The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.5) m/s. Its current heading (yaw) is -0.74

The most relevant actors are: A unknown object with ID 34 is 13.5 meters away at (5.4, 12.4). A unknown object with ID 36 is 13.7 meters away at (8.3, 10.9). A unknown object with ID 35 is 14.7 meters away at (2.8, 14.4). A unknown object with ID 7 is 15.9 meters away at (11.3, 11.2). A vehicle with ID 39 is 18.2 meters away at (17.7, 4.3). A vehicle with ID 44 is 24.2 meters away at (21.5, -11.1). A vehicle with ID 33 is 25.5 meters away at (2.9, -25.3). A unknown object with ID 27 is 26.9 meters away at (15.0, -22.3). A vehicle with ID 43 is 28.7 meters away at (-5.1, -28.2). A vehicle with ID 42 is 29.1 meters away at (21.5, -19.6).

The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-2.4616141 -1.4071585] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-2.0568748  1.0214989] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [1.356909  1.4256406] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 3.8125155 -0.5427221] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 5.4060297 12.360201 ], 13.490727424621582 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 -0.72

The most relevant actors are: A vehicle with ID 39 is 10.2 meters away at (9.7, 3.2). A unknown object with ID 34 is 13.7 meters away at (5.0, 12.7). A unknown object with ID 36 is 13.8 meters away at (8.0, 11.2). A unknown object with ID 35 is 15.0 meters away at (2.4, 14.8). A unknown object with ID 7 is 15.9 meters away at (11.2, 11.3). A vehicle with ID 44 is 18.7 meters away at (16.1, -9.4). A vehicle with ID 46 is 18.7 meters away at (-13.4, 13.1). A vehicle with ID 33 is 22.6 meters away at (5.5, -21.9). A unknown object with ID 27 is 26.5 meters away at (14.7, -22.0). A vehicle with ID 38 is 28.3 meters away at (-0.5, -28.3).

The vehicle with ID 39 is traveling at a (x, y) velocity of [-5.0598917  0.761144 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-3.0755584   0.41064513] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 4.2313576 -3.7999492] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.9083789 1.0134676] m/s.The unknown object with ID 27 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 [0.788133   0.90207535] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.1) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A vehicle with ID 39 is 9.2 meters away at (-1.2, 9.2). A vehicle with ID 46 is 10.4 meters away at (-6.9, 7.7). A vehicle with ID 44 is 13.6 meters away at (9.3, -9.9). A unknown object with ID 34 is 13.7 meters away at (5.0, 12.8). A unknown object with ID 36 is 13.8 meters away at (7.9, 11.3). A unknown object with ID 35 is 15.1 meters away at (2.3, 14.9). A vehicle with ID 33 is 21.7 meters away at (6.3, -20.8). A vehicle with ID 38 is 26.8 meters away at (0.6, -26.7). A vehicle with ID 43 is 28.4 meters away at (-5.6, -27.8). A vehicle with ID 29 is 31.1 meters away at (-8.5, 29.9).

The vehicle with ID 39 is traveling at a (x, y) velocity of [-5.7274194  4.6959443] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 2.045972 -1.554471] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-3.643186  -1.2100894] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.0) m/s. Its current heading (yaw) is -0.60

The most relevant actors are: A vehicle with ID 46 is 10.1 meters away at (-6.8, 7.5). A vehicle with ID 44 is 12.4 meters away at (-1.4, -12.3). A unknown object with ID 36 is 14.4 meters away at (4.9, 13.6). A unknown object with ID 34 is 15.1 meters away at (1.9, 15.0). A unknown object with ID 35 is 17.0 meters away at (-0.7, 17.0). A vehicle with ID 33 is 18.8 meters away at (3.3, -18.6). A vehicle with ID 38 is 25.7 meters away at (-3.0, -25.5). A vehicle with ID 43 is 27.0 meters away at (-8.5, -25.6). A vehicle with ID 39 is 27.9 meters away at (-16.5, 22.5). A vehicle with ID 40 is 30.7 meters away at (26.3, 15.7).

The vehicle with ID 46 is traveling at a (x, y) velocity of [ 2.147261  -1.5066681] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-3.7273622 -3.3455875] 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-7.060387  6.203877] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 17 is 7.7 meters away at (7.2, -2.6). A vehicle with ID 34 is 7.8 meters away at (0.8, -7.7). A vehicle with ID 25 is 8.1 meters away at (-6.5, -4.8). A vehicle with ID 19 is 8.8 meters away at (-8.4, 2.6). A unknown object with ID 16 is 10.2 meters away at (-6.2, -8.1). A unknown object with ID 20 is 10.9 meters away at (-5.1, -9.6). A vehicle with ID 22 is 10.9 meters away at (-1.4, -10.8). A vehicle with ID 45 is 13.4 meters away at (9.0, -9.9). A vehicle with ID 27 is 13.5 meters away at (4.9, -12.6). A unknown object with ID 13 is 13.9 meters away at (-12.5, -5.9).

The vehicle with ID 17 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 25 is traveling at a (x, y) velocity of [ 0.3528929 -0.120998 ] m/s.The vehicle with ID 19 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 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 vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 35.189518 -20.605108]
 [ 36.368404 -18.735504]]

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 2.83

The most relevant actors are: A vehicle with ID 17 is 7.7 meters away at (7.3, -2.6). A vehicle with ID 25 is 7.8 meters away at (-5.9, -5.0). A vehicle with ID 34 is 7.8 meters away at (0.8, -7.7). A vehicle with ID 19 is 8.9 meters away at (-8.4, 2.7). A unknown object with ID 16 is 10.3 meters away at (-6.3, -8.1). A unknown object with ID 20 is 10.9 meters away at (-5.1, -9.6). A vehicle with ID 22 is 10.9 meters away at (-1.5, -10.8). A vehicle with ID 45 is 13.5 meters away at (9.1, -9.9). A vehicle with ID 27 is 13.5 meters away at (4.9, -12.6). A unknown object with ID 13 is 13.9 meters away at (-12.5, -6.0).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 16 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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.

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 2.83

The most relevant actors are: A vehicle with ID 25 is 7.7 meters away at (-5.8, -5.1). A vehicle with ID 17 is 7.7 meters away at (7.3, -2.6). A vehicle with ID 34 is 7.8 meters away at (0.9, -7.8). A vehicle with ID 19 is 8.9 meters away at (-8.5, 2.7). A unknown object with ID 16 is 10.2 meters away at (-6.2, -8.1). A unknown object with ID 20 is 10.8 meters away at (-5.1, -9.6). A vehicle with ID 22 is 10.9 meters away at (-1.4, -10.8). A vehicle with ID 27 is 13.5 meters away at (4.9, -12.6). A vehicle with ID 45 is 13.5 meters away at (9.2, -10.0). A unknown object with ID 13 is 13.9 meters away at (-12.5, -6.0).

