The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -2.6) m/s. Its current heading (yaw) is -2.33

The most relevant actors are: A vehicle with ID 5 is 10.0 meters away at (-3.8, -9.2). A vehicle with ID 19 is 14.7 meters away at (-10.0, -10.8). A pedestrian with ID 27 is 50.4 meters away at (-38.6, -32.3). A vehicle with ID 20 is 51.8 meters away at (28.0, 43.6). A vehicle with ID 6 is 57.2 meters away at (-35.1, -45.1). A vehicle with ID 13 is 61.1 meters away at (-57.4, 20.9). A vehicle with ID 25 is 69.3 meters away at (46.0, 51.8). A vehicle with ID 24 is 75.3 meters away at (53.2, 53.3).

The vehicle with ID 5 is traveling at a (x, y) velocity of [5.8305063 6.676143 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.8866052  -0.88760144] m/s.The vehicle with ID 20 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 [3.2028427 3.5577056] m/s.The vehicle with ID 13 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 [4.8383837 1.2087133] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [4.4713287 2.8778415] m/s.

There are active red lights at the following coordinates: [[-37.93566 -42.96548]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -0.6) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A vehicle with ID 19 is 10.4 meters away at (-7.1, -7.6). A vehicle with ID 5 is 14.5 meters away at (11.9, 8.3). A vehicle with ID 6 is 45.5 meters away at (-27.3, -36.4). A pedestrian with ID 27 is 48.9 meters away at (-37.6, -31.2). A vehicle with ID 3 is 60.9 meters away at (35.8, 49.2).

The vehicle with ID 19 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 [6.795463 7.487997] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [1.9981447 2.1920907] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.9203196 -0.9420984] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.8678327 -4.9970717] m/s.

There are active red lights at the following coordinates: [[-37.93566 -42.96548]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A vehicle with ID 19 is 10.1 meters away at (-6.9, -7.4). A vehicle with ID 5 is 35.9 meters away at (26.6, 24.1). A vehicle with ID 6 is 39.7 meters away at (-22.8, -32.6). A vehicle with ID 3 is 50.2 meters away at (32.6, 38.2). A pedestrian with ID 27 is 51.1 meters away at (-39.2, -32.8).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [7.7880225 8.363626 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [2.8365374 1.0270686] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.3929744 -5.838214 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.8669531 -0.7867916] m/s.

There are active red lights at the following coordinates: [[-37.93566 -42.96548]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -3.8) m/s. Its current heading (yaw) is -1.75

The most relevant actors are: A pedestrian with ID 10 is 32.7 meters away at (-32.7, 1.7). A vehicle with ID 12 is 33.7 meters away at (-5.2, 33.3). A vehicle with ID 14 is 38.5 meters away at (-4.1, 38.3). A vehicle with ID 15 is 44.4 meters away at (-3.0, 44.3). A vehicle with ID 16 is 49.7 meters away at (-2.0, 49.6). A vehicle with ID 17 is 55.3 meters away at (8.5, -54.6). A vehicle with ID 18 is 66.8 meters away at (1.2, -66.8).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 1.1419729  -0.62712234] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 [-1.979226   4.7817225] m/s.The vehicle with ID 18 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, -1.9) m/s. Its current heading (yaw) is -2.62

The most relevant actors are: A pedestrian with ID 10 is 27.4 meters away at (-26.5, 7.2). A vehicle with ID 17 is 39.3 meters away at (8.2, -38.4). A vehicle with ID 12 is 39.4 meters away at (-1.3, 39.4). A vehicle with ID 14 is 44.3 meters away at (-0.1, 44.3). A vehicle with ID 15 is 50.3 meters away at (1.0, 50.3). A vehicle with ID 16 is 55.7 meters away at (2.0, 55.7). A vehicle with ID 18 is 60.9 meters away at (5.1, -60.7). A vehicle with ID 6 is 62.9 meters away at (20.0, -59.6).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.1727585  0.01401807] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.1968899  5.6750393] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 18 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 [-3.454011   5.3721313] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -0.7) m/s. Its current heading (yaw) is -2.98

The most relevant actors are: A pedestrian with ID 10 is 18.9 meters away at (-16.2, 9.9). A vehicle with ID 17 is 27.2 meters away at (12.2, -24.3). A vehicle with ID 12 is 42.3 meters away at (6.9, 41.7). A vehicle with ID 14 is 47.3 meters away at (8.0, 46.6). A vehicle with ID 6 is 51.6 meters away at (21.4, -46.9). A vehicle with ID 15 is 53.2 meters away at (9.0, 52.5). A vehicle with ID 16 is 58.7 meters away at (10.2, 57.8). A vehicle with ID 18 is 59.9 meters away at (13.0, -58.4).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.2326822  0.26237687] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.4004135  6.1417627] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-3.0969923  5.4706573] m/s.The vehicle with ID 15 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 18 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 (-5.8, -1.0) m/s. Its current heading (yaw) is -2.96

