (yaw) is 0.63

The most relevant actors are: A vehicle with ID 114 is 6.8 meters away at (0.7, -6.7). A pedestrian with ID 109 is 11.1 meters away at (-5.5, -9.6). A vehicle with ID 112 is 11.3 meters away at (-0.7, -11.2). A vehicle with ID 110 is 12.0 meters away at (-5.2, -10.8). A pedestrian with ID 113 is 15.7 meters away at (-2.6, -15.5). A vehicle with ID 116 is 15.7 meters away at (12.5, 9.6). A pedestrian with ID 111 is 17.6 meters away at (-5.8, -16.6). A vehicle with ID 123 is 20.6 meters away at (19.2, 7.6). A pedestrian with ID 125 is 25.1 meters away at (14.2, 20.6). A vehicle with ID 49 is 26.3 meters away at (21.7, 14.9).

The vehicle with ID 114 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 [ 0.01113208 -0.02469581] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [1.1555806 0.6647715] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [5.6922317 3.4169855] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.08755303 -0.05419236] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [1.1323042 0.5381076] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [4.7961607 2.980746 ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, 3.9) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A vehicle with ID 123 is 7.3 meters away at (7.2, -0.5). A vehicle with ID 116 is 13.2 meters away at (10.7, 7.8). A pedestrian with ID 125 is 14.3 meters away at (4.4, 13.6). A vehicle with ID 114 is 18.6 meters away at (-11.2, -14.8). A vehicle with ID 49 is 22.2 meters away at (18.5, 12.3). A vehicle with ID 112 is 23.1 meters away at (-12.5, -19.4). A pedestrian with ID 109 is 24.9 meters away at (-17.5, -17.7). A pedestrian with ID 113 is 25.2 meters away at (-12.1, -22.1). A vehicle with ID 110 is 25.5 meters away at (-17.2, -18.9). A vehicle with ID 127 is 34.4 meters away at (28.9, 18.7).

The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [4.4565425 2.803281 ] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [1.1038778 0.6513018] m/s.The vehicle with ID 114 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 [4.2360835 2.7579613] m/s.The vehicle with ID 112 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 [-0.03655482  0.05591846] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [1.1199982 0.8367955] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [4.6395054 3.1698425] m/s.

There are active red lights at the following coordinates: [[92.668434 52.461838]
 [92.56045  52.38631 ]]

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, 2.4) m/s. Its current heading (yaw) is 0.41

The most relevant actors are: A vehicle with ID 123 is 7.9 meters away at (-4.2, -6.7). A vehicle with ID 116 is 10.0 meters away at (7.4, 6.6). A pedestrian with ID 125 is 10.1 meters away at (-5.0, 8.7). A vehicle with ID 71 is 13.7 meters away at (9.6, -9.8). A vehicle with ID 74 is 17.0 meters away at (9.3, -14.3). A vehicle with ID 49 is 19.4 meters away at (15.6, 11.5). A vehicle with ID 114 is 30.8 meters away at (-22.5, -21.0). A pedestrian with ID 82 is 34.0 meters away at (-17.8, -29.0). A pedestrian with ID 113 is 34.1 meters away at (-21.0, -26.8). A vehicle with ID 112 is 35.0 meters away at (-23.9, -25.6).

The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [3.8946183 2.407915 ] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [0.98868346 0.7521429 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [3.86281  2.550251] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [1.0041159  0.89541143] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [1.175688  0.6793528] m/s.The vehicle with ID 112 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 (6.5, 3.4) m/s. Its current heading (yaw) is 0.49

The most relevant actors are: A vehicle with ID 116 is 5.7 meters away at (1.9, 5.4). A vehicle with ID 49 is 14.3 meters away at (9.9, 10.4). A vehicle with ID 71 is 15.9 meters away at (-3.1, -15.6). A pedestrian with ID 125 is 16.3 meters away at (-15.7, 4.2). A vehicle with ID 52 is 20.7 meters away at (-16.9, -12.1). A vehicle with ID 123 is 20.9 meters away at (-17.0, -12.2). A vehicle with ID 38 is 25.4 meters away at (18.1, 17.9). A unknown object with ID 67 is 36.5 meters away at (35.8, 7.0). A unknown object with ID 106 is 36.7 meters away at (36.1, 6.8). A pedestrian with ID 31 is 36.8 meters away at (33.1, 16.0).

