The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 4.7) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A vehicle with ID 52 is 4.5 meters away at (-2.0, 4.1). A vehicle with ID 53 is 5.0 meters away at (-5.0, 0.2). A vehicle with ID 16 is 13.9 meters away at (5.1, 13.0). A vehicle with ID 59 is 18.5 meters away at (0.2, -18.5). A vehicle with ID 60 is 20.3 meters away at (-20.2, -2.0). A vehicle with ID 51 is 21.3 meters away at (10.0, 18.8). A pedestrian with ID 68 is 22.0 meters away at (5.1, 21.4). A vehicle with ID 70 is 22.8 meters away at (4.9, -22.3). A vehicle with ID 63 is 23.6 meters away at (-22.2, -8.0). A vehicle with ID 67 is 24.5 meters away at (-15.4, -19.0).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 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 68 is traveling at a (x, y) velocity of [-0.5789805 -1.0959754] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [2.5886035 1.1687341] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 4.7) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 16 is 4.4 meters away at (-2.7, 3.4). A vehicle with ID 51 is 9.3 meters away at (2.1, 9.1). A pedestrian with ID 68 is 10.3 meters away at (-3.4, 9.7). A vehicle with ID 52 is 11.3 meters away at (-9.9, -5.5). A vehicle with ID 53 is 16.0 meters away at (-12.9, -9.5). A unknown object with ID 50 is 16.9 meters away at (16.9, -0.1). A vehicle with ID 56 is 17.4 meters away at (16.7, -4.7). A vehicle with ID 86 is 20.4 meters away at (19.2, -6.9). A vehicle with ID 55 is 25.1 meters away at (3.7, 24.8). A unknown object with ID 20 is 27.6 meters away at (20.3, 18.7).

The vehicle with ID 16 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 68 is traveling at a (x, y) velocity of [-0.2538566 -1.1300728] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 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 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 (3.8, 4.5) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 51 is 5.4 meters away at (-5.4, 0.0). A vehicle with ID 16 is 11.7 meters away at (-10.2, -5.8). A pedestrian with ID 68 is 12.2 meters away at (-12.2, -1.3). A vehicle with ID 55 is 16.1 meters away at (-3.8, 15.7). A vehicle with ID 56 is 16.7 meters away at (9.2, -14.0). A vehicle with ID 86 is 19.9 meters away at (11.7, -16.1). A vehicle with ID 9 is 20.6 meters away at (-7.7, 19.1). A vehicle with ID 52 is 22.8 meters away at (-17.3, -14.8). A vehicle with ID 53 is 27.7 meters away at (-20.4, -18.8). A vehicle with ID 5 is 28.2 meters away at (-0.2, 28.2).

The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.5077145 -0.676431 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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 (3.4, 4.2) m/s. Its current heading (yaw) is 0.90

The most relevant actors are: A vehicle with ID 55 is 12.8 meters away at (-10.8, 6.9). A vehicle with ID 51 is 15.3 meters away at (-12.4, -8.8). A vehicle with ID 9 is 18.0 meters away at (-14.8, 10.3). A vehicle with ID 5 is 20.6 meters away at (-7.4, 19.2). A vehicle with ID 16 is 22.7 meters away at (-17.2, -14.7). A vehicle with ID 56 is 22.9 meters away at (2.1, -22.8). A vehicle with ID 6 is 22.9 meters away at (-9.6, 20.8). A unknown object with ID 2 is 23.0 meters away at (7.2, 21.9). A pedestrian with ID 68 is 23.8 meters away at (-20.6, -11.9). A vehicle with ID 4 is 24.1 meters away at (-3.5, 23.9).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.5454879 -0.8665269] m/s.The vehicle with ID 4 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 (-0.6, -1.2) m/s. Its current heading (yaw) is -2.02

The most relevant actors are: A vehicle with ID 3 is 7.5 meters away at (3.4, 6.7). A pedestrian with ID 14 is 25.7 meters away at (-25.6, -2.0). A vehicle with ID 21 is 36.3 meters away at (35.9, 5.2).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.6915567 -1.1991456] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0480771  -0.52100664] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 7.502997 -3.638047] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -2.1) m/s. Its current heading (yaw) is -2.49

The most relevant actors are: A vehicle with ID 3 is 9.5 meters away at (4.8, 8.1). A pedestrian with ID 14 is 24.4 meters away at (-24.4, 0.9). A vehicle with ID 21 is 55.5 meters away at (55.4, 1.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.029703  -2.1551464] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0114638 -0.6535198] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 8.584355 -4.099273] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 0.7) m/s. Its current heading (yaw) is 2.97

The most relevant actors are: A vehicle with ID 3 is 9.6 meters away at (8.9, 3.6). A pedestrian with ID 14 is 19.1 meters away at (-19.0, 1.7). A vehicle with ID 21 is 80.4 meters away at (80.1, -6.5).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.4834392 -2.7451298] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.7887574  -0.24425954] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 8.952578  -5.0928893] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, -0.8) m/s. Its current heading (yaw) is -3.00

The most relevant actors are: A pedestrian with ID 14 is 10.9 meters away at (-10.9, 0.0). A vehicle with ID 3 is 11.7 meters away at (11.7, -0.1). A unknown object with ID 19 is 16.5 meters away at (15.1, 6.6). A pedestrian with ID 1 is 58.4 meters away at (-21.2, -54.4). A vehicle with ID 2 is 58.7 meters away at (-22.1, -54.4). A vehicle with ID 4 is 67.9 meters away at (-39.6, -55.2). A vehicle with ID 6 is 68.4 meters away at (-34.0, -59.3). A vehicle with ID 10 is 74.1 meters away at (-35.8, -64.8).

The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.90450394 -0.45827237] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.423165  -0.1570301] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.01219447 -0.00178004] m/s.The vehicle with ID 2 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -3.7) m/s. Its current heading (yaw) is -1.92

The most relevant actors are: A vehicle with ID 41 is 2.9 meters away at (-2.6, 1.2). A vehicle with ID 42 is 5.9 meters away at (-1.2, 5.8). A vehicle with ID 44 is 9.6 meters away at (7.8, 5.5). A vehicle with ID 47 is 11.0 meters away at (0.4, 11.0). A vehicle with ID 43 is 12.9 meters away at (-6.6, -11.0). A vehicle with ID 60 is 13.5 meters away at (-4.2, -12.8). A pedestrian with ID 34 is 16.4 meters away at (13.6, 9.1). A vehicle with ID 57 is 20.2 meters away at (11.1, 16.9). A vehicle with ID 71 is 29.9 meters away at (6.3, 29.2). A vehicle with ID 63 is 32.0 meters away at (0.8, -32.0).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.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. 0.] m/s.The vehicle with ID 43 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 [-0.60296863 -1.3970705 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.01771997  0.00113158] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [ 5.111602  -3.2319818] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -2.0) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 41 is 7.0 meters away at (-0.7, 7.0). A vehicle with ID 43 is 7.0 meters away at (-4.7, -5.2). A vehicle with ID 60 is 10.2 meters away at (-3.2, -9.7). A vehicle with ID 42 is 11.7 meters away at (0.8, 11.7). A vehicle with ID 44 is 15.0 meters away at (9.8, 11.3). A vehicle with ID 47 is 16.9 meters away at (2.4, 16.8). A pedestrian with ID 34 is 21.5 meters away at (15.5, 14.9). A vehicle with ID 57 is 26.3 meters away at (13.1, 22.8). A vehicle with ID 1 is 33.6 meters away at (8.2, -32.5). A vehicle with ID 70 is 33.6 meters away at (-10.5, -32.0).