The most relevant actors are: A pedestrian with ID 10 is 12.9 meters away at (-4.0, 12.3). A unknown object with ID 9 is 13.7 meters away at (-6.5, 12.0). A vehicle with ID 17 is 22.4 meters away at (20.3, -9.6). A vehicle with ID 12 is 46.7 meters away at (17.2, 43.4). A vehicle with ID 1 is 52.8 meters away at (-48.0, -21.9).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.75552034 0.22427343] m/s.The unknown object with ID 9 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 [-0.9401963  6.8826556] m/s.The vehicle with ID 12 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 [-1.4520789  4.5318074] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 6.5) m/s. Its current heading (yaw) is 1.64

The most relevant actors are: A unknown object with ID 45 is 25.7 meters away at (6.4, 24.9). A vehicle with ID 43 is 27.1 meters away at (11.5, -24.5). A unknown object with ID 46 is 27.4 meters away at (8.0, 26.2). A pedestrian with ID 47 is 34.6 meters away at (2.0, 34.5). A pedestrian with ID 9 is 34.9 meters away at (2.7, 34.8). A pedestrian with ID 8 is 35.6 meters away at (2.3, 35.6). A vehicle with ID 44 is 45.1 meters away at (17.1, 41.8). A vehicle with ID 49 is 47.9 meters away at (14.2, 45.7). A vehicle with ID 14 is 48.1 meters away at (32.7, 35.3). A vehicle with ID 52 is 50.5 meters away at (22.0, 45.5).

The unknown object with ID 45 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 unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.04857699  0.03351125] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.01086041 0.03175835] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.0227016   0.05681201] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-0.1527208  -0.75701547] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 6.449984 24.851543], 25.67491912841797 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 6.9) m/s. Its current heading (yaw) is 1.63

The most relevant actors are: A pedestrian with ID 47 is 21.2 meters away at (2.8, 21.0). A vehicle with ID 12 is 21.4 meters away at (11.4, 18.1). A pedestrian with ID 9 is 21.5 meters away at (3.4, 21.2). A pedestrian with ID 8 is 22.5 meters away at (2.7, 22.3). A vehicle with ID 44 is 32.0 meters away at (17.7, 26.6). A vehicle with ID 34 is 34.6 meters away at (27.4, 21.1). A vehicle with ID 49 is 35.4 meters away at (14.9, 32.0). A vehicle with ID 52 is 39.1 meters away at (22.8, 31.8). A vehicle with ID 14 is 40.0 meters away at (33.6, 21.7). A vehicle with ID 43 is 40.0 meters away at (12.3, -38.1).

The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.01875455  0.01102727] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.00284114 0.016922  ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.01794954 0.04348838] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.22155881 -0.98394936] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [ 2.7602293 20.98244  ], 21.16321563720703 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 7.0) m/s. Its current heading (yaw) is 1.61

The most relevant actors are: A pedestrian with ID 47 is 7.9 meters away at (3.5, 7.1). A pedestrian with ID 9 is 8.5 meters away at (4.0, 7.5). A pedestrian with ID 8 is 9.1 meters away at (3.5, 8.5). A vehicle with ID 12 is 12.8 meters away at (12.1, 4.2). A vehicle with ID 44 is 22.3 meters away at (19.4, 11.0). A vehicle with ID 18 is 23.5 meters away at (22.7, 6.0). A vehicle with ID 49 is 24.0 meters away at (15.6, 18.2). A vehicle with ID 27 is 27.4 meters away at (20.9, 17.7). A unknown object with ID 42 is 27.6 meters away at (9.7, 25.9). A unknown object with ID 40 is 28.8 meters away at (8.6, 27.5).