The vehicle with ID 116 is traveling at a (x, y) velocity of [3.3425035 2.028495 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [3.7686846 2.3865519] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [1.0494916  0.41147935] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 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 [3.5491889 3.1972868] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.00951347 -0.02546643] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -2.0) m/s. Its current heading (yaw) is -1.22

The most relevant actors are: A pedestrian with ID 18 is 5.6 meters away at (5.6, 0.7). A pedestrian with ID 6 is 7.0 meters away at (6.9, -0.9). A pedestrian with ID 7 is 7.3 meters away at (7.3, -0.2). A cyclist with ID 21 is 15.8 meters away at (-12.3, 9.9). A pedestrian with ID 1 is 28.2 meters away at (24.2, -14.4). A pedestrian with ID 22 is 34.7 meters away at (-30.3, 17.0). A pedestrian with ID 23 is 37.4 meters away at (-33.0, 17.6). A pedestrian with ID 26 is 37.6 meters away at (-35.7, -11.7). A pedestrian with ID 24 is 42.6 meters away at (-38.1, 19.1). A vehicle with ID 25 is 52.7 meters away at (-49.8, -17.2).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.5704741  -0.42469352] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.96269757 -0.5043966 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.0129474 -0.5208138] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.02195461 -0.01546032] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.02103163 -0.01251298] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.4115402  0.20725402] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.9286464   0.52344763] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.03929475 0.04639857] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.2776883   0.23816255] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -2.2) m/s. Its current heading (yaw) is -1.03

The most relevant actors are: A pedestrian with ID 18 is 5.9 meters away at (4.8, 3.5). A pedestrian with ID 6 is 7.0 meters away at (6.8, 1.8). A pedestrian with ID 7 is 7.5 meters away at (7.1, 2.5). A cyclist with ID 21 is 19.8 meters away at (-14.2, 13.9). A pedestrian with ID 1 is 24.7 meters away at (22.3, -10.5). A pedestrian with ID 22 is 37.3 meters away at (-30.2, 21.8). A pedestrian with ID 26 is 38.4 meters away at (-37.7, -7.7). A pedestrian with ID 23 is 43.3 meters away at (-37.0, 22.4). A unknown object with ID 13 is 47.7 meters away at (44.5, -17.0). A pedestrian with ID 24 is 48.7 meters away at (-42.4, 23.9).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.75497544 -0.81296134] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.81057703 -0.7204436 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.78015536 -0.7453082 ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00258516  0.0064306 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.02661366 0.01304275] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [1.118465  0.5277303] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00249804 -0.00882658] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2136288  0.2017872] 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 [-1.279953   0.5218826] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [4.800273  3.4906697], 5.935266971588135 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -2.5) m/s. Its current heading (yaw) is -0.78

The most relevant actors are: A pedestrian with ID 6 is 6.9 meters away at (4.7, 5.0). A pedestrian with ID 18 is 7.6 meters away at (3.0, 7.0). A pedestrian with ID 7 is 7.7 meters away at (4.8, 6.0). A pedestrian with ID 1 is 19.4 meters away at (18.6, -5.6). A cyclist with ID 21 is 26.0 meters away at (-18.0, 18.8). A pedestrian with ID 26 is 41.6 meters away at (-41.5, -2.8). A pedestrian with ID 22 is 42.5 meters away at (-32.0, 27.9). A pedestrian with ID 15 is 43.5 meters away at (41.9, -11.9). A pedestrian with ID 23 is 51.1 meters away at (-43.1, 27.6). A vehicle with ID 25 is 55.9 meters away at (-55.3, -8.4).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.75084996 -0.8718028 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.9400157 -0.9761687] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.68267006 -0.83628374] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.03343805 -0.00684849] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [0.00201214 0.02338381] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.03534915 0.03867275] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.934964   0.88788074] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.11381388  0.05260929] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.0985404   0.38201362] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -1.7) m/s. Its current heading (yaw) is -0.42