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 60 is traveling at a (x, y) velocity of [-0.84631085 -2.3626463 ] m/s.The vehicle with ID 42 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 [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.03062681 -0.02461534] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [ 0.01642671 -4.8232865 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -2.6) m/s. Its current heading (yaw) is -1.92

The most relevant actors are: A vehicle with ID 43 is 3.5 meters away at (-3.3, -1.2). A unknown object with ID 32 is 8.3 meters away at (-1.2, 8.3). A unknown object with ID 30 is 10.7 meters away at (-1.3, 10.6). A vehicle with ID 41 is 11.0 meters away at (0.7, 11.0). A vehicle with ID 60 is 13.2 meters away at (-3.9, -12.6). A vehicle with ID 42 is 15.9 meters away at (2.2, 15.7). A vehicle with ID 44 is 19.0 meters away at (11.2, 15.4). A vehicle with ID 5 is 19.8 meters away at (-16.8, -10.6). A vehicle with ID 47 is 21.3 meters away at (3.8, 20.9). A vehicle with ID 1 is 30.0 meters away at (9.6, -28.4).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 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 60 is traveling at a (x, y) velocity of [-1.2761725 -4.145255 ] m/s.The vehicle with ID 42 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 5 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.0) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 43 is 4.1 meters away at (-1.5, 3.8). A unknown object with ID 32 is 13.6 meters away at (0.6, 13.6). A unknown object with ID 30 is 15.8 meters away at (0.6, 15.8). A vehicle with ID 5 is 15.9 meters away at (-14.9, -5.5). A vehicle with ID 41 is 16.3 meters away at (2.6, 16.1). A vehicle with ID 60 is 17.4 meters away at (-4.9, -16.7). A vehicle with ID 42 is 21.1 meters away at (4.0, 20.7). A vehicle with ID 44 is 24.3 meters away at (13.0, 20.5). A vehicle with ID 1 is 26.0 meters away at (11.4, -23.4). A vehicle with ID 47 is 26.6 meters away at (5.6, 26.0).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 [-1.6110674 -5.0416293] m/s.The vehicle with ID 42 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 1 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.

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 -1.34

The most relevant actors are: A vehicle with ID 5 is 6.8 meters away at (5.3, -4.3). A vehicle with ID 6 is 13.3 meters away at (7.2, -11.2). A vehicle with ID 7 is 15.3 meters away at (7.3, -13.4). A vehicle with ID 8 is 17.9 meters away at (8.0, -16.0). A vehicle with ID 10 is 20.4 meters away at (8.6, -18.5). A pedestrian with ID 12 is 25.8 meters away at (12.0, -22.9). A pedestrian with ID 9 is 39.9 meters away at (-0.5, 39.9). A vehicle with ID 14 is 47.1 meters away at (21.5, -41.9). A vehicle with ID 2 is 64.6 meters away at (-7.3, 64.2).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00512588 -0.00579865] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.00436891 0.00272391] m/s.The vehicle with ID 14 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 [1.7745908  0.04813679] m/s.

Instruction: Slight 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 -1.34

The most relevant actors are: A vehicle with ID 5 is 6.8 meters away at (5.3, -4.3). A vehicle with ID 6 is 13.3 meters away at (7.2, -11.2). A vehicle with ID 7 is 15.3 meters away at (7.3, -13.4). A vehicle with ID 8 is 17.9 meters away at (7.9, -16.0). A vehicle with ID 10 is 20.5 meters away at (8.6, -18.5). A pedestrian with ID 12 is 25.8 meters away at (11.9, -22.9). A pedestrian with ID 9 is 39.9 meters away at (-0.5, 39.9). A vehicle with ID 14 is 47.1 meters away at (21.5, -41.9). A vehicle with ID 2 is 65.0 meters away at (-3.3, 65.0).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.0008146  -0.00142949] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00417791 -0.00163738] m/s.The vehicle with ID 14 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 [1.601899   0.53164446] m/s.

Instruction: Slight 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 -1.34

The most relevant actors are: A vehicle with ID 5 is 6.8 meters away at (5.3, -4.3). A vehicle with ID 6 is 13.3 meters away at (7.2, -11.2). A vehicle with ID 7 is 15.3 meters away at (7.3, -13.4). A vehicle with ID 8 is 17.9 meters away at (8.0, -16.0). A vehicle with ID 10 is 20.4 meters away at (8.6, -18.5). A pedestrian with ID 12 is 25.8 meters away at (12.0, -22.9). A pedestrian with ID 9 is 39.9 meters away at (-0.5, 39.9). A vehicle with ID 14 is 47.1 meters away at (21.5, -41.9). A vehicle with ID 4 is 48.9 meters away at (24.0, -42.6).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.00094497 0.00376092] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00221555  0.00307392] m/s.The vehicle with ID 14 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: Slight 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 -1.34

The most relevant actors are: A vehicle with ID 5 is 6.8 meters away at (5.3, -4.3). A vehicle with ID 6 is 13.3 meters away at (7.2, -11.2). A vehicle with ID 7 is 15.3 meters away at (7.3, -13.4). A vehicle with ID 8 is 17.9 meters away at (7.9, -16.0). A vehicle with ID 10 is 20.5 meters away at (8.6, -18.5). A pedestrian with ID 12 is 25.8 meters away at (11.9, -22.8). A vehicle with ID 14 is 47.1 meters away at (21.5, -41.9).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.00598257 -0.00473105] m/s.The vehicle with ID 14 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 (5.0, -3.0) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A vehicle with ID 15 is 5.8 meters away at (-3.5, -4.6). A vehicle with ID 71 is 6.9 meters away at (-3.9, 5.7). A vehicle with ID 67 is 9.9 meters away at (-7.9, -6.0). A vehicle with ID 76 is 12.2 meters away at (1.4, -12.2). A vehicle with ID 79 is 12.5 meters away at (12.5, 0.4). A vehicle with ID 70 is 14.2 meters away at (-9.3, -10.7). A vehicle with ID 14 is 14.2 meters away at (11.7, -8.1). A vehicle with ID 34 is 14.5 meters away at (3.7, -14.0). A vehicle with ID 66 is 17.0 meters away at (16.7, -3.0). A vehicle with ID 75 is 20.6 meters away at (0.5, 20.6).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0.30087504 0.521748  ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-6.422743   2.1961105] m/s.The vehicle with ID 67 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 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 5.1410437 -3.7617044] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -4.0) m/s. Its current heading (yaw) is -0.63

The most relevant actors are: A vehicle with ID 66 is 7.1 meters away at (6.1, 3.6). A vehicle with ID 79 is 7.2 meters away at (2.0, 6.9). A unknown object with ID 56 is 8.6 meters away at (8.4, 1.9). A vehicle with ID 34 is 10.2 meters away at (-7.0, -7.4). A vehicle with ID 76 is 10.8 meters away at (-9.2, -5.6). A vehicle with ID 64 is 12.8 meters away at (12.7, -1.6). A vehicle with ID 15 is 13.3 meters away at (-12.6, 4.3). A vehicle with ID 89 is 15.0 meters away at (13.8, -6.0). A vehicle with ID 14 is 15.8 meters away at (12.8, -9.3). A vehicle with ID 67 is 18.6 meters away at (-18.6, 0.5).