The vehicle with ID 25 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 34 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 16 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 0.37634358 -0.12244964] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 47.369247 -12.555926]]

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 2.83

The most relevant actors are: A vehicle with ID 17 is 7.7 meters away at (7.3, -2.6). A vehicle with ID 25 is 7.7 meters away at (-5.8, -5.1). A vehicle with ID 34 is 8.1 meters away at (1.5, -8.0). A vehicle with ID 19 is 8.9 meters away at (-8.5, 2.6). A unknown object with ID 16 is 10.3 meters away at (-6.3, -8.1). A unknown object with ID 20 is 10.8 meters away at (-5.0, -9.6). A vehicle with ID 22 is 10.9 meters away at (-1.4, -10.8). A vehicle with ID 27 is 13.5 meters away at (4.9, -12.6). A unknown object with ID 13 is 13.9 meters away at (-12.5, -6.0). A vehicle with ID 31 is 14.2 meters away at (13.6, -4.3).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.830532   -0.27037612] m/s.The vehicle with ID 19 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 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 vehicle with ID 27 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 vehicle with ID 31 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 (-9.1, 3.0) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 95 is 11.4 meters away at (-7.0, -9.0). A vehicle with ID 102 is 12.0 meters away at (-9.7, 7.1). A unknown object with ID 105 is 17.7 meters away at (-16.7, -6.0). A unknown object with ID 106 is 18.4 meters away at (-17.8, -4.5). A vehicle with ID 50 is 18.4 meters away at (-16.1, 9.0). A unknown object with ID 86 is 21.1 meters away at (-17.5, -11.8). A unknown object with ID 107 is 21.3 meters away at (-21.0, -3.5). A unknown object with ID 92 is 24.3 meters away at (-24.1, -2.4). A pedestrian with ID 96 is 25.9 meters away at (25.9, 0.4). A vehicle with ID 110 is 26.9 meters away at (-24.3, 11.6).

The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-0.98992854  0.4302606 ] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[11.132456    0.45050314]
 [10.935467    0.49202734]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.1, 3.0) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 50 is 4.3 meters away at (2.8, 3.2). A vehicle with ID 110 is 7.9 meters away at (-5.3, 5.8). A vehicle with ID 102 is 9.1 meters away at (9.0, 1.4). A unknown object with ID 107 is 9.5 meters away at (-2.0, -9.3). A unknown object with ID 92 is 9.7 meters away at (-5.2, -8.2). A unknown object with ID 106 is 10.3 meters away at (1.1, -10.2). A unknown object with ID 111 is 11.0 meters away at (-8.3, -7.2). A unknown object with ID 105 is 12.0 meters away at (2.3, -11.8). A unknown object with ID 112 is 12.8 meters away at (-10.2, -7.8). A vehicle with ID 52 is 14.1 meters away at (-11.8, 7.6).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 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 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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 (-8.4, 2.5) m/s. Its current heading (yaw) is 2.86

The most relevant actors are: A vehicle with ID 52 is 6.2 meters away at (5.7, 2.5). A vehicle with ID 51 is 8.4 meters away at (-6.0, 5.9). A vehicle with ID 93 is 10.0 meters away at (-1.7, -9.8). A pedestrian with ID 74 is 11.0 meters away at (-2.9, -10.6). A vehicle with ID 90 is 11.8 meters away at (-9.0, -7.6). A vehicle with ID 110 is 12.1 meters away at (12.1, 0.7). A unknown object with ID 112 is 14.9 meters away at (7.4, -13.0). A vehicle with ID 26 is 15.1 meters away at (-12.8, 8.0). A pedestrian with ID 78 is 15.1 meters away at (-8.2, 12.7). A unknown object with ID 111 is 15.5 meters away at (9.3, -12.4).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.02125003 0.03019838] m/s.The vehicle with ID 90 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 unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [0.03238481 0.06608455] m/s.The unknown object with ID 111 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 (-8.0, 1.9) m/s. Its current heading (yaw) is 2.91

The most relevant actors are: A vehicle with ID 26 is 5.5 meters away at (3.4, 4.2). A pedestrian with ID 65 is 6.5 meters away at (2.4, 6.1). A vehicle with ID 16 is 7.1 meters away at (-3.8, 5.9). A pedestrian with ID 84 is 7.2 meters away at (-2.5, 6.7). A pedestrian with ID 67 is 7.2 meters away at (2.8, 6.7). A vehicle with ID 94 is 9.4 meters away at (-5.5, -7.7). A vehicle with ID 91 is 9.7 meters away at (1.1, -9.7). A vehicle with ID 51 is 10.7 meters away at (10.5, 2.0). A pedestrian with ID 14 is 11.2 meters away at (-7.5, 8.4). A vehicle with ID 13 is 12.3 meters away at (-9.4, 7.9).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.10341971  0.12213936] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [ 0.00339313 -0.02244149] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.02951566  0.06691784] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.13146701  0.24238351] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.5, -0.2) m/s. Its current heading (yaw) is -0.02

The most relevant actors are: A pedestrian with ID 76 is 7.0 meters away at (0.2, 7.0). A pedestrian with ID 79 is 8.2 meters away at (1.8, 8.0). A pedestrian with ID 74 is 10.4 meters away at (-5.5, 8.8). A vehicle with ID 72 is 10.8 meters away at (-5.7, -9.3). A vehicle with ID 75 is 11.4 meters away at (-3.4, 10.9). A vehicle with ID 68 is 12.2 meters away at (-8.4, -8.8). A vehicle with ID 86 is 12.4 meters away at (4.7, 11.5). A vehicle with ID 69 is 13.6 meters away at (-8.7, 10.4). A vehicle with ID 66 is 14.5 meters away at (-11.2, -9.3). A pedestrian with ID 58 is 18.4 meters away at (4.7, -17.8).

The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.01868269  0.3357277 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [0.00207953 0.00168945] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-1.1881326   0.66139966] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 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 69 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 pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.1245832   0.95943546] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.2, 0.2) m/s. Its current heading (yaw) is 0.02

The most relevant actors are: A vehicle with ID 47 is 10.3 meters away at (9.3, 4.4). A unknown object with ID 51 is 11.1 meters away at (-5.0, -9.9). A vehicle with ID 86 is 17.3 meters away at (-12.9, 11.5). A pedestrian with ID 79 is 18.1 meters away at (-16.2, 8.0). A pedestrian with ID 76 is 19.0 meters away at (-17.6, 7.1). A vehicle with ID 102 is 19.2 meters away at (16.9, -9.2). A vehicle with ID 103 is 20.4 meters away at (16.5, -12.0). A cyclist with ID 59 is 22.1 meters away at (-15.2, -16.0). A pedestrian with ID 58 is 22.2 meters away at (-15.2, -16.2). A vehicle with ID 75 is 23.8 meters away at (-21.1, 10.9).

The vehicle with ID 47 is traveling at a (x, y) velocity of [-10.743597   -0.2551008] m/s.The unknown object with ID 51 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 pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.42678556 -0.16879466] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.01255337 0.01924211] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-0.9699906  1.3104547] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.0165609  1.0089369] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.7, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A vehicle with ID 102 is 9.5 meters away at (-2.0, -9.3). A vehicle with ID 103 is 12.3 meters away at (-2.6, -12.0). A vehicle with ID 63 is 13.8 meters away at (8.9, 10.6). A vehicle with ID 48 is 17.7 meters away at (-1.5, -17.6). A vehicle with ID 50 is 21.4 meters away at (5.0, -20.9). A vehicle with ID 44 is 21.6 meters away at (8.7, -19.8). A vehicle with ID 47 is 30.7 meters away at (-30.5, 3.7). A vehicle with ID 40 is 32.4 meters away at (24.6, -21.0). A vehicle with ID 86 is 33.8 meters away at (-31.9, 11.4). A pedestrian with ID 79 is 36.6 meters away at (-35.7, 8.0).

The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-10.045728   -0.1702797] m/s.The vehicle with ID 40 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 pedestrian with ID 79 is traveling at a (x, y) velocity of [0.00668617 0.00768142] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A vehicle with ID 63 is 15.1 meters away at (-10.7, 10.7). A vehicle with ID 40 is 21.5 meters away at (4.9, -20.9). A vehicle with ID 30 is 22.5 meters away at (17.7, -13.9). A vehicle with ID 44 is 22.7 meters away at (-11.1, -19.8). A vehicle with ID 29 is 23.0 meters away at (20.3, 10.8). A vehicle with ID 102 is 23.8 meters away at (-21.9, -9.3). A vehicle with ID 50 is 25.5 meters away at (-14.8, -20.7). A vehicle with ID 22 is 28.8 meters away at (27.3, -9.0). A vehicle with ID 20 is 34.8 meters away at (33.2, 10.4). A vehicle with ID 28 is 35.7 meters away at (27.3, -23.0).