The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.02257455 0.04121645] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.06378379  0.04737119] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00428521 -0.00103135] m/s.The vehicle with ID 12 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 [ 0.41879523 -0.6507055 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 7.4) m/s. Its current heading (yaw) is 1.63

The most relevant actors are: A pedestrian with ID 8 is 7.3 meters away at (4.2, -6.0). A pedestrian with ID 9 is 8.1 meters away at (4.6, -6.7). A pedestrian with ID 47 is 8.4 meters away at (4.2, -7.3). A unknown object with ID 42 is 15.5 meters away at (10.4, 11.4). A unknown object with ID 40 is 16.0 meters away at (9.3, 13.1). A vehicle with ID 12 is 16.3 meters away at (12.8, -10.2). A vehicle with ID 49 is 16.7 meters away at (16.3, 3.7). A unknown object with ID 41 is 17.7 meters away at (9.3, 15.0). A unknown object with ID 7 is 19.4 meters away at (9.3, 17.0). A vehicle with ID 44 is 20.2 meters away at (19.9, -3.4).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00553107 -0.00056806] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00382667  0.00467694] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.01497082 -0.00962803] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-0.39727488  0.20479925] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -0.0) m/s. Its current heading (yaw) is -0.01

The most relevant actors are: A vehicle with ID 97 is 8.9 meters away at (-4.1, -8.0). A vehicle with ID 19 is 15.0 meters away at (3.2, 14.7). A vehicle with ID 103 is 17.9 meters away at (3.0, 17.7). A vehicle with ID 95 is 19.7 meters away at (-17.9, -8.2). A vehicle with ID 20 is 21.5 meters away at (3.5, 21.2). A vehicle with ID 87 is 24.4 meters away at (-10.1, 22.2). A vehicle with ID 107 is 25.9 meters away at (-12.6, -22.7). A vehicle with ID 93 is 26.3 meters away at (-13.6, 22.5). A vehicle with ID 108 is 26.8 meters away at (-15.3, -22.0). A vehicle with ID 109 is 28.4 meters away at (-18.0, -21.9).

The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 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 (0.1, 0.0) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A vehicle with ID 97 is 9.4 meters away at (-5.0, -7.9). A vehicle with ID 19 is 14.9 meters away at (2.3, 14.7). A vehicle with ID 112 is 17.1 meters away at (-17.1, -0.2). A vehicle with ID 95 is 20.6 meters away at (-18.9, -8.3). A vehicle with ID 20 is 21.3 meters away at (2.6, 21.1). A vehicle with ID 87 is 24.8 meters away at (-11.0, 22.2). A vehicle with ID 107 is 26.4 meters away at (-13.7, -22.5). A vehicle with ID 93 is 26.8 meters away at (-14.5, 22.6). A vehicle with ID 108 is 27.4 meters away at (-16.3, -22.0). A unknown object with ID 47 is 27.9 meters away at (-12.9, -24.7).

The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [5.570431   0.02498892] m/s.The vehicle with ID 95 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 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 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 (2.8, 0.4) m/s. Its current heading (yaw) is 0.15

The most relevant actors are: A unknown object with ID 29 is 9.5 meters away at (1.7, 9.3). A vehicle with ID 97 is 11.3 meters away at (-7.9, -8.1). A vehicle with ID 112 is 11.8 meters away at (-11.8, -0.2). A vehicle with ID 19 is 14.5 meters away at (-0.4, 14.5). A vehicle with ID 3 is 17.4 meters away at (-0.1, 17.4). A vehicle with ID 20 is 20.9 meters away at (0.1, 20.9). A vehicle with ID 95 is 23.1 meters away at (-21.5, -8.3). A vehicle with ID 87 is 25.9 meters away at (-13.6, 22.1). A vehicle with ID 107 is 28.1 meters away at (-16.4, -22.8). A vehicle with ID 93 is 28.2 meters away at (-17.1, 22.5).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [2.8072057  0.03247835] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [1.6774445 9.307499 ], 9.457449913024902 meters away.)


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

The most relevant actors are: A unknown object with ID 29 is 8.1 meters away at (-5.4, 6.1). A vehicle with ID 19 is 13.4 meters away at (-7.2, 11.3). A vehicle with ID 112 is 14.1 meters away at (-13.7, -3.4). A vehicle with ID 3 is 16.0 meters away at (-7.1, 14.3). A vehicle with ID 97 is 18.6 meters away at (-14.8, -11.3). A vehicle with ID 20 is 19.1 meters away at (-6.9, 17.8). A vehicle with ID 87 is 28.0 meters away at (-20.6, 18.9). A vehicle with ID 73 is 30.2 meters away at (27.7, -12.2). A vehicle with ID 95 is 30.8 meters away at (-28.6, -11.4). A vehicle with ID 93 is 30.8 meters away at (-24.1, 19.2).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [2.509223   0.12499797] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [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 87 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 95 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: left u-turn approaching.