The vehicle with ID 66 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 56 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 76 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 15 is traveling at a (x, y) velocity of [1.8837663 1.2835898] m/s.The vehicle with ID 89 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 [ 6.227536 -4.586712] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -4.8) m/s. Its current heading (yaw) is -0.68

The most relevant actors are: A vehicle with ID 89 is 3.4 meters away at (1.9, 2.9). A vehicle with ID 64 is 7.0 meters away at (1.2, 6.9). A vehicle with ID 63 is 7.1 meters away at (6.6, 2.7). A vehicle with ID 28 is 7.2 meters away at (3.8, -6.1). A pedestrian with ID 43 is 9.4 meters away at (8.4, 4.2). A unknown object with ID 56 is 10.9 meters away at (-3.0, 10.5). A vehicle with ID 65 is 11.2 meters away at (11.2, -1.0). A vehicle with ID 29 is 12.4 meters away at (7.7, -9.8). A vehicle with ID 66 is 13.2 meters away at (-5.3, 12.1). A vehicle with ID 62 is 16.0 meters away at (15.4, -4.4).

The vehicle with ID 89 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 63 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 pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.21740477 -0.21060276] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 29 is 4.2 meters away at (-4.1, -0.6). A vehicle with ID 30 is 4.4 meters away at (0.5, -4.3). A vehicle with ID 62 is 6.0 meters away at (3.5, 4.9). A vehicle with ID 65 is 8.3 meters away at (-0.7, 8.3). A vehicle with ID 28 is 8.5 meters away at (-8.0, 3.0). A vehicle with ID 17 is 9.8 meters away at (5.5, -8.1). A pedestrian with ID 54 is 12.7 meters away at (-3.5, 12.2). A vehicle with ID 63 is 13.1 meters away at (-5.3, 12.0). A pedestrian with ID 43 is 13.6 meters away at (-3.2, 13.2). A vehicle with ID 60 is 14.4 meters away at (13.9, -3.6).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.00086914 -0.03897797] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.00088556 -0.0575598 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -5.3) m/s. Its current heading (yaw) is -0.64

The most relevant actors are: A vehicle with ID 18 is 9.7 meters away at (-9.7, -0.0). A vehicle with ID 19 is 60.4 meters away at (-51.8, 31.0). A vehicle with ID 16 is 77.4 meters away at (74.8, -19.8).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.5919952  2.0766609] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -5.7) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A vehicle with ID 18 is 36.3 meters away at (-34.1, 12.5). A unknown object with ID 10 is 44.0 meters away at (38.3, -21.6). A vehicle with ID 16 is 60.5 meters away at (59.8, -8.8). A vehicle with ID 19 is 79.0 meters away at (-66.8, 42.1).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.6431885 -0.9345877] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 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 (6.7, -5.1) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A vehicle with ID 18 is 59.7 meters away at (-56.7, 18.9).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.6432316 -3.647359 ] 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, -3.8) m/s. Its current heading (yaw) is -0.60

The most relevant actors are: A unknown object with ID 8 is 44.0 meters away at (33.8, 28.2). A unknown object with ID 12 is 52.2 meters away at (31.2, -41.8). A vehicle with ID 18 is 77.8 meters away at (-75.5, 18.8).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.1542568 -6.0123777] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [33.83203  28.172009], 44.0257682800293 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 1.1) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A unknown object with ID 18 is 7.9 meters away at (-7.4, 3.0). A vehicle with ID 22 is 19.7 meters away at (-12.9, -14.9). A vehicle with ID 21 is 23.7 meters away at (19.0, -14.2). A vehicle with ID 20 is 23.9 meters away at (17.4, -16.3). A vehicle with ID 25 is 24.0 meters away at (-13.0, -20.1). A vehicle with ID 29 is 24.1 meters away at (-24.0, 2.4). A vehicle with ID 32 is 25.0 meters away at (23.1, 9.7). A vehicle with ID 30 is 25.8 meters away at (-2.3, 25.7). A vehicle with ID 23 is 27.2 meters away at (2.8, 27.1). A vehicle with ID 13 is 28.4 meters away at (27.8, 5.7).

The unknown object with ID 18 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 [3.523267  3.7391405] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 32 is traveling at a (x, y) velocity of [-9.436211  7.992208] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 5.7829237 -5.4361753] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-9.325618   7.8375573] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-8.561812  7.441461] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-7.3625813  2.991143 ], 7.946983337402344 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.2) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A unknown object with ID 18 is 8.6 meters away at (-8.4, 1.7). A vehicle with ID 22 is 12.4 meters away at (-7.9, -9.5). A vehicle with ID 30 is 15.8 meters away at (10.1, 12.1). A vehicle with ID 13 is 21.8 meters away at (8.6, 20.0). A vehicle with ID 20 is 24.0 meters away at (16.4, -17.6). A vehicle with ID 32 is 24.5 meters away at (3.6, 24.3). A vehicle with ID 29 is 25.0 meters away at (-25.0, 1.2). A vehicle with ID 25 is 25.6 meters away at (-14.1, -21.4). A vehicle with ID 33 is 30.7 meters away at (-28.6, -11.0). A vehicle with ID 27 is 31.2 meters away at (-22.1, -22.0).

The unknown object with ID 18 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 [2.2752898 2.6331892] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 7.7944036 -6.9361906] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-9.144289  7.951273] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-9.107028  7.689293] m/s.The vehicle with ID 29 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [3.6070914 1.4251714] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-8.413706   1.7456384], 8.592886924743652 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 0.85

The most relevant actors are: A vehicle with ID 22 is 7.6 meters away at (-4.9, -5.8). A unknown object with ID 18 is 8.6 meters away at (-8.4, 1.7). A vehicle with ID 4 is 20.9 meters away at (15.0, 14.5). A vehicle with ID 27 is 22.4 meters away at (-14.9, -16.7). A vehicle with ID 29 is 25.1 meters away at (-25.1, 1.1). A vehicle with ID 25 is 25.7 meters away at (-14.2, -21.5). A vehicle with ID 30 is 28.3 meters away at (28.1, -2.8). A vehicle with ID 33 is 30.7 meters away at (-28.7, -11.1). A vehicle with ID 13 is 36.2 meters away at (-9.3, 34.9). A vehicle with ID 40 is 39.9 meters away at (20.0, 34.6).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0.642349   0.79443705] 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 [-9.359021  7.912579] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.5490875 2.5940225] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 9.860253  -7.7428894] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-9.078958  7.705235] 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 0.85

The most relevant actors are: A vehicle with ID 22 is 6.9 meters away at (-4.5, -5.2). A unknown object with ID 18 is 8.6 meters away at (-8.5, 1.7). A vehicle with ID 27 is 17.8 meters away at (-11.8, -13.4). A vehicle with ID 29 is 25.1 meters away at (-25.1, 1.1). A vehicle with ID 25 is 25.7 meters away at (-14.1, -21.5). A vehicle with ID 4 is 29.6 meters away at (-2.7, 29.4). A vehicle with ID 33 is 30.7 meters away at (-28.7, -11.1). A vehicle with ID 12 is 39.1 meters away at (-18.5, 34.4). A vehicle with ID 40 is 39.9 meters away at (20.0, 34.5). A vehicle with ID 24 is 40.0 meters away at (39.4, -6.7).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0.80506885 0.9234222 ] m/s.The vehicle with ID 29 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 4 is traveling at a (x, y) velocity of [-8.501064   7.0792565] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [11.472793 -9.705723] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-8.275536   6.9078236] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -1.2) m/s. Its current heading (yaw) is -2.58

The most relevant actors are: A unknown object with ID 9 is 3.3 meters away at (0.4, -3.2). A unknown object with ID 7 is 3.6 meters away at (3.3, -1.6). A unknown object with ID 20 is 7.4 meters away at (7.0, 2.2). A vehicle with ID 21 is 17.1 meters away at (-11.7, 12.5). A unknown object with ID 22 is 23.1 meters away at (8.9, 21.3). A vehicle with ID 24 is 36.0 meters away at (-17.2, 31.6).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 0.44443226 -3.2290618 ], 3.259503126144409 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -0.2) m/s. Its current heading (yaw) is -3.01

The most relevant actors are: A unknown object with ID 9 is 4.2 meters away at (3.8, -1.7). A vehicle with ID 21 is 16.2 meters away at (-8.3, 14.0). A unknown object with ID 22 is 26.0 meters away at (12.4, 22.8). A vehicle with ID 24 is 35.8 meters away at (-13.8, 33.1).