The vehicle with ID 63 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 4.9) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A unknown object with ID 127 is 6.0 meters away at (-2.8, -5.2). A unknown object with ID 125 is 6.8 meters away at (-0.2, -6.8). A unknown object with ID 124 is 8.8 meters away at (2.4, -8.4). A vehicle with ID 126 is 19.7 meters away at (3.1, -19.5). A unknown object with ID 88 is 34.4 meters away at (-32.2, 12.0). A unknown object with ID 109 is 37.4 meters away at (-34.9, 13.5). A unknown object with ID 103 is 40.5 meters away at (-37.6, 15.1). A unknown object with ID 93 is 43.4 meters away at (-40.1, 16.6). A pedestrian with ID 99 is 54.2 meters away at (-53.7, 7.3). A unknown object with ID 63 is 58.0 meters away at (-52.8, 24.2).

The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [ 2.253219  -1.8102175] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 1.0456531 -1.0355766] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.8442278 -5.244018 ], 5.965681552886963 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, 4.8) m/s. Its current heading (yaw) is 2.60

The most relevant actors are: A unknown object with ID 91 is 6.3 meters away at (-2.8, -5.7). A unknown object with ID 88 is 16.4 meters away at (-16.2, 2.3). A unknown object with ID 109 is 19.3 meters away at (-18.9, 4.0). A unknown object with ID 127 is 19.4 meters away at (12.7, -14.7). A unknown object with ID 103 is 22.2 meters away at (-21.5, 5.5). A unknown object with ID 125 is 22.6 meters away at (15.6, -16.4). A unknown object with ID 93 is 25.2 meters away at (-24.1, 7.1). A unknown object with ID 124 is 25.6 meters away at (18.2, -18.0). A unknown object with ID 79 is 25.7 meters away at (18.3, -18.1). A unknown object with ID 86 is 28.1 meters away at (-26.8, 8.6).

The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.7862568 -5.689002 ], 6.3346638679504395 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 4.4) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A unknown object with ID 109 is 6.2 meters away at (-3.3, -5.2). A unknown object with ID 88 is 6.8 meters away at (-0.7, -6.7). A unknown object with ID 103 is 6.8 meters away at (-5.8, -3.7). A unknown object with ID 91 is 19.7 meters away at (12.9, -14.8). A unknown object with ID 63 is 22.0 meters away at (-21.2, 5.5). A unknown object with ID 75 is 24.7 meters away at (-23.7, 7.0). A pedestrian with ID 99 is 24.9 meters away at (-19.6, -15.4). A unknown object with ID 52 is 27.6 meters away at (-26.3, 8.4). A unknown object with ID 113 is 27.9 meters away at (-27.4, -5.7). A unknown object with ID 50 is 30.6 meters away at (-28.9, 10.1).

The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.72991705 -0.70928466] 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 113 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: Continue straight.

(The closest actor is a unknown object at [-3.3012123 -5.23242  ], 6.1867780685424805 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.4) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A unknown object with ID 87 is 6.5 meters away at (-1.6, -6.3). A unknown object with ID 95 is 6.5 meters away at (5.5, 3.5). A unknown object with ID 100 is 6.9 meters away at (5.7, 3.9). A unknown object with ID 63 is 7.2 meters away at (-6.4, -3.3). A unknown object with ID 110 is 8.4 meters away at (1.7, -8.2). A unknown object with ID 75 is 9.0 meters away at (-8.8, -1.8). A unknown object with ID 52 is 11.5 meters away at (-11.5, -0.4). A vehicle with ID 117 is 11.7 meters away at (1.2, -11.7). A unknown object with ID 50 is 14.1 meters away at (-14.1, 1.3). A unknown object with ID 103 is 14.9 meters away at (8.5, -12.3).

The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 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 110 is traveling at a (x, y) velocity of [0. 0.] 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 117 is traveling at a (x, y) velocity of [11.335658  -6.8165064] 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 103 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-1.5713768 -6.276289 ], 6.470010280609131 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 4.4) m/s. Its current heading (yaw) is 1.30

The most relevant actors are: A vehicle with ID 19 is 26.4 meters away at (9.2, -24.7). A vehicle with ID 21 is 42.6 meters away at (17.2, 38.9). A vehicle with ID 20 is 47.6 meters away at (-1.8, -47.5). A unknown object with ID 16 is 47.7 meters away at (12.7, 46.0). A unknown object with ID 17 is 48.5 meters away at (12.6, 46.8). A unknown object with ID 18 is 48.8 meters away at (12.5, 47.2). A vehicle with ID 4 is 55.5 meters away at (-38.7, 39.8).

The vehicle with ID 19 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 20 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 2.1) m/s. Its current heading (yaw) is 1.37

The most relevant actors are: A pedestrian with ID 3 is 29.6 meters away at (29.6, -2.0). A vehicle with ID 19 is 32.1 meters away at (7.7, -31.2). A vehicle with ID 21 is 36.0 meters away at (15.7, 32.4). A unknown object with ID 16 is 41.1 meters away at (11.2, 39.5). A unknown object with ID 17 is 41.9 meters away at (11.0, 40.4). A unknown object with ID 18 is 42.2 meters away at (10.9, 40.7). A vehicle with ID 4 is 52.2 meters away at (-40.2, 33.3). A vehicle with ID 20 is 54.1 meters away at (-3.3, -54.0).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.48335606  1.0058969 ] m/s.The vehicle with ID 19 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 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 18 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 20 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, 0.1) m/s. Its current heading (yaw) is 1.35

The most relevant actors are: A pedestrian with ID 3 is 28.3 meters away at (28.2, -1.8). A vehicle with ID 19 is 33.8 meters away at (7.3, -32.9). A vehicle with ID 21 is 34.2 meters away at (15.3, 30.6). A unknown object with ID 16 is 39.3 meters away at (10.8, 37.8). A unknown object with ID 17 is 40.0 meters away at (10.6, 38.5). A unknown object with ID 18 is 40.4 meters away at (10.5, 39.0). A vehicle with ID 4 is 51.4 meters away at (-40.6, 31.4). A vehicle with ID 20 is 56.2 meters away at (-3.8, -56.1). A cyclist with ID 2 is 60.9 meters away at (16.8, 58.5).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.29828724  1.2361573 ] m/s.The vehicle with ID 19 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 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 18 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 20 is traveling at a (x, y) velocity of [-0.34733325 -0.5815992 ] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-0.04862697 -8.571121  ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.35

The most relevant actors are: A pedestrian with ID 3 is 27.7 meters away at (27.7, 0.0). A vehicle with ID 19 is 33.9 meters away at (7.3, -33.1). A vehicle with ID 21 is 34.0 meters away at (15.3, 30.4). A unknown object with ID 16 is 39.1 meters away at (10.7, 37.6). A unknown object with ID 17 is 39.9 meters away at (10.6, 38.4). A unknown object with ID 18 is 40.3 meters away at (10.5, 38.9). A cyclist with ID 2 is 49.6 meters away at (16.7, 46.6). A vehicle with ID 4 is 51.3 meters away at (-40.7, 31.2). A vehicle with ID 20 is 58.9 meters away at (-5.3, -58.6). A unknown object with ID 10 is 69.1 meters away at (11.8, 68.1).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.2423961  1.0196215] m/s.The vehicle with ID 19 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 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-0.09292768 -4.678821  ] m/s.The vehicle with ID 4 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 [-0.9933911 -1.5533426] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -4.1) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 71 is 3.3 meters away at (-2.4, -2.3). A vehicle with ID 67 is 6.7 meters away at (-6.6, 1.3). A vehicle with ID 75 is 7.6 meters away at (7.6, 0.6). A vehicle with ID 63 is 11.9 meters away at (-10.7, 5.2). A vehicle with ID 82 is 12.3 meters away at (11.9, -3.2). A unknown object with ID 78 is 12.9 meters away at (11.9, 4.8). A unknown object with ID 55 is 13.0 meters away at (12.2, 4.6). A unknown object with ID 79 is 13.1 meters away at (12.3, 4.4). A unknown object with ID 80 is 13.2 meters away at (12.9, 2.8). A unknown object with ID 81 is 13.8 meters away at (13.4, 3.3).