(The closest actor is a unknown object at [-5.368129  6.071877], 8.104597091674805 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 -0.97

The most relevant actors are: A vehicle with ID 11 is 9.8 meters away at (-5.1, 8.3). A vehicle with ID 13 is 12.7 meters away at (9.2, -8.8). A vehicle with ID 20 is 19.8 meters away at (-10.1, 17.1). A unknown object with ID 17 is 25.7 meters away at (-21.4, -14.3). A unknown object with ID 31 is 29.8 meters away at (-22.6, 19.5). A unknown object with ID 32 is 30.3 meters away at (-23.6, 18.9). A unknown object with ID 30 is 30.9 meters away at (-28.7, -11.5). A unknown object with ID 34 is 31.4 meters away at (-23.0, 21.4). A unknown object with ID 36 is 33.1 meters away at (-23.6, 23.3). A unknown object with ID 21 is 36.9 meters away at (-27.5, 24.6).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 31 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 unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 -0.97

The most relevant actors are: A vehicle with ID 11 is 9.3 meters away at (-4.8, 7.9). A vehicle with ID 13 is 12.8 meters away at (9.3, -8.9). A vehicle with ID 20 is 19.8 meters away at (-10.1, 17.1). A unknown object with ID 31 is 29.8 meters away at (-22.6, 19.5). A unknown object with ID 32 is 30.3 meters away at (-23.6, 18.9). A unknown object with ID 30 is 31.0 meters away at (-28.7, -11.5). A unknown object with ID 34 is 31.3 meters away at (-23.0, 21.3). A unknown object with ID 36 is 33.1 meters away at (-23.6, 23.3). A unknown object with ID 21 is 36.9 meters away at (-27.5, 24.6). A unknown object with ID 22 is 37.1 meters away at (-25.7, 26.7).

The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.15265839 -0.27451286] m/s.The vehicle with ID 13 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 31 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 unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.

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 -0.97

The most relevant actors are: A vehicle with ID 11 is 8.7 meters away at (-4.5, 7.4). A vehicle with ID 13 is 12.8 meters away at (9.2, -8.8). A vehicle with ID 20 is 19.6 meters away at (-10.0, 16.8). A unknown object with ID 14 is 25.7 meters away at (-21.4, -14.3). A unknown object with ID 31 is 29.8 meters away at (-22.6, 19.5). A unknown object with ID 32 is 30.3 meters away at (-23.6, 18.9). A unknown object with ID 30 is 30.9 meters away at (-28.7, -11.5). A unknown object with ID 34 is 31.3 meters away at (-23.0, 21.3). A unknown object with ID 36 is 33.1 meters away at (-23.6, 23.3). A unknown object with ID 4 is 33.6 meters away at (23.0, -24.4).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 31 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 unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 -0.97

The most relevant actors are: A vehicle with ID 11 is 8.6 meters away at (-4.5, 7.4). A vehicle with ID 13 is 12.8 meters away at (9.2, -8.8). A vehicle with ID 20 is 19.8 meters away at (-10.3, 17.0). A unknown object with ID 14 is 25.7 meters away at (-21.4, -14.3). A unknown object with ID 31 is 29.8 meters away at (-22.6, 19.5). A unknown object with ID 32 is 30.3 meters away at (-23.6, 18.9). A unknown object with ID 30 is 30.9 meters away at (-28.7, -11.5). A unknown object with ID 34 is 31.4 meters away at (-23.0, 21.3). A unknown object with ID 36 is 33.1 meters away at (-23.6, 23.3). A unknown object with ID 23 is 37.1 meters away at (-25.7, 26.7).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 31 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 unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 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 (1.7, 2.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A unknown object with ID 19 is 8.8 meters away at (-8.6, 1.5). A vehicle with ID 23 is 10.2 meters away at (-5.9, 8.3). A vehicle with ID 25 is 12.4 meters away at (-8.0, 9.5). A vehicle with ID 26 is 14.8 meters away at (-9.8, 11.0). A vehicle with ID 31 is 19.1 meters away at (-4.9, 18.4). A vehicle with ID 30 is 19.5 meters away at (-19.1, -3.8). A vehicle with ID 34 is 19.8 meters away at (-19.3, 4.2). A vehicle with ID 35 is 21.4 meters away at (-21.3, -2.0). A vehicle with ID 39 is 23.3 meters away at (-23.2, -0.5). A vehicle with ID 68 is 23.4 meters away at (21.8, 8.3).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-8.628687  1.474175], 8.75370979309082 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.1) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A unknown object with ID 19 is 9.8 meters away at (-9.8, 0.1). A vehicle with ID 23 is 9.8 meters away at (-7.0, 6.9). A vehicle with ID 25 is 12.2 meters away at (-9.3, 8.0). A vehicle with ID 26 is 14.6 meters away at (-11.0, 9.6). A vehicle with ID 31 is 17.4 meters away at (-5.5, 16.5). A vehicle with ID 34 is 20.7 meters away at (-20.5, 2.9). A vehicle with ID 30 is 21.0 meters away at (-20.3, -5.2). A vehicle with ID 68 is 21.1 meters away at (19.6, 7.8). A vehicle with ID 12 is 21.3 meters away at (-5.1, 20.6). A vehicle with ID 35 is 22.8 meters away at (-22.5, -3.5).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 1.399081  -1.2891872] m/s.The vehicle with ID 34 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 68 is traveling at a (x, y) velocity of [-1.5231706  1.1561431] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 1.4077989 -1.2748101] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-9.791039   0.1174159], 9.791743278503418 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 0.84