The most relevant actors are: A pedestrian with ID 6 is 7.5 meters away at (-0.2, 7.5). A pedestrian with ID 7 is 8.8 meters away at (-0.5, 8.7). A pedestrian with ID 18 is 9.3 meters away at (-1.3, 9.2). A pedestrian with ID 1 is 12.2 meters away at (12.2, -1.2). A cyclist with ID 21 is 33.7 meters away at (-24.4, 23.2). A unknown object with ID 4 is 35.2 meters away at (34.4, -7.5). A pedestrian with ID 26 is 47.8 meters away at (-47.7, 1.5). A pedestrian with ID 22 is 50.3 meters away at (-37.0, 34.2). A pedestrian with ID 23 is 61.2 meters away at (-51.8, 32.6). A vehicle with ID 25 is 61.8 meters away at (-61.6, -3.9).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.8359296 -0.8091427] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.7395768  -0.89138764] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 1.0417216 -1.1561426] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.01413102 0.00518524] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00166104 -0.00989636] m/s.The unknown object with ID 4 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 [ 0.03218007 -0.03260683] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.5132748 1.1916677] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2121187   0.30428565] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.7) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 20 is 8.8 meters away at (0.2, -8.8). A unknown object with ID 21 is 15.5 meters away at (-15.4, -1.7). A unknown object with ID 22 is 16.4 meters away at (-16.3, -2.0). A unknown object with ID 29 is 16.6 meters away at (5.7, -15.6). A unknown object with ID 31 is 17.2 meters away at (-17.0, 3.0). A vehicle with ID 19 is 17.8 meters away at (14.3, -10.6). A unknown object with ID 23 is 18.1 meters away at (-18.0, 1.9). A unknown object with ID 24 is 18.8 meters away at (-18.3, 4.3). A unknown object with ID 25 is 19.0 meters away at (-18.9, 1.1). A unknown object with ID 9 is 19.1 meters away at (-19.1, 0.9).

The vehicle with ID 20 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 (0.5, -0.4) m/s. Its current heading (yaw) is -0.76

The most relevant actors are: A vehicle with ID 20 is 7.9 meters away at (-0.9, -7.8). A unknown object with ID 29 is 15.3 meters away at (4.6, -14.6). A vehicle with ID 19 is 16.3 meters away at (13.2, -9.6). A unknown object with ID 21 is 16.5 meters away at (-16.5, -0.6). A unknown object with ID 22 is 17.4 meters away at (-17.4, -1.0). A unknown object with ID 31 is 18.5 meters away at (-18.1, 4.1). A unknown object with ID 23 is 19.3 meters away at (-19.1, 2.9). A unknown object with ID 24 is 20.1 meters away at (-19.4, 5.2). A unknown object with ID 25 is 20.1 meters away at (-20.0, 2.1). A unknown object with ID 9 is 20.3 meters away at (-20.2, 2.0).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [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 22 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 23 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -1.7) m/s. Its current heading (yaw) is -0.83

The most relevant actors are: A vehicle with ID 20 is 6.5 meters away at (-2.8, -5.8). A unknown object with ID 29 is 12.9 meters away at (2.7, -12.6). A vehicle with ID 19 is 13.5 meters away at (11.2, -7.5). A vehicle with ID 32 is 15.6 meters away at (7.0, -14.0). A unknown object with ID 21 is 18.5 meters away at (-18.5, 1.4). A unknown object with ID 31 is 21.0 meters away at (-20.0, 6.1). A unknown object with ID 23 is 21.7 meters away at (-21.1, 5.1). A unknown object with ID 25 is 21.9 meters away at (-21.4, 4.8). A unknown object with ID 9 is 22.5 meters away at (-22.1, 4.1). A unknown object with ID 24 is 22.5 meters away at (-21.3, 7.3).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-2.5381877  2.065263 ] 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -2.7) m/s. Its current heading (yaw) is -0.84