The vehicle with ID 71 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 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 (3.6, -3.1) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A vehicle with ID 69 is 4.2 meters away at (0.1, -4.2). A vehicle with ID 82 is 5.3 meters away at (3.5, 4.0). A vehicle with ID 75 is 7.8 meters away at (-0.8, 7.8). A pedestrian with ID 56 is 8.0 meters away at (-2.3, -7.6). A vehicle with ID 70 is 8.2 meters away at (3.7, -7.3). A vehicle with ID 64 is 8.3 meters away at (8.3, 0.2). A unknown object with ID 80 is 11.0 meters away at (4.5, 10.0). A unknown object with ID 81 is 11.7 meters away at (5.0, 10.6). A vehicle with ID 71 is 11.9 meters away at (-10.9, 4.9). A unknown object with ID 79 is 12.3 meters away at (3.7, 11.8).

The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.0025118   0.00750605] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -1.7) m/s. Its current heading (yaw) is -0.73

The most relevant actors are: A vehicle with ID 70 is 3.1 meters away at (-1.7, -2.6). A vehicle with ID 69 is 5.3 meters away at (-5.3, 0.4). A vehicle with ID 64 is 5.6 meters away at (3.0, 4.8). A pedestrian with ID 56 is 8.2 meters away at (-7.7, -2.9). A vehicle with ID 82 is 8.9 meters away at (-1.9, 8.7). A unknown object with ID 42 is 11.6 meters away at (2.8, 11.2). A vehicle with ID 9 is 11.6 meters away at (-9.0, 7.3). A vehicle with ID 75 is 13.9 meters away at (-6.2, 12.5). A unknown object with ID 81 is 15.3 meters away at (-0.5, 15.3). A unknown object with ID 79 is 16.6 meters away at (-1.7, 16.5).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.007263   0.01202327] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 2.7984927 -2.45588  ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 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, -1.0) m/s. Its current heading (yaw) is -0.59

The most relevant actors are: A vehicle with ID 98 is 3.0 meters away at (2.7, 1.4). A vehicle with ID 70 is 4.5 meters away at (-4.5, -0.3). A vehicle with ID 64 is 7.2 meters away at (0.2, 7.2). A vehicle with ID 69 is 8.6 meters away at (-8.1, 2.9). A vehicle with ID 9 is 9.4 meters away at (-7.3, 5.9). A unknown object with ID 29 is 11.0 meters away at (6.5, 8.9). A vehicle with ID 82 is 12.0 meters away at (-4.6, 11.0). A vehicle with ID 75 is 17.4 meters away at (-9.1, 14.9). A unknown object with ID 81 is 18.0 meters away at (-3.3, 17.7). A unknown object with ID 79 is 19.3 meters away at (-4.4, 18.8).

The vehicle with ID 98 is traveling at a (x, y) velocity of [-6.057191   4.9188495] m/s.The vehicle with ID 70 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 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 1.9599893 -1.6975853] m/s.The unknown object with ID 29 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 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -2.2) m/s. Its current heading (yaw) is -1.01

The most relevant actors are: A cyclist with ID 1 is 10.7 meters away at (-2.5, 10.4). A vehicle with ID 42 is 17.3 meters away at (-15.0, -8.6). A vehicle with ID 44 is 19.1 meters away at (-6.1, -18.0). A vehicle with ID 47 is 29.6 meters away at (-12.2, 27.0). A vehicle with ID 48 is 35.7 meters away at (-35.1, 6.4). A vehicle with ID 49 is 37.4 meters away at (-35.6, -11.5). A vehicle with ID 46 is 37.5 meters away at (-23.1, 29.5). A vehicle with ID 34 is 40.4 meters away at (-16.5, 36.9). A cyclist with ID 50 is 42.1 meters away at (-1.9, 42.0). A cyclist with ID 31 is 42.7 meters away at (-33.1, 26.9).

The cyclist with ID 1 is traveling at a (x, y) velocity of [ 0.19030961 -5.277808  ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.7697512 -6.948321 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-0.7431496 -1.773819 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [2.6704686 8.780929 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [1.4222032 6.0245175] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 4.0365305 10.2333975] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 4.696418 11.760352] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [ -7.106947 -16.117952] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-0.00082743 -0.02457528] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -3.3) m/s. Its current heading (yaw) is -0.77

The most relevant actors are: A cyclist with ID 1 is 8.0 meters away at (-4.7, 6.4). A vehicle with ID 44 is 16.4 meters away at (-10.6, -12.5). A cyclist with ID 50 is 23.7 meters away at (-19.2, 13.9). A vehicle with ID 42 is 29.1 meters away at (-22.9, -17.9). A vehicle with ID 47 is 35.1 meters away at (-17.8, 30.3). A vehicle with ID 49 is 37.5 meters away at (-36.2, 9.8). A vehicle with ID 4 is 37.9 meters away at (-2.9, 37.8). A vehicle with ID 23 is 44.6 meters away at (-29.9, -33.2). A vehicle with ID 48 is 45.4 meters away at (-33.6, 30.5). A cyclist with ID 31 is 49.7 meters away at (-37.7, 32.3).

The cyclist with ID 1 is traveling at a (x, y) velocity of [ 1.9026743 -3.6949768] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [ -5.619995 -16.930836] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.4717677 -8.216704 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-0.20530073 -0.5100423 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [2.6411135 8.680751 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.3391082 -8.060966 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ -1.8978717 -16.461555 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [3.4459178 9.563233 ] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-0.01072021 -0.05764633] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -3.3) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A cyclist with ID 1 is 8.9 meters away at (-7.1, 5.5). A vehicle with ID 44 is 20.4 meters away at (-19.5, -6.0). A vehicle with ID 4 is 34.5 meters away at (-16.8, 30.1). A cyclist with ID 50 is 40.1 meters away at (-37.7, -13.7). A cyclist with ID 27 is 41.3 meters away at (-24.1, 33.6). A vehicle with ID 47 is 45.3 meters away at (-27.1, 36.3). A vehicle with ID 42 is 45.4 meters away at (-34.6, -29.4). A vehicle with ID 49 is 52.4 meters away at (-38.8, 35.2). A cyclist with ID 31 is 60.6 meters away at (-46.6, 38.7). A pedestrian with ID 39 is 60.8 meters away at (-46.7, 39.0).