The most relevant actors are: A vehicle with ID 23 is 9.8 meters away at (-7.1, 6.8). A unknown object with ID 19 is 9.9 meters away at (-9.9, -0.0). A vehicle with ID 31 is 10.5 meters away at (1.1, 10.4). A vehicle with ID 25 is 12.2 meters away at (-9.3, 7.9). A vehicle with ID 26 is 14.6 meters away at (-11.1, 9.4). A vehicle with ID 12 is 16.9 meters away at (-1.0, 16.9). A vehicle with ID 68 is 18.5 meters away at (14.4, 11.7). A vehicle with ID 7 is 20.6 meters away at (-8.7, 18.7). A vehicle with ID 34 is 20.7 meters away at (-20.5, 2.7). A vehicle with ID 30 is 21.1 meters away at (-20.4, -5.3).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 4.9738936 -4.3448863] m/s.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 12 is traveling at a (x, y) velocity of [ 3.002005  -2.5464048] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-3.2930577  2.5527496] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 4.334188 -3.785738] m/s.The vehicle with ID 34 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.

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 0.84

The most relevant actors are: A vehicle with ID 7 is 9.1 meters away at (2.8, 8.7). A vehicle with ID 23 is 9.8 meters away at (-7.1, 6.7). A unknown object with ID 19 is 9.9 meters away at (-9.9, -0.1). A vehicle with ID 25 is 12.3 meters away at (-9.4, 7.9). A vehicle with ID 12 is 12.4 meters away at (6.1, 10.8). A vehicle with ID 31 is 13.6 meters away at (13.6, 0.0). A vehicle with ID 26 is 14.6 meters away at (-11.1, 9.4). A vehicle with ID 68 is 19.2 meters away at (6.4, 18.1). A vehicle with ID 62 is 20.6 meters away at (19.2, 7.7). A vehicle with ID 34 is 20.7 meters away at (-20.5, 2.7).

The vehicle with ID 7 is traveling at a (x, y) velocity of [ 7.021856 -5.898229] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 [ 4.0623236 -3.448467 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 7.806793  -5.9039116] m/s.The vehicle with ID 26 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 [-4.2790136  3.755732 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-3.8249252  3.195113 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -1.1) m/s. Its current heading (yaw) is -0.62

The most relevant actors are: A unknown object with ID 28 is 6.3 meters away at (2.0, 5.9). A unknown object with ID 29 is 6.3 meters away at (3.9, 4.9). A unknown object with ID 32 is 7.5 meters away at (5.7, 4.9). A unknown object with ID 30 is 7.5 meters away at (2.4, 7.1). A unknown object with ID 34 is 8.1 meters away at (5.6, 5.9). A unknown object with ID 36 is 12.7 meters away at (-10.4, -7.2). A pedestrian with ID 35 is 12.8 meters away at (-12.0, -4.5). A vehicle with ID 33 is 15.8 meters away at (-14.2, 7.1). A vehicle with ID 42 is 17.4 meters away at (13.7, -10.6). A unknown object with ID 39 is 19.7 meters away at (-7.3, 18.3).

The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.02176467 0.00886232] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.694185   6.6766896] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-3.9732542 -4.2971973] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [2.0408149 5.912158 ], 6.254481315612793 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -0.1) m/s. Its current heading (yaw) is -0.03