The most relevant actors are: A vehicle with ID 32 is 6.2 meters away at (-1.1, -6.1). A vehicle with ID 20 is 7.0 meters away at (-6.8, -1.4). A vehicle with ID 19 is 7.8 meters away at (7.2, -3.1). A cyclist with ID 11 is 25.4 meters away at (14.5, -20.9). A unknown object with ID 31 is 26.3 meters away at (-24.1, 10.6). A unknown object with ID 23 is 27.0 meters away at (-25.3, 9.4). A unknown object with ID 9 is 27.5 meters away at (-26.1, 8.6). A unknown object with ID 24 is 28.0 meters away at (-25.4, 11.8). A unknown object with ID 1 is 38.4 meters away at (31.1, -22.5). A unknown object with ID 8 is 51.4 meters away at (29.8, -41.8).

The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.2285404  1.035666 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-0.03651115  0.04621272] 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 3.4) m/s. Its current heading (yaw) is 1.50

The most relevant actors are: A unknown object with ID 85 is 11.8 meters away at (-10.6, 5.3). A vehicle with ID 86 is 15.3 meters away at (-11.4, -10.2). A vehicle with ID 87 is 17.8 meters away at (-12.0, -13.1). A vehicle with ID 82 is 19.4 meters away at (17.8, 7.7). A vehicle with ID 80 is 24.1 meters away at (23.2, 6.7). A vehicle with ID 90 is 31.9 meters away at (-26.1, -18.5). A vehicle with ID 95 is 32.4 meters away at (-30.8, 10.0). A pedestrian with ID 89 is 34.9 meters away at (5.3, -34.5). A vehicle with ID 92 is 36.4 meters away at (-31.5, -18.2). A vehicle with ID 94 is 40.1 meters away at (-26.0, -30.5).

The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.01037349  0.02638477] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-10.574295   5.314784], 11.834806442260742 meters away.)


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 1.50

The most relevant actors are: A unknown object with ID 85 is 11.1 meters away at (-10.9, 2.4). A vehicle with ID 86 is 17.5 meters away at (-11.7, -13.0). A vehicle with ID 82 is 18.2 meters away at (17.6, 4.7). A vehicle with ID 87 is 20.2 meters away at (-12.1, -16.1). A vehicle with ID 80 is 23.3 meters away at (23.0, 3.8). A vehicle with ID 36 is 24.0 meters away at (6.2, 23.2). A vehicle with ID 95 is 32.1 meters away at (-31.3, 7.1). A vehicle with ID 90 is 33.9 meters away at (-26.3, -21.4). A pedestrian with ID 89 is 37.7 meters away at (5.0, -37.4). A vehicle with ID 92 is 38.2 meters away at (-31.8, -21.1).

The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 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 80 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 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.01824065  0.00643297] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-10.85132     2.4388514], 11.1220121383667 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 1.6) m/s. Its current heading (yaw) is 1.47

The most relevant actors are: A unknown object with ID 85 is 11.0 meters away at (-11.0, 1.3). A vehicle with ID 82 is 17.8 meters away at (17.5, 3.6). A vehicle with ID 86 is 18.5 meters away at (-11.8, -14.2). A vehicle with ID 87 is 21.1 meters away at (-12.2, -17.2). A vehicle with ID 80 is 23.0 meters away at (22.9, 2.8). A vehicle with ID 36 is 23.2 meters away at (6.2, 22.4). A vehicle with ID 95 is 32.0 meters away at (-31.4, 5.9). A vehicle with ID 107 is 33.6 meters away at (0.3, -33.6). A vehicle with ID 90 is 34.8 meters away at (-26.4, -22.7). A pedestrian with ID 89 is 38.8 meters away at (4.9, -38.5).