The cyclist with ID 1 is traveling at a (x, y) velocity of [ 4.066781  -4.0372553] m/s.The vehicle with ID 44 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 [-1.215388 -6.147977] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [ -3.6726627 -16.296288 ] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ -4.733085 -12.703309] m/s.The vehicle with ID 47 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 [-1.1162156 -9.273811 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 3.7578175 10.08885  ] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 0.06405446 -0.09383915] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.03801207 -0.12592909] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -3.6) m/s. Its current heading (yaw) is -0.47

The most relevant actors are: A cyclist with ID 1 is 10.1 meters away at (-9.2, 4.2). A vehicle with ID 44 is 31.9 meters away at (-31.9, 0.8). A vehicle with ID 4 is 38.7 meters away at (-29.1, 25.5). A cyclist with ID 27 is 46.7 meters away at (-44.0, 15.6). A pedestrian with ID 25 is 56.3 meters away at (55.3, -10.5). A vehicle with ID 47 is 58.4 meters away at (-39.4, 43.1). A vehicle with ID 42 is 65.1 meters away at (-49.0, -42.9). A cyclist with ID 21 is 69.8 meters away at (-63.3, -29.5). A cyclist with ID 20 is 73.0 meters away at (-67.3, -28.3). A cyclist with ID 31 is 74.5 meters away at (-59.1, 45.4).

The cyclist with ID 1 is traveling at a (x, y) velocity of [ 5.9919705 -3.8070118] m/s.The vehicle with ID 44 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 [ 1.1906228 -5.32466  ] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ -3.2962062 -11.979142 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.00592823 0.01243643] m/s.The vehicle with ID 47 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 [ -0.61904114 -10.307183  ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 1.432144 15.543934] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ 1.2339542 14.814735 ] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 0.09912857 -0.07154903] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A pedestrian with ID 8 is 1.1 meters away at (0.4, -1.1). A vehicle with ID 9 is 12.9 meters away at (-8.7, -9.5). A unknown object with ID 13 is 29.4 meters away at (1.0, -29.4). A vehicle with ID 11 is 40.3 meters away at (-14.2, -37.7). A unknown object with ID 5 is 46.2 meters away at (37.5, 27.0). A pedestrian with ID 14 is 57.5 meters away at (-4.4, -57.3).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.00696272  0.00509179] m/s.The vehicle with ID 9 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 vehicle with ID 11 is traveling at a (x, y) velocity of [ 8.787033  -7.2359405] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.7565575   0.81111974] m/s.

There are active red lights at the following coordinates: [[-19.410864 -19.045591]
 [-18.899433 -20.609926]]

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 9 is 12.8 meters away at (-8.6, -9.4). A unknown object with ID 13 is 29.1 meters away at (1.0, -29.1). A pedestrian with ID 14 is 56.3 meters away at (-6.2, -55.9).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.91456056  0.86600834] m/s.

There are active red lights at the following coordinates: [[-19.410864 -19.045591]
 [-18.899433 -20.609926]]

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 9 is 12.7 meters away at (-8.6, -9.4). A unknown object with ID 13 is 29.3 meters away at (1.0, -29.3). A pedestrian with ID 14 is 55.1 meters away at (-7.9, -54.5).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.7888422   0.81111825] m/s.

There are active red lights at the following coordinates: [[-19.410864 -19.045591]
 [-18.899433 -20.609926]]

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 9 is 12.9 meters away at (-8.7, -9.5). A unknown object with ID 13 is 29.4 meters away at (1.0, -29.4). A vehicle with ID 2 is 44.6 meters away at (-12.5, -42.8). A unknown object with ID 3 is 46.3 meters away at (37.5, 27.0). A pedestrian with ID 14 is 53.4 meters away at (-8.7, -52.7). A unknown object with ID 6 is 54.7 meters away at (-14.6, -52.8).

The vehicle with ID 9 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 vehicle with ID 2 is traveling at a (x, y) velocity of [ 16.615545 -13.917869] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.7076326  0.7734713] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-19.410864 -19.045591]
 [-18.899433 -20.609926]]

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -4.0) m/s. Its current heading (yaw) is -1.43

The most relevant actors are: A cyclist with ID 74 is 10.4 meters away at (10.2, -1.5). A unknown object with ID 76 is 22.5 meters away at (-13.9, -17.7). A unknown object with ID 75 is 25.2 meters away at (10.7, -22.8). A unknown object with ID 73 is 25.4 meters away at (12.9, -21.8). A unknown object with ID 71 is 26.1 meters away at (15.4, -21.0). A unknown object with ID 43 is 26.3 meters away at (15.3, -21.4). A unknown object with ID 70 is 26.8 meters away at (17.5, -20.3). A unknown object with ID 69 is 27.9 meters away at (19.5, -19.9). A unknown object with ID 67 is 30.8 meters away at (23.6, -19.8). A unknown object with ID 66 is 34.1 meters away at (27.7, -19.8).

The cyclist with ID 74 is traveling at a (x, y) velocity of [ 0.0269822  -0.01130659] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -3.6) m/s. Its current heading (yaw) is -1.20

The most relevant actors are: A cyclist with ID 74 is 10.6 meters away at (8.6, 6.2). A unknown object with ID 75 is 17.5 meters away at (9.0, -15.0). A unknown object with ID 73 is 18.0 meters away at (11.1, -14.1). A unknown object with ID 76 is 18.5 meters away at (-15.6, -9.9). A unknown object with ID 71 is 19.1 meters away at (13.7, -13.3). A unknown object with ID 43 is 19.4 meters away at (13.7, -13.7). A unknown object with ID 70 is 20.2 meters away at (15.8, -12.6). A unknown object with ID 69 is 21.6 meters away at (17.8, -12.1). A unknown object with ID 67 is 25.0 meters away at (21.9, -12.1). A unknown object with ID 66 is 28.7 meters away at (26.0, -12.1).

The cyclist with ID 74 is traveling at a (x, y) velocity of [-0.0066146  -0.00404886] 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.6) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A unknown object with ID 75 is 9.9 meters away at (4.8, -8.7). A unknown object with ID 73 is 10.4 meters away at (6.9, -7.7). A unknown object with ID 71 is 11.7 meters away at (9.4, -7.0). A unknown object with ID 70 is 13.1 meters away at (11.5, -6.2). A cyclist with ID 74 is 13.3 meters away at (4.4, 12.5). A unknown object with ID 69 is 14.7 meters away at (13.5, -5.8). A unknown object with ID 67 is 18.5 meters away at (17.6, -5.8). A unknown object with ID 76 is 20.1 meters away at (-19.8, -3.6). A unknown object with ID 66 is 22.5 meters away at (21.8, -5.8). A unknown object with ID 37 is 25.8 meters away at (13.0, -22.3).

The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 74 is traveling at a (x, y) velocity of [ 0.01395042 -0.0045603 ] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [ 4.765241 -8.678263], 9.900492668151855 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -0.8) m/s. Its current heading (yaw) is -0.16

The most relevant actors are: A unknown object with ID 71 is 3.6 meters away at (1.4, -3.3). A unknown object with ID 73 is 4.2 meters away at (-1.0, -4.1). A unknown object with ID 70 is 4.3 meters away at (3.5, -2.6). A unknown object with ID 69 is 5.9 meters away at (5.5, -2.2). A unknown object with ID 75 is 6.0 meters away at (-3.2, -5.0). A unknown object with ID 67 is 9.8 meters away at (9.6, -2.1). A unknown object with ID 66 is 13.9 meters away at (13.7, -2.1). A cyclist with ID 74 is 16.5 meters away at (-3.7, 16.1). A unknown object with ID 28 is 17.0 meters away at (12.5, -11.5). A unknown object with ID 65 is 19.1 meters away at (19.0, -2.1).