The most relevant actors are: A unknown object with ID 32 is 6.7 meters away at (0.7, 6.7). A unknown object with ID 29 is 6.8 meters away at (-1.1, 6.7). A unknown object with ID 34 is 7.7 meters away at (0.6, 7.7). A unknown object with ID 28 is 8.2 meters away at (-3.0, 7.7). A unknown object with ID 36 is 16.4 meters away at (-15.5, -5.4). A vehicle with ID 42 is 17.1 meters away at (0.8, -17.0). A pedestrian with ID 35 is 17.3 meters away at (-17.1, -2.6). A unknown object with ID 40 is 23.5 meters away at (-10.4, 21.0). A unknown object with ID 39 is 23.6 meters away at (-12.3, 20.1). A unknown object with ID 38 is 23.7 meters away at (-13.0, 19.8).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-3.936357  -4.1530166] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00348832  0.0240395 ] 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [0.6556897 6.7147274], 6.746665000915527 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 3.0) m/s. Its current heading (yaw) is 0.62

The most relevant actors are: A unknown object with ID 32 is 8.4 meters away at (-7.5, 4.0). A unknown object with ID 34 is 9.1 meters away at (-7.6, 5.0). A unknown object with ID 29 is 10.1 meters away at (-9.3, 4.0). A unknown object with ID 28 is 12.1 meters away at (-11.0, 4.9). A unknown object with ID 12 is 12.5 meters away at (-10.9, 6.0). A unknown object with ID 36 is 25.0 meters away at (-23.6, -8.3). A pedestrian with ID 35 is 25.8 meters away at (-25.2, -5.3). A unknown object with ID 18 is 25.9 meters away at (-24.1, -9.5). A unknown object with ID 38 is 27.3 meters away at (-21.4, 16.9). A pedestrian with ID 46 is 28.7 meters away at (4.4, -28.3).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.01140488  0.00023789] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 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 [-1.1555406  -0.47420612] m/s.

Instruction: left u-turn approaching.

(The closest actor is a unknown object at [-7.455304  3.969009], 8.445980072021484 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 4.7) m/s. Its current heading (yaw) is 0.81

The most relevant actors are: A unknown object with ID 34 is 16.4 meters away at (-16.2, -2.9). A unknown object with ID 32 is 16.5 meters away at (-16.0, -3.9). A unknown object with ID 23 is 16.9 meters away at (-16.5, -3.4). A vehicle with ID 21 is 17.8 meters away at (-17.6, -2.8). A unknown object with ID 29 is 18.3 meters away at (-17.8, -3.9). A unknown object with ID 10 is 18.6 meters away at (-18.3, -2.9). A unknown object with ID 12 is 19.4 meters away at (-19.4, -1.7). A unknown object with ID 28 is 19.9 meters away at (-19.7, -3.0). A unknown object with ID 5 is 24.0 meters away at (13.6, 19.8). A unknown object with ID 14 is 26.2 meters away at (15.6, 21.0).

The unknown object with ID 34 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 14 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 [-16.170794  -2.887745], 16.42661476135254 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -1.7) m/s. Its current heading (yaw) is -0.29

The most relevant actors are: A vehicle with ID 11 is 38.9 meters away at (36.1, -14.6). A vehicle with ID 21 is 47.3 meters away at (46.2, 10.1). A vehicle with ID 10 is 70.2 meters away at (68.0, 17.8).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.5706099  6.636923 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [5.3954625 7.0909796] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.9856534 -7.384851 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -1.7) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 11 is 29.8 meters away at (29.6, 3.0). A vehicle with ID 10 is 48.4 meters away at (47.5, 8.9). A vehicle with ID 13 is 54.2 meters away at (45.6, 29.2).

The vehicle with ID 11 is traveling at a (x, y) velocity of [5.0512476 7.329248 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.243391 -4.879969] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [5.8785686 8.7851305] 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, -0.5) m/s. Its current heading (yaw) is -0.09

The most relevant actors are: A vehicle with ID 10 is 31.3 meters away at (31.0, 4.3). A vehicle with ID 11 is 38.5 meters away at (32.0, 21.4).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.5684083 -2.5559812] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [6.7342954 8.88386  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 2.3) m/s. Its current heading (yaw) is 0.48

The most relevant actors are: A vehicle with ID 10 is 18.4 meters away at (18.3, -0.5). A vehicle with ID 11 is 53.3 meters away at (35.5, 39.7). A vehicle with ID 17 is 77.9 meters away at (43.6, 64.6).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.635414  -0.6455356] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 5.580504 10.294783] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.9936905 7.5975842] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -4.0) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 36 is 8.0 meters away at (-2.8, 7.5). A vehicle with ID 39 is 10.6 meters away at (-6.9, 8.1). A vehicle with ID 44 is 14.9 meters away at (-13.5, 6.4). A vehicle with ID 50 is 18.0 meters away at (-17.7, 2.8). A vehicle with ID 41 is 18.3 meters away at (7.1, 16.9). A vehicle with ID 38 is 18.5 meters away at (-16.9, -7.4). A vehicle with ID 47 is 19.9 meters away at (4.6, 19.3). A vehicle with ID 33 is 22.1 meters away at (-18.7, 11.8). A vehicle with ID 54 is 22.4 meters away at (-22.3, -2.0). A vehicle with ID 49 is 22.6 meters away at (-9.0, 20.7).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-5.668081  -5.8043694] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-7.4574537 -7.974378 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-5.09845  -4.970275] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.2237515 -7.1339517] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-8.362818 -7.642723] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [7.58898 8.32708] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [8.864907 8.802949] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -3.5) m/s. Its current heading (yaw) is -1.74