The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 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 80 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 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [-0.03087639  5.8836193 ] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.00412108 -0.0955679 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-10.957335    1.2829943], 11.03219223022461 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 3.9) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A unknown object with ID 85 is 14.3 meters away at (-13.2, -5.5). A vehicle with ID 82 is 15.5 meters away at (15.2, -2.8). A vehicle with ID 36 is 16.2 meters away at (3.7, 15.7). A vehicle with ID 80 is 20.9 meters away at (20.6, -3.6). A vehicle with ID 86 is 25.2 meters away at (-13.9, -21.0). A vehicle with ID 87 is 28.0 meters away at (-14.3, -24.0). A vehicle with ID 107 is 28.4 meters away at (-2.0, -28.3). A vehicle with ID 81 is 31.6 meters away at (-12.6, 29.0). A vehicle with ID 95 is 33.8 meters away at (-33.8, -0.9). A vehicle with ID 99 is 38.3 meters away at (38.1, -4.1).

The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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 86 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 107 is traveling at a (x, y) velocity of [-0.05765213  5.31545   ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [ 3.553014 -2.469172] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-13.182402  -5.504197], 14.28537368774414 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.5) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 75 is 3.2 meters away at (-2.7, 1.7). A vehicle with ID 77 is 7.3 meters away at (-0.7, 7.3). A vehicle with ID 78 is 13.7 meters away at (1.6, 13.6). A vehicle with ID 79 is 18.3 meters away at (10.6, 15.0). A vehicle with ID 23 is 18.9 meters away at (-2.4, -18.7). A vehicle with ID 80 is 20.0 meters away at (13.5, 14.8). A vehicle with ID 30 is 25.3 meters away at (14.1, -21.0). A vehicle with ID 81 is 28.0 meters away at (-26.1, -10.1). A vehicle with ID 45 is 28.3 meters away at (13.9, -24.6). A vehicle with ID 82 is 30.4 meters away at (-13.0, -27.5).

The vehicle with ID 75 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 vehicle with ID 79 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 [3.5725095  0.10290665] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 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 [-4.190061   3.8471828] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -2.9) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 75 is 5.7 meters away at (-1.2, 5.6). A vehicle with ID 77 is 11.3 meters away at (0.9, 11.2). A vehicle with ID 45 is 17.7 meters away at (9.1, -15.2). A vehicle with ID 78 is 17.9 meters away at (3.3, 17.6). A vehicle with ID 23 is 19.6 meters away at (6.6, -18.5). A unknown object with ID 59 is 20.4 meters away at (0.1, -20.4). A vehicle with ID 79 is 22.5 meters away at (12.1, 18.9). A vehicle with ID 30 is 23.1 meters away at (15.6, -17.0). A vehicle with ID 80 is 23.9 meters away at (15.0, 18.6). A vehicle with ID 81 is 25.3 meters away at (-24.5, -6.1).

The vehicle with ID 75 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 45 is traveling at a (x, y) velocity of [-1.8788172  1.5526296] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 4.1009107 -3.205543 ] m/s.The unknown object with ID 59 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 30 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 81 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 (0.9, -4.7) m/s. Its current heading (yaw) is -1.38

The most relevant actors are: A vehicle with ID 45 is 11.0 meters away at (8.7, -6.8). A vehicle with ID 75 is 13.0 meters away at (0.1, 13.0). A vehicle with ID 18 is 16.3 meters away at (-16.2, 1.3). A vehicle with ID 77 is 18.7 meters away at (2.1, 18.6). A vehicle with ID 76 is 19.2 meters away at (14.6, -12.5). A vehicle with ID 82 is 19.2 meters away at (-10.6, -16.1). A vehicle with ID 30 is 19.3 meters away at (16.6, -9.9). A vehicle with ID 38 is 21.1 meters away at (-8.2, -19.4). A vehicle with ID 81 is 23.6 meters away at (-23.5, 1.4). A pedestrian with ID 60 is 23.7 meters away at (-14.5, -18.8).