The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 74 is traveling at a (x, y) velocity of [-0.03528102  0.02946464] 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [ 1.4290056 -3.3124275], 3.6075246334075928 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -3.2) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A vehicle with ID 30 is 8.0 meters away at (-0.2, -8.0). A vehicle with ID 7 is 10.9 meters away at (10.8, 1.5). A vehicle with ID 32 is 29.0 meters away at (-19.4, -21.6). A pedestrian with ID 41 is 29.3 meters away at (28.6, -6.5). A cyclist with ID 27 is 29.8 meters away at (-29.6, -3.5). A pedestrian with ID 15 is 30.5 meters away at (-13.9, 27.2). A cyclist with ID 28 is 31.4 meters away at (-18.6, -25.3). A pedestrian with ID 31 is 33.9 meters away at (-25.4, 22.5). A vehicle with ID 8 is 34.0 meters away at (31.1, -13.7). A vehicle with ID 36 is 34.0 meters away at (-33.2, 7.3).

The vehicle with ID 30 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 [ 0.52454436 -1.2718759 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.0045358 -0.0475802] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-5.1626797  1.4471765] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.29677066 -1.0443184 ] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-3.3675406 -7.7227235] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.093372   -0.40203846] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 7.6721525 -3.185501 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 7.5342126 -3.422997 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -3.5) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A vehicle with ID 7 is 8.4 meters away at (-4.7, 6.9). A vehicle with ID 30 is 16.1 meters away at (-16.1, -1.3). A pedestrian with ID 25 is 21.6 meters away at (21.3, -3.7). A vehicle with ID 8 is 34.2 meters away at (31.2, -13.9). A vehicle with ID 36 is 37.4 meters away at (-36.8, 6.9). A pedestrian with ID 10 is 37.6 meters away at (35.4, -12.7). A vehicle with ID 32 is 37.9 meters away at (-35.1, -14.4). A pedestrian with ID 15 is 44.0 meters away at (-30.4, 31.8). A pedestrian with ID 31 is 48.5 meters away at (-39.5, 28.2). A vehicle with ID 21 is 49.5 meters away at (-2.1, 49.4).

The vehicle with ID 7 is traveling at a (x, y) velocity of [ 0.8547782 -1.5870886] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.00661883 0.00696551] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 8.804506  -3.7137907] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 5.1784983 -4.535556 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.01863013 0.02539927] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0.24904099 0.2962134 ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.3252214 -1.0779712] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.875865  -0.6968492] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.7662467 -9.135044 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, -3.7) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A pedestrian with ID 25 is 5.9 meters away at (4.9, 3.3). A vehicle with ID 7 is 18.7 meters away at (-16.8, 8.3). A pedestrian with ID 10 is 19.7 meters away at (18.9, -5.6). A vehicle with ID 30 is 33.4 meters away at (-32.9, 5.8). A vehicle with ID 8 is 35.9 meters away at (32.8, -14.6). A vehicle with ID 21 is 44.7 meters away at (-21.8, 39.0). A vehicle with ID 36 is 46.9 meters away at (-46.8, 2.2). A vehicle with ID 32 is 51.6 meters away at (-51.2, -6.8). A pedestrian with ID 15 is 60.3 meters away at (-47.8, 36.7). A pedestrian with ID 12 is 61.0 meters away at (58.5, -17.2).

The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.01671764 0.02196318] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 4.05764  -3.217869] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.07714227  0.14014989] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.4672835   0.24952655] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 9.132468 -3.77286 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.4693434 -8.377054 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.9464247 -6.7611847] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.60532093 -0.87319916] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.1202033 -0.5887237] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a pedestrian at [4.909073  3.3431683], 5.939341068267822 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.4, -4.1) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A pedestrian with ID 10 is 2.3 meters away at (0.8, 2.2). A pedestrian with ID 25 is 17.3 meters away at (-13.2, 11.1). A vehicle with ID 7 is 25.0 meters away at (-23.1, 9.6). A vehicle with ID 8 is 36.0 meters away at (33.0, -14.4). A pedestrian with ID 12 is 44.2 meters away at (43.0, -9.9). A pedestrian with ID 13 is 44.2 meters away at (42.9, -10.6). A unknown object with ID 18 is 46.1 meters away at (44.1, -13.4). A unknown object with ID 24 is 47.4 meters away at (45.3, -13.9). A vehicle with ID 30 is 55.2 meters away at (-53.2, 14.7). A pedestrian with ID 1 is 67.6 meters away at (58.2, -34.3).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.17985922 0.01088577] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.02864567 0.00146598] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 7.5726056 -3.57538  ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 9.096316  -3.8833692] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.3743863 -0.5062733] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.3797301 -0.5210799] 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 24 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 [-1.8789698  1.402929 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.4387201 -0.4874689] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.3) m/s. Its current heading (yaw) is -1.87

The most relevant actors are: A vehicle with ID 55 is 3.5 meters away at (-2.6, 2.3). A vehicle with ID 56 is 8.7 meters away at (-0.7, 8.6). A unknown object with ID 39 is 15.1 meters away at (10.2, -11.2). A vehicle with ID 28 is 17.8 meters away at (-17.7, -1.7). A vehicle with ID 60 is 18.1 meters away at (2.3, 18.0). A vehicle with ID 19 is 21.1 meters away at (-21.1, -1.3). A vehicle with ID 61 is 22.2 meters away at (14.8, -16.5). A vehicle with ID 63 is 24.3 meters away at (-19.0, -15.1). A vehicle with ID 14 is 24.9 meters away at (-24.8, 0.8). A vehicle with ID 68 is 26.0 meters away at (5.1, 25.5).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.94

The most relevant actors are: A vehicle with ID 55 is 3.9 meters away at (-2.4, 3.1). A vehicle with ID 56 is 9.4 meters away at (-0.5, 9.4). A vehicle with ID 28 is 17.4 meters away at (-17.4, -1.1). A vehicle with ID 60 is 18.9 meters away at (2.6, 18.8). A vehicle with ID 19 is 20.8 meters away at (-20.8, -0.5). A vehicle with ID 61 is 21.7 meters away at (15.0, -15.7). A vehicle with ID 63 is 23.6 meters away at (-18.7, -14.3). A vehicle with ID 14 is 24.6 meters away at (-24.5, 1.5). A vehicle with ID 47 is 25.8 meters away at (-22.3, -12.9). A vehicle with ID 68 is 26.7 meters away at (5.3, 26.2).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -3.8) m/s. Its current heading (yaw) is -1.92

The most relevant actors are: A vehicle with ID 55 is 6.8 meters away at (-1.2, 6.7). A vehicle with ID 56 is 13.1 meters away at (0.8, 13.0). A vehicle with ID 28 is 16.5 meters away at (-16.3, 2.4). A vehicle with ID 19 is 19.8 meters away at (-19.6, 2.9). A vehicle with ID 61 is 20.3 meters away at (16.3, -12.1). A vehicle with ID 63 is 20.5 meters away at (-17.5, -10.8). A vehicle with ID 60 is 22.7 meters away at (3.8, 22.4). A vehicle with ID 47 is 23.1 meters away at (-21.0, -9.4). A vehicle with ID 14 is 23.9 meters away at (-23.4, 4.9). A vehicle with ID 65 is 26.6 meters away at (14.8, -22.2).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -4.9) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 63 is 14.7 meters away at (-14.6, -2.0). A vehicle with ID 55 is 15.7 meters away at (1.8, 15.6). A vehicle with ID 28 is 17.7 meters away at (-13.4, 11.5). A vehicle with ID 47 is 18.1 meters away at (-18.1, -0.5). A vehicle with ID 61 is 19.5 meters away at (19.2, -3.3). A vehicle with ID 19 is 20.3 meters away at (-16.4, 11.9). A vehicle with ID 6 is 20.5 meters away at (-9.2, -18.3). A pedestrian with ID 69 is 20.8 meters away at (-10.7, -17.9). A vehicle with ID 65 is 22.1 meters away at (17.6, -13.3). A vehicle with ID 56 is 22.3 meters away at (3.7, 22.0).