The unknown object with ID 9 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 3.8278446 -1.7101359], 4.192488670349121 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 0.5) m/s. Its current heading (yaw) is 2.79

The most relevant actors are: A unknown object with ID 9 is 7.0 meters away at (6.7, -2.0). A pedestrian with ID 15 is 7.7 meters away at (5.9, 4.9). A pedestrian with ID 19 is 13.5 meters away at (13.4, -1.5). A vehicle with ID 21 is 14.8 meters away at (-5.3, 13.8).

The unknown object with ID 9 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 [0.00419116 0.00084627] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.8540645   0.74331486] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 6.6923623 -1.9630079], 6.974318027496338 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 1.2) m/s. Its current heading (yaw) is 2.31

The most relevant actors are: A pedestrian with ID 15 is 9.1 meters away at (8.4, 3.4). A vehicle with ID 21 is 12.5 meters away at (-2.9, 12.2). A pedestrian with ID 19 is 14.1 meters away at (13.9, -2.4). A unknown object with ID 2 is 27.5 meters away at (17.8, 21.0).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.01229806 0.00172347] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.90895087 -0.13097109] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [8.420683  3.3691108], 9.069664001464844 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -5.3) m/s. Its current heading (yaw) is -1.35

The most relevant actors are: A vehicle with ID 99 is 4.7 meters away at (4.0, 2.5). A vehicle with ID 96 is 5.5 meters away at (5.5, 0.1). A vehicle with ID 98 is 16.5 meters away at (1.4, 16.4). A vehicle with ID 102 is 16.8 meters away at (12.9, -10.7). A vehicle with ID 74 is 19.1 meters away at (15.6, -11.0). A vehicle with ID 72 is 21.5 meters away at (18.4, -11.1). A vehicle with ID 43 is 24.1 meters away at (21.3, -11.3). A vehicle with ID 100 is 27.4 meters away at (9.9, 25.6). A vehicle with ID 103 is 29.1 meters away at (18.0, -22.8). A vehicle with ID 104 is 31.2 meters away at (20.8, -23.3).

The vehicle with ID 99 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 vehicle with ID 98 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -5.0) m/s. Its current heading (yaw) is -1.34

The most relevant actors are: A vehicle with ID 102 is 10.6 meters away at (10.6, -0.4). A vehicle with ID 96 is 10.9 meters away at (3.2, 10.4). A pedestrian with ID 87 is 11.4 meters away at (6.0, 9.7). A vehicle with ID 99 is 12.9 meters away at (1.7, 12.8). A vehicle with ID 74 is 13.4 meters away at (13.3, -0.7). A vehicle with ID 72 is 16.1 meters away at (16.1, -0.6). A vehicle with ID 43 is 18.9 meters away at (18.9, -1.0). A vehicle with ID 103 is 20.0 meters away at (15.7, -12.5). A vehicle with ID 78 is 21.7 meters away at (21.7, -1.2). A vehicle with ID 104 is 22.6 meters away at (18.5, -12.9).

The vehicle with ID 102 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 pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.00625609 -0.00726966] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -4.3) m/s. Its current heading (yaw) is -1.35

The most relevant actors are: A vehicle with ID 102 is 12.2 meters away at (8.4, 8.8). A vehicle with ID 103 is 13.9 meters away at (13.6, -3.2). A vehicle with ID 74 is 14.0 meters away at (11.1, 8.5). A vehicle with ID 72 is 16.4 meters away at (13.9, 8.6). A vehicle with ID 104 is 16.8 meters away at (16.4, -3.6). A vehicle with ID 106 is 18.4 meters away at (14.4, -11.3). A vehicle with ID 43 is 18.6 meters away at (16.7, 8.2). A vehicle with ID 105 is 19.1 meters away at (18.8, -3.4). A pedestrian with ID 87 is 19.4 meters away at (3.9, 19.0). A vehicle with ID 96 is 19.8 meters away at (1.1, 19.8).

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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 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 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.00972851 -0.01032244] m/s.The vehicle with ID 96 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 (0.5, -2.4) m/s. Its current heading (yaw) is -1.38

The most relevant actors are: A vehicle with ID 103 is 12.5 meters away at (12.1, 3.3). A vehicle with ID 106 is 13.9 meters away at (13.0, -4.8). A vehicle with ID 104 is 15.1 meters away at (14.9, 2.8). A vehicle with ID 102 is 16.9 meters away at (7.0, 15.4). A vehicle with ID 105 is 17.7 meters away at (17.4, 3.3). A vehicle with ID 74 is 17.8 meters away at (9.7, 15.0). A vehicle with ID 72 is 19.6 meters away at (12.5, 15.1). A vehicle with ID 56 is 19.8 meters away at (19.6, 3.0). A vehicle with ID 43 is 21.2 meters away at (15.3, 14.8). A vehicle with ID 26 is 21.6 meters away at (15.8, -14.8).

The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 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 26 is traveling at a (x, y) velocity of [-3.0900419  -0.34190112] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, -6.6) m/s. Its current heading (yaw) is -2.45

The most relevant actors are: A vehicle with ID 39 is 5.3 meters away at (2.5, -4.7). A vehicle with ID 42 is 9.5 meters away at (-3.6, -8.8). A vehicle with ID 36 is 10.6 meters away at (10.5, 1.1). A vehicle with ID 45 is 15.5 meters away at (-9.0, -12.6). A unknown object with ID 16 is 15.7 meters away at (6.1, 14.4). A vehicle with ID 35 is 16.4 meters away at (15.6, 5.2). A vehicle with ID 48 is 25.2 meters away at (-17.3, -18.4). A vehicle with ID 34 is 26.6 meters away at (24.1, 11.3). A vehicle with ID 27 is 34.2 meters away at (-24.1, -24.2). A vehicle with ID 37 is 34.5 meters away at (30.5, 16.0).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0.89913124 0.6552898 ] m/s.The vehicle with ID 34 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, -6.3) m/s. Its current heading (yaw) is -2.46

The most relevant actors are: A vehicle with ID 48 is 3.8 meters away at (0.7, -3.7). A vehicle with ID 45 is 6.7 meters away at (6.7, 0.4). A unknown object with ID 13 is 7.0 meters away at (6.1, -3.5). A vehicle with ID 42 is 12.6 meters away at (11.9, 4.1). A vehicle with ID 27 is 12.8 meters away at (-7.3, -10.5). A vehicle with ID 10 is 20.0 meters away at (-13.3, -14.9). A vehicle with ID 39 is 21.1 meters away at (19.1, 8.9). A vehicle with ID 28 is 28.0 meters away at (-19.6, -20.0). A vehicle with ID 36 is 30.0 meters away at (26.4, 14.3). A unknown object with ID 16 is 35.0 meters away at (21.9, 27.3).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0.74337214 0.5410495 ] m/s.The vehicle with ID 45 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 42 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 [0.7060032  0.52948743] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0.5777466  0.44907588] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0.45095268 0.30170277] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0.6826474 0.5267775] m/s.The vehicle with ID 36 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, -6.1) m/s. Its current heading (yaw) is -2.47