The vehicle with ID 45 is traveling at a (x, y) velocity of [-0.24815409  0.22149855] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 3.5690687 -1.4300058] m/s.The vehicle with ID 77 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 [-1.1622454  0.9688226] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [1.8746585 5.4059258] m/s.The vehicle with ID 81 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 [-0.43974146 -0.82531494] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -4.4) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A vehicle with ID 45 is 4.4 meters away at (1.2, 4.3). A vehicle with ID 76 is 7.8 meters away at (7.6, -1.8). A vehicle with ID 30 is 10.6 meters away at (10.6, -0.2). A vehicle with ID 38 is 12.0 meters away at (-11.6, -2.9). A vehicle with ID 84 is 15.5 meters away at (2.6, -15.3). A vehicle with ID 21 is 16.9 meters away at (16.1, -5.1). A vehicle with ID 82 is 17.7 meters away at (-16.5, -6.6). A vehicle with ID 87 is 17.8 meters away at (4.9, -17.1). A vehicle with ID 18 is 19.2 meters away at (-17.1, 8.7). A pedestrian with ID 89 is 20.6 meters away at (-7.0, -19.4).

The vehicle with ID 45 is traveling at a (x, y) velocity of [-2.0650938  1.6873227] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-0.98798496  0.8709928 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0.71919453 1.7007498 ] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 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 18 is traveling at a (x, y) velocity of [ 2.1277468 -0.9010066] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [0.31187484 0.43221506] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 4.3) m/s. Its current heading (yaw) is 2.65

The most relevant actors are: A vehicle with ID 1 is 19.9 meters away at (17.0, -10.4). A vehicle with ID 29 is 34.8 meters away at (31.9, -14.0). A vehicle with ID 30 is 54.5 meters away at (45.9, -29.4).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.496327   2.5112798] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-9.0805645 -8.7809   ] m/s.The vehicle with ID 30 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 (-8.5, 4.3) m/s. Its current heading (yaw) is 2.68

The most relevant actors are: A vehicle with ID 1 is 25.7 meters away at (22.9, -11.7). A vehicle with ID 29 is 51.3 meters away at (30.0, -41.6). A vehicle with ID 30 is 73.1 meters away at (62.5, -37.9).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.7842145  3.6252635] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ -9.226283 -10.273384] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 6.0) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A unknown object with ID 27 is 30.5 meters away at (-7.7, -29.5). A vehicle with ID 1 is 30.6 meters away at (26.5, -15.3). A vehicle with ID 23 is 62.3 meters away at (-49.1, 38.4). A vehicle with ID 29 is 77.7 meters away at (27.8, -72.6). A vehicle with ID 28 is 80.7 meters away at (30.7, -74.6).

The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-6.883476   3.1668353] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 5.0685678 -4.5731463] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ -8.997786 -10.430889] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 9.596709 10.91919 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ -7.746479 -29.508425], 30.508277893066406 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 5.8) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 23 is 27.8 meters away at (-22.9, 15.7). A vehicle with ID 1 is 32.9 meters away at (26.0, -20.2). A vehicle with ID 26 is 68.2 meters away at (-68.2, 0.4). A unknown object with ID 11 is 68.2 meters away at (-67.5, 9.7). A vehicle with ID 22 is 68.3 meters away at (-68.3, 0.3).