The most relevant actors are: A vehicle with ID 36 is 11.9 meters away at (-11.7, 2.3). A vehicle with ID 41 is 13.5 meters away at (-0.6, 13.5). A vehicle with ID 47 is 13.8 meters away at (-8.3, 11.1). A vehicle with ID 44 is 17.5 meters away at (-10.4, 14.1). A vehicle with ID 50 is 18.0 meters away at (-14.7, 10.5). A vehicle with ID 39 is 18.7 meters away at (-18.7, -0.3). A vehicle with ID 54 is 20.1 meters away at (-19.3, 5.8). A unknown object with ID 22 is 25.4 meters away at (-16.5, -19.4). A vehicle with ID 73 is 27.0 meters away at (-8.4, 25.6). A vehicle with ID 51 is 27.4 meters away at (-11.3, -25.0).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-6.318328  -6.9454956] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-5.6120524 -5.9112997] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-7.8190093 -8.226459 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-7.423871 -8.386657] m/s.The vehicle with ID 54 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 73 is traveling at a (x, y) velocity of [9.200654 8.92368 ] m/s.The vehicle with ID 51 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 (0.3, -2.0) m/s. Its current heading (yaw) is -1.44

The most relevant actors are: A vehicle with ID 41 is 14.1 meters away at (-12.6, 6.3). A vehicle with ID 50 is 21.7 meters away at (-14.6, 16.0). A vehicle with ID 44 is 22.1 meters away at (-10.3, 19.6). A vehicle with ID 54 is 22.2 meters away at (-19.2, 11.3). A vehicle with ID 51 is 22.4 meters away at (-11.1, -19.4). A vehicle with ID 47 is 23.3 meters away at (-23.3, -0.5). A vehicle with ID 36 is 25.4 meters away at (-24.3, -7.3). A vehicle with ID 14 is 27.8 meters away at (-19.5, 19.8). A cyclist with ID 5 is 29.3 meters away at (-25.8, 13.9). A vehicle with ID 32 is 31.8 meters away at (-27.0, 16.8).

The vehicle with ID 41 is traveling at a (x, y) velocity of [-6.7821383 -7.244346 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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 47 is traveling at a (x, y) velocity of [-7.409605 -8.954627] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-6.4650707 -8.31954  ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [8.064913 8.359733] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [7.5838003 8.590298 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [8.535395 9.50795 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -1.5) m/s. Its current heading (yaw) is -1.30

The most relevant actors are: A vehicle with ID 51 is 20.0 meters away at (-11.9, -16.1). A vehicle with ID 54 is 24.6 meters away at (-19.8, 14.6). A vehicle with ID 50 is 24.7 meters away at (-15.2, 19.4). A vehicle with ID 44 is 25.4 meters away at (-11.0, 22.9). A vehicle with ID 41 is 28.5 meters away at (-27.5, -7.5). A cyclist with ID 21 is 29.2 meters away at (5.4, 28.7). A vehicle with ID 17 is 30.6 meters away at (-20.3, 22.9). A vehicle with ID 24 is 35.3 meters away at (-31.0, 16.9). A cyclist with ID 5 is 36.2 meters away at (-10.2, 34.7). A vehicle with ID 14 is 40.2 meters away at (-3.2, 40.0).