The most relevant actors are: A vehicle with ID 10 is 4.0 meters away at (3.8, -1.3). A vehicle with ID 28 is 6.9 meters away at (-2.6, -6.4). A vehicle with ID 27 is 10.1 meters away at (9.7, 3.1). A vehicle with ID 25 is 18.0 meters away at (-12.1, -13.3). A vehicle with ID 48 is 19.6 meters away at (17.2, 9.4). A vehicle with ID 26 is 24.9 meters away at (-17.4, -17.8). A vehicle with ID 45 is 25.9 meters away at (22.4, 13.0). A vehicle with ID 22 is 33.1 meters away at (-24.2, -22.5). A vehicle with ID 42 is 33.2 meters away at (28.3, 17.3). A vehicle with ID 17 is 40.6 meters away at (-30.0, -27.3).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0.7966384 0.6228527] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [1.0133992  0.80108553] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0.73259187 0.57060444] m/s.The vehicle with ID 25 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 26 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 [0.42542535 0.303039  ] m/s.The vehicle with ID 22 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 [0.661728 0.461696] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, -6.4) m/s. Its current heading (yaw) is -2.49

The most relevant actors are: A vehicle with ID 25 is 4.1 meters away at (4.0, -0.7). A vehicle with ID 26 is 5.3 meters away at (-1.3, -5.2). A vehicle with ID 22 is 12.8 meters away at (-8.0, -10.0). A vehicle with ID 28 is 17.1 meters away at (15.4, 7.5). A pedestrian with ID 15 is 19.6 meters away at (-7.6, -18.1). A vehicle with ID 17 is 20.2 meters away at (-13.8, -14.8). A vehicle with ID 10 is 24.5 meters away at (21.2, 12.3). A vehicle with ID 21 is 28.9 meters away at (-20.6, -20.2). A vehicle with ID 27 is 31.2 meters away at (26.6, 16.3). A vehicle with ID 12 is 39.8 meters away at (-29.7, -26.5).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 [0.7006144 0.5474941] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.14957388 -0.08846468] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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 12 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 (0.4, -0.4) m/s. Its current heading (yaw) is -0.74

The most relevant actors are: A vehicle with ID 65 is 5.5 meters away at (-5.5, 0.9). A vehicle with ID 66 is 5.6 meters away at (3.3, 4.6). A vehicle with ID 67 is 7.9 meters away at (-0.4, 7.9). A vehicle with ID 68 is 10.0 meters away at (-9.1, 4.0). A vehicle with ID 69 is 12.6 meters away at (-4.8, 11.7). A vehicle with ID 74 is 15.2 meters away at (13.5, 7.0). A vehicle with ID 70 is 16.9 meters away at (-8.4, 14.7). A unknown object with ID 72 is 17.4 meters away at (-3.3, 17.1). A unknown object with ID 73 is 17.9 meters away at (-2.8, 17.7). A vehicle with ID 77 is 18.0 meters away at (-6.6, -16.8).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 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 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 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 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -0.5) m/s. Its current heading (yaw) is -0.15

The most relevant actors are: A vehicle with ID 66 is 6.1 meters away at (-0.3, 6.1). A vehicle with ID 65 is 9.5 meters away at (-9.2, 2.6). A vehicle with ID 67 is 10.4 meters away at (-4.0, 9.5). A vehicle with ID 74 is 13.1 meters away at (9.9, 8.5). A vehicle with ID 68 is 14.0 meters away at (-12.8, 5.7). A unknown object with ID 49 is 15.5 meters away at (-3.1, 15.2). A vehicle with ID 69 is 15.7 meters away at (-8.4, 13.3). A pedestrian with ID 71 is 15.8 meters away at (15.7, -2.3). A vehicle with ID 81 is 17.9 meters away at (13.1, 12.2). A vehicle with ID 77 is 18.3 meters away at (-10.4, -15.1).

The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.04767602  0.04756344] m/s.The vehicle with ID 81 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 3.0) m/s. Its current heading (yaw) is 0.62

The most relevant actors are: A vehicle with ID 74 is 6.5 meters away at (1.6, 6.3). A pedestrian with ID 71 is 8.6 meters away at (7.5, -4.3). A vehicle with ID 66 is 9.5 meters away at (-8.5, 4.0). A vehicle with ID 81 is 11.0 meters away at (4.7, 9.9). A vehicle with ID 67 is 14.4 meters away at (-12.3, 7.5). A vehicle with ID 83 is 14.5 meters away at (9.2, -11.2). A vehicle with ID 65 is 17.4 meters away at (-17.4, 0.3). A vehicle with ID 27 is 20.0 meters away at (10.8, 16.8). A vehicle with ID 86 is 20.1 meters away at (13.5, -14.8). A vehicle with ID 84 is 20.1 meters away at (5.2, -19.4).

The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.04451443 0.02635864] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 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 65 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 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 5.5) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 81 is 4.6 meters away at (-4.3, 1.4). A vehicle with ID 74 is 7.6 meters away at (-7.3, -2.1). A vehicle with ID 27 is 8.5 meters away at (1.8, 8.3). A pedestrian with ID 71 is 12.6 meters away at (-2.4, -12.3). A vehicle with ID 26 is 15.0 meters away at (6.5, 13.5). A vehicle with ID 66 is 18.1 meters away at (-17.6, -4.5). A vehicle with ID 83 is 19.7 meters away at (0.2, -19.7). A vehicle with ID 16 is 20.4 meters away at (9.7, 18.0). A vehicle with ID 67 is 21.4 meters away at (-21.3, -1.1). A vehicle with ID 86 is 23.8 meters away at (4.5, -23.4).

The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.7473088   0.53144807] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 1.4) m/s. Its current heading (yaw) is 1.00

The most relevant actors are: A vehicle with ID 21 is 23.5 meters away at (22.7, 5.9). A vehicle with ID 20 is 26.0 meters away at (25.5, 5.2). A unknown object with ID 28 is 45.5 meters away at (29.9, 34.3). A vehicle with ID 22 is 50.5 meters away at (50.5, 0.2). A vehicle with ID 24 is 53.0 meters away at (53.0, -0.0). A vehicle with ID 27 is 55.0 meters away at (-37.1, -40.6). A vehicle with ID 1 is 55.4 meters away at (55.4, -0.9). A vehicle with ID 25 is 57.8 meters away at (57.8, -1.4). A unknown object with ID 12 is 63.5 meters away at (-18.1, -60.9). A vehicle with ID 3 is 67.1 meters away at (63.1, -22.8).

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 28 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.00

The most relevant actors are: A vehicle with ID 21 is 22.8 meters away at (22.2, 5.1). A vehicle with ID 20 is 25.4 meters away at (25.0, 4.4). A unknown object with ID 10 is 40.3 meters away at (10.7, 38.8). A unknown object with ID 28 is 44.6 meters away at (29.4, 33.5). A vehicle with ID 22 is 50.0 meters away at (50.0, -0.6). A vehicle with ID 24 is 52.5 meters away at (52.5, -0.7). A vehicle with ID 1 is 54.8 meters away at (54.8, -1.6). A vehicle with ID 27 is 55.9 meters away at (-37.6, -41.4). A vehicle with ID 25 is 57.3 meters away at (57.3, -2.3). A unknown object with ID 12 is 64.3 meters away at (-18.4, -61.6).