The vehicle with ID 23 is traveling at a (x, y) velocity of [ 6.9260116 -6.291183 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-7.56627   4.317692] m/s.The vehicle with ID 26 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.The vehicle with ID 22 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, 0.8) m/s. Its current heading (yaw) is 2.87

The most relevant actors are: A vehicle with ID 69 is 3.1 meters away at (-0.1, 3.1). A unknown object with ID 63 is 7.0 meters away at (-0.8, -6.9). A unknown object with ID 61 is 7.2 meters away at (1.8, -6.9). A unknown object with ID 65 is 7.8 meters away at (-3.2, -7.1). A vehicle with ID 59 is 10.1 meters away at (9.6, 3.2). A vehicle with ID 16 is 14.3 meters away at (-4.0, -13.7). A vehicle with ID 64 is 14.7 meters away at (14.6, 1.4). A vehicle with ID 17 is 17.2 meters away at (-4.1, -16.7). A vehicle with ID 62 is 18.1 meters away at (16.4, -7.8). A vehicle with ID 85 is 18.6 meters away at (-18.1, -4.4).

The vehicle with ID 69 is traveling at a (x, y) velocity of [-11.208712   3.846306] 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 61 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 vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 8.071701  -1.7541623] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 1.8233994 -5.263258 ] 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, -1.5) m/s. Its current heading (yaw) is -2.82

The most relevant actors are: A unknown object with ID 65 is 8.5 meters away at (4.4, -7.2). A unknown object with ID 63 is 9.9 meters away at (6.8, -7.1). A unknown object with ID 61 is 11.8 meters away at (9.4, -7.1). A vehicle with ID 16 is 14.3 meters away at (3.5, -13.9). A vehicle with ID 17 is 17.2 meters away at (3.4, -16.9). A vehicle with ID 59 is 17.5 meters away at (17.3, 2.9). A vehicle with ID 69 is 18.9 meters away at (-15.6, 10.7). A vehicle with ID 18 is 19.3 meters away at (2.5, -19.2). A vehicle with ID 85 is 19.3 meters away at (-11.2, -15.8). A vehicle with ID 74 is 20.5 meters away at (6.6, 19.4).

The unknown object with ID 65 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-12.202497    3.8966243] m/s.The vehicle with ID 18 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 [-1.9814564 -5.7167835] m/s.The vehicle with ID 74 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 [ 4.3928223 -7.2437105], 8.471612930297852 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -4.9) m/s. Its current heading (yaw) is -2.10

The most relevant actors are: A unknown object with ID 65 is 12.0 meters away at (12.0, -0.5). A vehicle with ID 16 is 13.2 meters away at (11.2, -7.1). A vehicle with ID 58 is 13.6 meters away at (-7.9, -11.1). A unknown object with ID 63 is 14.5 meters away at (14.5, -0.3). A vehicle with ID 17 is 15.0 meters away at (11.1, -10.1). A vehicle with ID 18 is 16.1 meters away at (10.2, -12.4). A unknown object with ID 61 is 17.0 meters away at (17.0, -0.4). A vehicle with ID 12 is 18.7 meters away at (8.0, -17.0). A vehicle with ID 57 is 20.6 meters away at (-10.3, -17.9). A vehicle with ID 32 is 20.8 meters away at (7.3, -19.5).

The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 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 57 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [12.009587   -0.47972536], 12.0191650390625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -5.1) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 58 is 3.8 meters away at (-3.7, -0.8). A vehicle with ID 57 is 9.7 meters away at (-6.1, -7.5). A vehicle with ID 12 is 13.9 meters away at (12.2, -6.7). A vehicle with ID 18 is 14.4 meters away at (14.2, -2.1). A vehicle with ID 32 is 14.7 meters away at (11.5, -9.2). A vehicle with ID 17 is 15.2 meters away at (15.2, 0.2). A vehicle with ID 16 is 15.5 meters away at (15.2, 3.1). A unknown object with ID 65 is 18.9 meters away at (16.1, 9.9). A unknown object with ID 63 is 21.1 meters away at (18.6, 10.0). A vehicle with ID 85 is 23.1 meters away at (-7.4, -21.9).

The vehicle with ID 58 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 18 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [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 63 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 [-0.32440215 -4.844826  ] m/s.

Instruction: Slight right turn approaching.