The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.05629864 -0.06204856] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.27

The most relevant actors are: A vehicle with ID 5 is 7.1 meters away at (4.4, -5.5). A vehicle with ID 42 is 12.2 meters away at (-6.8, -10.1). A vehicle with ID 43 is 15.2 meters away at (9.5, -11.9). A unknown object with ID 34 is 22.8 meters away at (-15.0, -17.2). A vehicle with ID 47 is 23.4 meters away at (15.3, -17.7). A vehicle with ID 49 is 23.5 meters away at (-23.5, 1.0). A vehicle with ID 48 is 26.0 meters away at (-22.4, -13.3). A vehicle with ID 41 is 28.1 meters away at (-25.8, -11.0). A vehicle with ID 54 is 28.8 meters away at (-23.5, 16.6). A vehicle with ID 45 is 30.3 meters away at (-29.0, -8.8).

The vehicle with ID 5 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 [ 3.9474068  -0.01629908] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-2.4216294 -6.7256413] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 2.9166281 -5.8860016] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-5.3842793 -5.326877 ] 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 2.27

The most relevant actors are: A vehicle with ID 5 is 7.4 meters away at (4.5, -5.8). A vehicle with ID 23 is 13.8 meters away at (-11.0, 8.2). A vehicle with ID 42 is 14.7 meters away at (3.0, -14.3). A vehicle with ID 43 is 15.6 meters away at (9.7, -12.2). A vehicle with ID 54 is 21.8 meters away at (-21.4, 4.3). A unknown object with ID 34 is 23.0 meters away at (-14.9, -17.5). A unknown object with ID 17 is 23.1 meters away at (-16.4, -16.3). A vehicle with ID 47 is 23.7 meters away at (15.3, -18.1). A vehicle with ID 48 is 26.0 meters away at (-22.2, -13.5). A vehicle with ID 41 is 28.1 meters away at (-25.7, -11.3).

The vehicle with ID 5 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 [ 12.468164 -14.756305] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 5.3024545 -4.5475554] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-0.975973 -6.090706] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 (-1.6, 1.4) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 5 is 8.0 meters away at (4.9, -6.4). A vehicle with ID 43 is 17.1 meters away at (10.5, -13.5). A vehicle with ID 50 is 21.2 meters away at (-20.9, 3.6). A unknown object with ID 17 is 23.2 meters away at (-15.3, -17.5). A unknown object with ID 34 is 23.4 meters away at (-14.0, -18.8). A vehicle with ID 48 is 25.8 meters away at (-21.3, -14.6). A vehicle with ID 54 is 27.3 meters away at (-26.0, -8.2). A vehicle with ID 23 is 27.6 meters away at (14.8, -23.2). A vehicle with ID 41 is 27.7 meters away at (-24.8, -12.4). A vehicle with ID 53 is 28.5 meters away at (-23.3, 16.5).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-0.79081696  0.78614056] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-0.72066796 -6.4260664 ] 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-4.679674 -5.325463] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 12.790788 -16.079142] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 3.1989388 -6.654457 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 0.2) m/s. Its current heading (yaw) is 3.11

The most relevant actors are: A vehicle with ID 5 is 10.6 meters away at (9.0, -5.6). A vehicle with ID 53 is 14.0 meters away at (-14.0, -1.3). A vehicle with ID 50 is 21.8 meters away at (-18.6, -11.5). A unknown object with ID 17 is 22.3 meters away at (-7.8, -20.8). A vehicle with ID 48 is 22.3 meters away at (-13.5, -17.7). A unknown object with ID 34 is 22.9 meters away at (-6.4, -22.0). A vehicle with ID 41 is 23.2 meters away at (-17.2, -15.5). A vehicle with ID 43 is 24.7 meters away at (18.1, -16.8). A vehicle with ID 51 is 28.3 meters away at (-18.4, -21.4). A vehicle with ID 40 is 31.0 meters away at (-23.3, -20.4).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.7461352  3.3616815] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-1.8933034 -7.029165 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-4.6363835 -4.9318433] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0.44332728 0.37070516] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.02089793 0.31251135] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.2643004   0.23244964] 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, 2.5) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A unknown object with ID 69 is 9.4 meters away at (-2.8, -8.9). A unknown object with ID 71 is 9.9 meters away at (-5.9, -7.9). A unknown object with ID 68 is 10.6 meters away at (-1.6, -10.5). A vehicle with ID 73 is 10.6 meters away at (-8.2, 6.7). A unknown object with ID 72 is 11.5 meters away at (-9.1, -7.0). A unknown object with ID 74 is 13.6 meters away at (-12.2, -6.0). A unknown object with ID 75 is 15.6 meters away at (-14.2, -6.6). A vehicle with ID 76 is 16.9 meters away at (-14.6, 8.5). A vehicle with ID 61 is 17.4 meters away at (13.9, -10.5). A vehicle with ID 77 is 18.8 meters away at (-18.1, -5.1).

The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 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 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 [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 25.36116  -15.045128]
 [ 24.182278 -16.914732]]

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-2.7780914 -8.94096  ], 9.362614631652832 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 2.7) m/s. Its current heading (yaw) is 2.84

The most relevant actors are: A vehicle with ID 76 is 4.2 meters away at (1.6, 3.9). A vehicle with ID 78 is 7.8 meters away at (-5.3, 5.8). A vehicle with ID 73 is 8.3 meters away at (8.1, 2.0). A vehicle with ID 77 is 10.0 meters away at (-1.7, -9.9). A unknown object with ID 74 is 11.6 meters away at (4.2, -10.8). A unknown object with ID 75 is 11.6 meters away at (2.2, -11.4). A vehicle with ID 79 is 13.5 meters away at (-11.2, 7.5). A unknown object with ID 72 is 13.9 meters away at (7.3, -11.8). A vehicle with ID 80 is 15.9 meters away at (-14.7, -6.1). A unknown object with ID 71 is 16.5 meters away at (10.5, -12.7).

The vehicle with ID 76 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 73 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 unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 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 unknown object with ID 72 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 unknown object with ID 71 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 (-8.2, 2.1) m/s. Its current heading (yaw) is 2.89

The most relevant actors are: A vehicle with ID 79 is 6.1 meters away at (5.2, 3.2). A vehicle with ID 43 is 6.6 meters away at (1.1, -6.5). A vehicle with ID 63 is 9.3 meters away at (-6.6, 6.6). A pedestrian with ID 82 is 9.5 meters away at (6.9, 6.5). A vehicle with ID 80 is 10.7 meters away at (1.8, -10.5). A vehicle with ID 83 is 10.9 meters away at (-8.1, -7.4). A vehicle with ID 78 is 11.3 meters away at (11.2, 1.5). A pedestrian with ID 45 is 12.1 meters away at (-3.3, 11.6). A vehicle with ID 64 is 14.6 meters away at (-12.1, 8.2). A vehicle with ID 76 is 18.3 meters away at (18.3, -0.5).

The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 4.93106   -1.2969408] m/s.The vehicle with ID 63 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 [ 1.2887168  -0.29112217] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.00454983 0.02367909] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[26.63043  -9.644585]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 2.0) m/s. Its current heading (yaw) is 2.88

The most relevant actors are: A vehicle with ID 64 is 5.9 meters away at (3.6, 4.7). A pedestrian with ID 35 is 8.9 meters away at (-4.9, -7.4). A vehicle with ID 63 is 9.5 meters away at (9.0, 3.1). A vehicle with ID 83 is 13.3 meters away at (7.7, -10.9). A unknown object with ID 12 is 15.6 meters away at (-15.5, -2.4). A unknown object with ID 6 is 20.7 meters away at (-20.5, -2.6). A vehicle with ID 79 is 21.1 meters away at (21.1, -0.3). A vehicle with ID 80 is 22.5 meters away at (17.6, -14.0). A vehicle with ID 4 is 24.2 meters away at (-20.9, -12.2). A pedestrian with ID 82 is 25.5 meters away at (25.4, 2.1).