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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 3.1) m/s. Its current heading (yaw) is 1.03

The most relevant actors are: A unknown object with ID 16 is 7.5 meters away at (7.0, -2.7). A unknown object with ID 13 is 13.9 meters away at (-12.5, 6.1). A vehicle with ID 21 is 20.3 meters away at (20.2, 2.0). A vehicle with ID 20 is 23.1 meters away at (23.0, 1.2). A unknown object with ID 28 is 40.6 meters away at (27.3, 30.1). A vehicle with ID 22 is 48.1 meters away at (48.0, -3.7). A vehicle with ID 24 is 50.6 meters away at (50.4, -4.0). A vehicle with ID 1 is 53.1 meters away at (52.9, -4.6). A vehicle with ID 25 is 55.6 meters away at (55.4, -5.3). A vehicle with ID 27 is 59.8 meters away at (-39.6, -44.8).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 28 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [ 6.9781985 -2.742497 ], 7.497769355773926 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 3.5) m/s. Its current heading (yaw) is 0.61

The most relevant actors are: A vehicle with ID 21 is 14.7 meters away at (13.7, -5.5). A vehicle with ID 20 is 17.6 meters away at (16.5, -6.0). A unknown object with ID 14 is 22.3 meters away at (21.8, -4.5). A unknown object with ID 17 is 22.8 meters away at (22.4, -4.5). A unknown object with ID 28 is 30.6 meters away at (20.4, 22.7). A vehicle with ID 22 is 42.9 meters away at (41.5, -10.8). A vehicle with ID 24 is 45.4 meters away at (43.9, -11.4). A vehicle with ID 1 is 47.9 meters away at (46.4, -11.9). A vehicle with ID 25 is 50.6 meters away at (48.9, -12.8). A vehicle with ID 23 is 55.2 meters away at (-45.0, 32.0).

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 14 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 28 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 6.5825477 -3.7520168] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 5.7) m/s. Its current heading (yaw) is 2.00

The most relevant actors are: A vehicle with ID 48 is 8.2 meters away at (-6.9, 4.4). A vehicle with ID 8 is 12.4 meters away at (1.0, -12.4). A vehicle with ID 55 is 13.5 meters away at (-1.5, 13.4). A vehicle with ID 54 is 15.0 meters away at (-11.3, 9.8). A vehicle with ID 61 is 18.8 meters away at (-4.7, 18.2). A vehicle with ID 63 is 20.7 meters away at (-14.4, 14.9). A vehicle with ID 15 is 23.5 meters away at (-3.8, -23.2). A pedestrian with ID 49 is 23.6 meters away at (21.3, -10.2). A vehicle with ID 66 is 23.9 meters away at (-7.8, 22.6). A pedestrian with ID 46 is 24.1 meters away at (6.3, -23.3).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0.9180752 4.983221 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [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 15 is traveling at a (x, y) velocity of [2.6882997 4.6976213] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.6012867 -1.1176991] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.00946504 -0.01095396] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 6.6) m/s. Its current heading (yaw) is 2.20

The most relevant actors are: A vehicle with ID 54 is 4.3 meters away at (-3.6, -2.5). A vehicle with ID 55 is 6.4 meters away at (6.3, 1.2). A vehicle with ID 61 is 6.7 meters away at (3.1, 5.9). A vehicle with ID 63 is 7.2 meters away at (-6.7, 2.6). A vehicle with ID 48 is 7.9 meters away at (0.8, -7.9). A vehicle with ID 66 is 10.2 meters away at (-0.0, 10.2). A cyclist with ID 37 is 11.2 meters away at (-9.3, 6.1). A vehicle with ID 8 is 16.4 meters away at (8.3, -14.2). A vehicle with ID 71 is 19.7 meters away at (-6.3, 18.6). A vehicle with ID 76 is 24.8 meters away at (-9.6, 22.9).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 48 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 cyclist with ID 37 is traveling at a (x, y) velocity of [ 0.03056292 -0.09460796] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.6584415  5.712801 ] m/s.The vehicle with ID 71 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 7.1) m/s. Its current heading (yaw) is 2.22

The most relevant actors are: A vehicle with ID 71 is 6.1 meters away at (3.8, 4.8). A cyclist with ID 37 is 7.8 meters away at (0.8, -7.7). A vehicle with ID 76 is 9.1 meters away at (0.5, 9.0). A vehicle with ID 66 is 10.6 meters away at (10.0, -3.5). A vehicle with ID 63 is 11.6 meters away at (3.3, -11.1). A vehicle with ID 78 is 14.1 meters away at (-2.7, 13.8). A vehicle with ID 61 is 15.3 meters away at (13.1, -7.9). A vehicle with ID 54 is 17.6 meters away at (6.6, -16.3). A vehicle with ID 8 is 19.2 meters away at (11.6, -15.4). A vehicle with ID 55 is 20.6 meters away at (16.3, -12.6).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [-0.03688976  0.02822114] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.030793   6.9411373] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 7.2) m/s. Its current heading (yaw) is 2.22

The most relevant actors are: A vehicle with ID 81 is 7.2 meters away at (2.9, 6.6). A vehicle with ID 78 is 7.9 meters away at (7.9, -0.4). A vehicle with ID 83 is 11.4 meters away at (-0.5, 11.4). A vehicle with ID 76 is 12.2 meters away at (11.1, -5.1). A vehicle with ID 71 is 17.2 meters away at (14.4, -9.4). A vehicle with ID 8 is 18.7 meters away at (11.4, -14.8). A cyclist with ID 37 is 24.7 meters away at (11.5, -21.9). A vehicle with ID 10 is 26.3 meters away at (-11.6, 23.6). A vehicle with ID 66 is 27.3 meters away at (20.7, -17.8). A vehicle with ID 63 is 29.0 meters away at (14.1, -25.4).

The vehicle with ID 81 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 83 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 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.5197983  7.5386868] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [-0.03536951  0.01197127] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-2.570038   2.4851987]
 [ 0.9545068  2.49772  ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -2.1) m/s. Its current heading (yaw) is -1.87

The most relevant actors are: A vehicle with ID 102 is 7.1 meters away at (-5.2, -4.8). A pedestrian with ID 104 is 14.4 meters away at (14.4, -0.8). A pedestrian with ID 105 is 14.8 meters away at (14.3, -3.9). A vehicle with ID 103 is 15.7 meters away at (9.8, 12.3). A vehicle with ID 106 is 22.5 meters away at (20.4, 9.6). A pedestrian with ID 107 is 25.8 meters away at (8.9, -24.2). A vehicle with ID 108 is 28.2 meters away at (24.4, 14.2). A vehicle with ID 100 is 29.0 meters away at (2.5, -28.9). A vehicle with ID 109 is 29.7 meters away at (-27.9, -10.2). A vehicle with ID 101 is 32.3 meters away at (1.3, -32.3).

The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [0.03754108 0.00377708] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [1.2143049 1.078864 ] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 0.6600935  -0.75892776] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -4.3) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A vehicle with ID 102 is 2.8 meters away at (-2.3, 1.6). A pedestrian with ID 104 is 18.4 meters away at (17.4, 6.0). A pedestrian with ID 105 is 20.0 meters away at (19.5, 4.7). A pedestrian with ID 107 is 21.8 meters away at (12.4, -17.9). A vehicle with ID 103 is 22.8 meters away at (12.6, 19.0). A vehicle with ID 100 is 23.0 meters away at (5.8, -22.3). A vehicle with ID 109 is 25.2 meters away at (-24.9, -4.0). A vehicle with ID 101 is 26.0 meters away at (4.5, -25.6). A vehicle with ID 106 is 28.4 meters away at (23.2, 16.4). A vehicle with ID 112 is 29.3 meters away at (-24.9, -15.5).

The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [0.00054124 0.01783166] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [1.0285813 0.9470424] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.12933852  0.12421709] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -5.9) m/s. Its current heading (yaw) is -1.81

The most relevant actors are: A vehicle with ID 102 is 11.9 meters away at (3.3, 11.4). A vehicle with ID 100 is 16.8 meters away at (11.3, -12.5). A pedestrian with ID 107 is 17.9 meters away at (16.7, -6.4). A vehicle with ID 101 is 18.6 meters away at (10.0, -15.8). A vehicle with ID 112 is 20.0 meters away at (-19.3, -5.4). A vehicle with ID 109 is 20.2 meters away at (-19.3, 6.2). A vehicle with ID 99 is 24.2 meters away at (17.2, -17.0). A vehicle with ID 114 is 25.8 meters away at (-25.7, -3.0). A vehicle with ID 87 is 27.0 meters away at (-25.6, 8.4). A pedestrian with ID 104 is 28.0 meters away at (23.0, 16.0).

The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.6755202  0.821794 ] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [ 0.00060437 -0.0309775 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -5.2) m/s. Its current heading (yaw) is -1.05

The most relevant actors are: A vehicle with ID 101 is 9.7 meters away at (8.6, -4.5). A vehicle with ID 100 is 10.0 meters away at (9.9, -1.3). A pedestrian with ID 107 is 15.8 meters away at (14.2, 7.1). A vehicle with ID 99 is 16.8 meters away at (15.8, -5.8). A vehicle with ID 112 is 21.4 meters away at (-20.6, 5.8). A pedestrian with ID 118 is 21.5 meters away at (-17.9, -11.8). A vehicle with ID 102 is 22.8 meters away at (2.0, 22.7). A vehicle with ID 98 is 22.9 meters away at (20.6, -10.0). A vehicle with ID 30 is 24.2 meters away at (23.2, -7.0). A pedestrian with ID 38 is 24.7 meters away at (24.6, -2.4).

The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.5416653  1.1419867] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 118 is traveling at a (x, y) velocity of [-0.44372416  1.1960186 ] m/s.The vehicle with ID 102 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.0286568   0.99576646] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.6) m/s. Its current heading (yaw) is 2.78

The most relevant actors are: A vehicle with ID 82 is 7.0 meters away at (-3.1, -6.3). A vehicle with ID 84 is 8.0 meters away at (7.7, -2.2). A vehicle with ID 83 is 8.6 meters away at (2.3, -8.3). A vehicle with ID 81 is 11.1 meters away at (8.7, -6.8). A vehicle with ID 85 is 12.7 meters away at (7.7, -10.1). A unknown object with ID 86 is 14.1 meters away at (-2.7, 13.9). A vehicle with ID 89 is 19.3 meters away at (14.5, -12.8). A vehicle with ID 90 is 25.4 meters away at (20.0, -15.8). A unknown object with ID 92 is 25.4 meters away at (-24.1, -8.1). A vehicle with ID 93 is 27.4 meters away at (-5.1, 26.9).

The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-0.7510844   0.37077203] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [ 6.2700515 -2.256387 ] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 1.7) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 82 is 9.6 meters away at (3.9, -8.8). A unknown object with ID 86 is 12.8 meters away at (5.2, 11.7). A vehicle with ID 84 is 13.6 meters away at (13.0, -4.0). A vehicle with ID 83 is 14.3 meters away at (9.4, -10.8). A vehicle with ID 85 is 19.5 meters away at (14.8, -12.6). A unknown object with ID 92 is 20.0 meters away at (-16.9, -10.6). A pedestrian with ID 29 is 21.2 meters away at (-14.2, 15.7). A vehicle with ID 102 is 22.8 meters away at (-22.5, 3.6). A vehicle with ID 94 is 22.9 meters away at (-18.0, -14.0). A vehicle with ID 93 is 24.5 meters away at (2.0, 24.4).

The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-1.6771554  0.6520897] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.3335626 -0.8550491] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [ 5.9899406 -2.181697 ] m/s.The vehicle with ID 94 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 2.2) m/s. Its current heading (yaw) is 2.84

The most relevant actors are: A vehicle with ID 102 is 7.5 meters away at (5.0, -5.5). A pedestrian with ID 29 is 11.7 meters away at (-4.8, 10.7). A unknown object with ID 92 is 15.2 meters away at (-4.6, -14.4). A unknown object with ID 45 is 15.3 meters away at (6.6, 13.8). A vehicle with ID 79 is 16.3 meters away at (-14.0, 8.5). A vehicle with ID 94 is 18.7 meters away at (-5.7, -17.8). A unknown object with ID 61 is 19.6 meters away at (8.8, 17.5). A vehicle with ID 84 is 20.6 meters away at (19.8, -5.5). A vehicle with ID 82 is 20.6 meters away at (16.3, -12.6). A pedestrian with ID 105 is 20.8 meters away at (-16.4, 12.7).

The vehicle with ID 102 is traveling at a (x, y) velocity of [ 8.771248  -2.9783254] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.5925196 -0.4704399] 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 45 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 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-3.7856922  1.8119938] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [ 1.0707387  -0.38308266] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 2.4) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 79 is 3.9 meters away at (0.3, 3.9). A pedestrian with ID 105 is 7.2 meters away at (0.1, 7.2). A pedestrian with ID 67 is 7.9 meters away at (-0.2, 7.9). A pedestrian with ID 29 is 9.2 meters away at (6.5, 6.5). A vehicle with ID 80 is 14.6 meters away at (-14.5, -1.7). A vehicle with ID 77 is 17.5 meters away at (-15.1, 8.9). A vehicle with ID 18 is 20.9 meters away at (-20.8, 0.6). A unknown object with ID 92 is 21.3 meters away at (9.7, -19.0). A vehicle with ID 78 is 23.9 meters away at (-21.2, 11.1). A vehicle with ID 94 is 24.1 meters away at (8.6, -22.5).

The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [ 1.0274107  -0.48407456] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.9906235 -0.4807505] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.5759249   0.39950195] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 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 vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -1.4) m/s. Its current heading (yaw) is -0.66

The most relevant actors are: A vehicle with ID 75 is 3.5 meters away at (-3.1, -1.6). A vehicle with ID 73 is 6.6 meters away at (1.2, 6.5). A vehicle with ID 72 is 7.5 meters away at (-7.2, 1.9). A vehicle with ID 76 is 10.6 meters away at (-2.9, 10.2). A vehicle with ID 86 is 12.1 meters away at (-1.4, -12.0). A vehicle with ID 81 is 16.3 meters away at (-7.9, 14.2). A vehicle with ID 94 is 17.4 meters away at (-5.4, -16.5). A unknown object with ID 56 is 18.0 meters away at (14.8, 10.1). A vehicle with ID 70 is 18.6 meters away at (16.5, 8.6). A vehicle with ID 88 is 20.5 meters away at (13.4, -15.6).

The vehicle with ID 75 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 72 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 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, -0.4) m/s. Its current heading (yaw) is -0.10

The most relevant actors are: A vehicle with ID 75 is 8.7 meters away at (-8.6, 1.1). A vehicle with ID 73 is 10.2 meters away at (-4.3, 9.3). A vehicle with ID 86 is 11.6 meters away at (-7.0, -9.3). A vehicle with ID 72 is 13.7 meters away at (-12.8, 4.8). A vehicle with ID 88 is 15.1 meters away at (7.7, -12.9). A vehicle with ID 76 is 15.5 meters away at (-8.5, 13.0). A unknown object with ID 39 is 15.7 meters away at (-4.0, 15.2). A vehicle with ID 70 is 15.7 meters away at (11.0, 11.3). A vehicle with ID 84 is 17.2 meters away at (15.2, -8.0). A vehicle with ID 94 is 17.5 meters away at (-11.0, -13.7).