The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.9817716  0.22776139] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 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 80 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 pedestrian with ID 82 is traveling at a (x, y) velocity of [ 1.2766714  -0.28729755] 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, 5.4) m/s. Its current heading (yaw) is 1.59

The most relevant actors are: A unknown object with ID 70 is 18.8 meters away at (18.8, -1.6). A unknown object with ID 71 is 21.4 meters away at (21.3, -1.8). A unknown object with ID 73 is 23.2 meters away at (23.1, -2.4). A vehicle with ID 18 is 24.6 meters away at (3.5, -24.3). A pedestrian with ID 75 is 38.2 meters away at (18.8, -33.3). A pedestrian with ID 76 is 38.6 meters away at (19.4, -33.4). A pedestrian with ID 48 is 62.5 meters away at (-61.3, -12.3). A unknown object with ID 77 is 66.4 meters away at (11.0, -65.5). A unknown object with ID 41 is 71.9 meters away at (14.3, -70.5). A unknown object with ID 58 is 77.2 meters away at (-12.2, 76.2).

The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 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 [-1.9875461  9.668719 ] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.28743872  1.2300764 ] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.30205667  1.2366503 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.07261215 -0.79019743] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 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 [18.757362  -1.5638018], 18.822437286376953 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 5.6) m/s. Its current heading (yaw) is 1.51

The most relevant actors are: A vehicle with ID 18 is 18.7 meters away at (0.8, -18.7). A pedestrian with ID 75 is 45.6 meters away at (18.1, -41.9). A unknown object with ID 4 is 59.9 meters away at (-5.5, 59.7). A unknown object with ID 5 is 60.2 meters away at (-6.5, 59.9). A unknown object with ID 66 is 60.5 meters away at (17.2, 58.0). A unknown object with ID 45 is 61.0 meters away at (-7.0, 60.6). A vehicle with ID 14 is 72.7 meters away at (18.8, 70.2). A unknown object with ID 42 is 78.9 meters away at (11.9, -78.0).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.6364336  7.1332016] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.1714991  1.2338508] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 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 vehicle with ID 14 is traveling at a (x, y) velocity of [-4.9392614  -0.63451195] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 6.5) m/s. Its current heading (yaw) is 1.43

The most relevant actors are: A vehicle with ID 18 is 18.0 meters away at (-0.9, -18.0). A unknown object with ID 57 is 32.6 meters away at (3.1, -32.4). A unknown object with ID 68 is 36.1 meters away at (-4.9, -35.7). A unknown object with ID 4 is 48.0 meters away at (-6.8, 47.5). A unknown object with ID 38 is 48.1 meters away at (-10.3, 47.0). A unknown object with ID 5 is 48.2 meters away at (-7.9, 47.6). A unknown object with ID 6 is 48.6 meters away at (-8.1, 47.9). A unknown object with ID 45 is 49.0 meters away at (-8.4, 48.3). A pedestrian with ID 75 is 54.0 meters away at (16.4, -51.5). A vehicle with ID 14 is 58.2 meters away at (6.6, 57.8).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0.09246413 6.179482  ] 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 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 pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.19167069  1.2750454 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.139537    0.13495144] 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, 6.9) m/s. Its current heading (yaw) is 1.33

The most relevant actors are: A vehicle with ID 18 is 19.1 meters away at (-2.6, -18.9). A unknown object with ID 4 is 35.2 meters away at (-9.3, 33.9). A unknown object with ID 5 is 35.6 meters away at (-10.4, 34.1). A unknown object with ID 38 is 35.8 meters away at (-12.8, 33.4). A unknown object with ID 6 is 36.3 meters away at (-10.7, 34.7). A unknown object with ID 3 is 36.3 meters away at (-8.4, 35.3). A unknown object with ID 45 is 36.4 meters away at (-10.8, 34.8). A cyclist with ID 65 is 40.6 meters away at (3.8, 40.4). A vehicle with ID 14 is 44.8 meters away at (-3.7, 44.7). A vehicle with ID 2 is 46.1 meters away at (13.0, 44.3).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0.7610555 6.842027 ] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 65 is traveling at a (x, y) velocity of [0.01298769 0.08166175] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.0935478   0.19860454] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-4.288015   -0.16094007] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, 7.7) m/s. Its current heading (yaw) is 0.95

The most relevant actors are: A unknown object with ID 117 is 6.3 meters away at (-4.4, 4.4). A unknown object with ID 111 is 6.8 meters away at (-6.5, 1.7). A pedestrian with ID 116 is 7.2 meters away at (-5.7, 4.5). A unknown object with ID 120 is 8.7 meters away at (-6.1, 6.2). A pedestrian with ID 115 is 9.8 meters away at (-9.4, 2.9). A pedestrian with ID 119 is 10.0 meters away at (-8.0, 6.0). A vehicle with ID 114 is 10.3 meters away at (-9.5, 4.0). A unknown object with ID 105 is 10.5 meters away at (-9.9, -3.4). A unknown object with ID 104 is 10.9 meters away at (-10.2, -4.0). A unknown object with ID 121 is 11.0 meters away at (-8.1, 7.4).

The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [ 0.14812231 -0.62710935] m/s.The unknown object with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [-0.20674068 -0.4664401 ] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [ 0.0268827 -0.0050812] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-4.4463115  4.436138 ], 6.280844211578369 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 7.9) m/s. Its current heading (yaw) is 1.03

The most relevant actors are: A vehicle with ID 88 is 5.1 meters away at (-0.7, 5.1). A pedestrian with ID 92 is 7.5 meters away at (-7.2, 1.9). A unknown object with ID 127 is 10.5 meters away at (-10.5, 0.5). A unknown object with ID 123 is 14.8 meters away at (-14.2, -4.1). A unknown object with ID 125 is 15.1 meters away at (-15.0, -1.5). A unknown object with ID 124 is 16.7 meters away at (-16.5, -3.1). A vehicle with ID 96 is 17.0 meters away at (-4.3, 16.4). A unknown object with ID 117 is 18.6 meters away at (-14.7, -11.3). A vehicle with ID 89 is 18.8 meters away at (-3.0, 18.5). A unknown object with ID 120 is 19.0 meters away at (-16.4, -9.6).

The vehicle with ID 88 is traveling at a (x, y) velocity of [-4.8553915 -7.4067497] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.14265937  0.04662172] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 120 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 (5.0, 8.0) m/s. Its current heading (yaw) is 1.01

The most relevant actors are: A vehicle with ID 100 is 3.8 meters away at (-3.8, 0.1). A vehicle with ID 54 is 12.1 meters away at (-9.9, 7.0). A vehicle with ID 39 is 12.3 meters away at (-11.3, 4.9). A vehicle with ID 47 is 12.8 meters away at (-8.8, 9.3). A vehicle with ID 98 is 17.9 meters away at (-10.1, 14.8). A vehicle with ID 83 is 18.4 meters away at (6.6, 17.2). A vehicle with ID 48 is 19.3 meters away at (-18.1, -6.6). A vehicle with ID 20 is 21.9 meters away at (-11.6, -18.6). A pedestrian with ID 92 is 22.1 meters away at (-17.2, -13.9). A vehicle with ID 64 is 23.9 meters away at (23.9, -0.5).

The vehicle with ID 100 is traveling at a (x, y) velocity of [-5.4620767 -8.634917 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-5.5428195 -8.598037 ] m/s.The vehicle with ID 48 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 [5.363679 8.949775] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.05970326 -0.08254892] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.