The vehicle with ID 75 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 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 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 unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 2.8) m/s. Its current heading (yaw) is 0.69

The most relevant actors are: A vehicle with ID 70 is 9.0 meters away at (3.1, 8.5). A vehicle with ID 84 is 13.0 meters away at (7.5, -10.6). A vehicle with ID 69 is 13.7 meters away at (6.4, 12.2). A vehicle with ID 73 is 13.8 meters away at (-12.2, 6.5). A vehicle with ID 88 is 15.6 meters away at (0.0, -15.6). A vehicle with ID 78 is 15.8 meters away at (-15.7, 1.9). A vehicle with ID 75 is 16.5 meters away at (-16.4, -1.7). A unknown object with ID 39 is 17.2 meters away at (-11.8, 12.4). A vehicle with ID 90 is 18.3 meters away at (11.8, -14.0). A vehicle with ID 28 is 19.1 meters away at (9.7, 16.4).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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 88 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 [ 2.0119886 -1.785281 ] m/s.The vehicle with ID 75 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 90 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 3.5) m/s. Its current heading (yaw) is 0.81

The most relevant actors are: A vehicle with ID 70 is 4.2 meters away at (-3.6, 2.1). A vehicle with ID 69 is 5.8 meters away at (-0.4, 5.8). A vehicle with ID 28 is 10.3 meters away at (2.9, 9.9). A vehicle with ID 27 is 16.9 meters away at (7.6, 15.1). A vehicle with ID 84 is 17.1 meters away at (0.8, -17.0). A vehicle with ID 73 is 18.8 meters away at (-18.8, 0.0). A vehicle with ID 102 is 20.0 meters away at (19.9, -2.1). A vehicle with ID 78 is 21.0 meters away at (-19.8, -6.8). A vehicle with ID 90 is 21.0 meters away at (5.0, -20.4). A vehicle with ID 74 is 21.2 meters away at (18.9, 9.7).

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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 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 102 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 [ 1.4977899 -0.9834609] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.7) m/s. Its current heading (yaw) is 2.72

The most relevant actors are: A unknown object with ID 16 is 15.4 meters away at (9.4, -12.1). A unknown object with ID 10 is 15.8 meters away at (11.0, -11.3). A unknown object with ID 20 is 17.7 meters away at (12.9, -12.1). A unknown object with ID 9 is 18.4 meters away at (12.4, -13.5). A unknown object with ID 19 is 18.9 meters away at (13.1, -13.7). A unknown object with ID 37 is 23.2 meters away at (-12.4, -19.6). A unknown object with ID 32 is 24.2 meters away at (-11.7, -21.1). A unknown object with ID 40 is 24.4 meters away at (-13.9, -20.0). A unknown object with ID 24 is 24.5 meters away at (-12.8, -20.9). A unknown object with ID 23 is 26.3 meters away at (-13.8, -22.4).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [  9.446305 -12.10265 ], 15.35274600982666 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 2.4) m/s. Its current heading (yaw) is 2.38

The most relevant actors are: A unknown object with ID 16 is 20.4 meters away at (14.0, -14.7). A unknown object with ID 10 is 20.9 meters away at (15.5, -14.1). A pedestrian with ID 15 is 21.6 meters away at (-21.3, -3.2). A pedestrian with ID 11 is 21.9 meters away at (-21.6, -3.9). A unknown object with ID 20 is 22.8 meters away at (17.3, -14.8). A unknown object with ID 9 is 23.5 meters away at (17.0, -16.2). A unknown object with ID 37 is 23.8 meters away at (-8.0, -22.4). A unknown object with ID 19 is 24.0 meters away at (17.5, -16.4). A unknown object with ID 40 is 24.8 meters away at (-9.4, -23.0). A unknown object with ID 32 is 25.0 meters away at (-7.2, -24.0).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.4886744 1.0096189] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.48162228 1.0203959 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 14.037806 -14.74769 ], 20.360607147216797 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 4.3) m/s. Its current heading (yaw) is 1.79

The most relevant actors are: A pedestrian with ID 11 is 19.7 meters away at (-17.2, -9.6). A unknown object with ID 16 is 27.9 meters away at (18.0, -21.4). A unknown object with ID 10 is 28.3 meters away at (19.4, -20.7). A unknown object with ID 37 is 29.3 meters away at (-4.0, -29.1). A unknown object with ID 40 is 30.0 meters away at (-5.7, -29.5). A unknown object with ID 20 is 30.1 meters away at (21.2, -21.4). A unknown object with ID 32 is 30.7 meters away at (-3.3, -30.6). A unknown object with ID 19 is 31.4 meters away at (21.6, -22.8). A unknown object with ID 23 is 32.3 meters away at (-5.4, -31.8). A unknown object with ID 21 is 33.1 meters away at (20.2, 26.2).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.00917715 0.01736098] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 (1.3, 5.1) m/s. Its current heading (yaw) is 1.32

The most relevant actors are: A vehicle with ID 28 is 34.9 meters away at (10.0, 33.4). A unknown object with ID 16 is 35.6 meters away at (17.6, -31.0). A unknown object with ID 10 is 35.8 meters away at (19.0, -30.3). A unknown object with ID 20 is 37.4 meters away at (20.8, -31.0). A unknown object with ID 37 is 38.9 meters away at (-4.3, -38.7). A unknown object with ID 40 is 39.5 meters away at (-6.0, -39.0). A unknown object with ID 32 is 40.1 meters away at (-3.3, -40.0). A unknown object with ID 23 is 41.7 meters away at (-5.7, -41.3). A vehicle with ID 29 is 41.9 meters away at (8.9, 40.9). A vehicle with ID 26 is 72.5 meters away at (-42.8, -58.6).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 9.9) m/s. Its current heading (yaw) is 2.11

The most relevant actors are: A cyclist with ID 3 is 17.8 meters away at (-6.9, 16.4). A unknown object with ID 5 is 23.9 meters away at (-23.7, 2.9). A unknown object with ID 15 is 25.9 meters away at (-25.2, 6.0). A unknown object with ID 9 is 26.7 meters away at (-25.7, 7.5). A vehicle with ID 16 is 33.4 meters away at (23.9, 23.3). A vehicle with ID 17 is 33.6 meters away at (-33.4, -3.3).

The cyclist with ID 3 is traveling at a (x, y) velocity of [-0.03786191  0.04529729] 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 10.0) m/s. Its current heading (yaw) is 2.09

The most relevant actors are: A unknown object with ID 9 is 18.3 meters away at (-13.6, -12.2). A unknown object with ID 15 is 19.0 meters away at (-13.1, -13.7). A unknown object with ID 5 is 20.4 meters away at (-11.6, -16.7). A unknown object with ID 10 is 21.2 meters away at (-11.3, -18.0). A unknown object with ID 1 is 24.3 meters away at (-7.2, -23.2). A vehicle with ID 17 is 31.2 meters away at (-21.3, -22.8). A vehicle with ID 16 is 36.1 meters away at (35.9, 3.7).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-13.56798  -12.222036], 18.2611141204834 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 9.8) m/s. Its current heading (yaw) is 2.10

The most relevant actors are: A unknown object with ID 1 is 43.0 meters away at (4.7, -42.8). A vehicle with ID 17 is 43.4 meters away at (-9.4, -42.4).

The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  4.7077007 -42.788887 ], 43.047080993652344 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 10.0) m/s. Its current heading (yaw) is 2.08

The most relevant actors are: A vehicle with ID 17 is 61.9 meters away at (2.6, -61.8).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.