The vehicle with ID 51 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-7.3457656 -9.828839 ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-12.805096 -12.307377] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [8.4085655 8.962028 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [7.6438193 8.824632 ] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [8.600896 8.816659] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [9.15481  8.495505] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A unknown object with ID 33 is 5.1 meters away at (-3.1, 4.0). A vehicle with ID 39 is 6.5 meters away at (6.4, 0.4). A vehicle with ID 48 is 10.2 meters away at (8.1, 6.3). A vehicle with ID 34 is 10.6 meters away at (3.6, 10.0). A vehicle with ID 50 is 10.8 meters away at (-2.9, -10.4). A vehicle with ID 44 is 16.3 meters away at (2.3, 16.1). A pedestrian with ID 22 is 19.5 meters away at (15.0, 12.5). A vehicle with ID 54 is 28.6 meters away at (-5.0, -28.2). A vehicle with ID 20 is 28.9 meters away at (6.9, -28.0). A vehicle with ID 72 is 31.5 meters away at (15.1, 27.7).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 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 [-0.3860608 -1.2083827] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-0.34314165 -1.1474786 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.014924   0.09886741] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 5.8752785 -1.6789302] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.075619   1.0621016] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-3.1412594  4.004455 ], 5.089515686035156 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.3) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A unknown object with ID 33 is 7.4 meters away at (-2.2, 7.1). A vehicle with ID 39 is 8.1 meters away at (7.4, 3.3). A vehicle with ID 34 is 11.5 meters away at (3.8, 10.8). A vehicle with ID 48 is 12.9 meters away at (9.0, 9.2). A vehicle with ID 50 is 13.1 meters away at (-3.7, -12.6). A vehicle with ID 44 is 19.3 meters away at (3.3, 19.0). A pedestrian with ID 22 is 22.1 meters away at (15.9, 15.4). A vehicle with ID 3 is 22.8 meters away at (-17.7, -14.4). A vehicle with ID 20 is 24.8 meters away at (4.9, -24.3). A vehicle with ID 54 is 30.9 meters away at (9.5, -29.4).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.4462454 -1.1779736] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.1196867 -3.416749 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.01249941  0.0108222 ] m/s.The vehicle with ID 3 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 54 is traveling at a (x, y) velocity of [ 7.308527 -2.050196] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-2.2024846  7.0533867], 7.389262676239014 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -2.3) m/s. Its current heading (yaw) is -1.88

The most relevant actors are: A vehicle with ID 39 is 12.3 meters away at (9.0, 8.5). A vehicle with ID 34 is 13.5 meters away at (4.3, 12.8). A vehicle with ID 50 is 17.5 meters away at (-5.1, -16.8). A vehicle with ID 48 is 17.9 meters away at (10.6, 14.5). A vehicle with ID 3 is 18.4 meters away at (-16.0, -9.1). A vehicle with ID 20 is 19.8 meters away at (6.1, -18.8). A vehicle with ID 52 is 19.8 meters away at (6.1, -18.8). A vehicle with ID 44 is 24.8 meters away at (4.9, 24.3). A vehicle with ID 5 is 30.6 meters away at (-5.4, -30.1). A vehicle with ID 4 is 31.7 meters away at (14.4, -28.2).

The vehicle with ID 39 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 [-0.8486479 -2.3608465] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.8450344 -5.7089086] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.44900146  0.13639885] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-0.94472414  0.2839775 ] 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 [0.22228028 0.38535702] m/s.The vehicle with ID 4 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 -1.82

The most relevant actors are: A vehicle with ID 34 is 10.1 meters away at (3.1, 9.6). A vehicle with ID 39 is 14.0 meters away at (9.5, 10.3). A vehicle with ID 52 is 15.7 meters away at (2.2, -15.5). A vehicle with ID 3 is 17.0 meters away at (-15.4, -7.2). A vehicle with ID 48 is 19.8 meters away at (11.2, 16.3). A vehicle with ID 46 is 26.8 meters away at (5.5, 26.2). A vehicle with ID 1 is 26.8 meters away at (17.1, -20.7). A vehicle with ID 5 is 28.2 meters away at (-4.6, -27.8). A vehicle with ID 50 is 29.3 meters away at (-8.8, -27.9). A vehicle with ID 4 is 30.3 meters away at (14.9, -26.4).

The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.5990588 -1.7370163] m/s.The vehicle with ID 39 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 [-3.8154314  1.1798378] m/s.The vehicle with ID 3 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 46 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 [-3.8464782  1.3104516] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-2.0418015 -6.4461226] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.4). A vehicle with ID 15 is 10.7 meters away at (8.1, -7.1). A vehicle with ID 21 is 18.1 meters away at (13.1, -12.5). A vehicle with ID 18 is 19.2 meters away at (-7.8, 17.6). A vehicle with ID 19 is 19.2 meters away at (16.4, -10.0). A vehicle with ID 26 is 23.4 meters away at (18.6, -14.2). A vehicle with ID 27 is 26.5 meters away at (23.4, -12.5). A vehicle with ID 33 is 28.1 meters away at (18.6, -21.0). A vehicle with ID 32 is 28.3 meters away at (23.2, -16.1). A vehicle with ID 36 is 32.7 meters away at (27.7, -17.3).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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 [-6.016942  -6.4424286] m/s.The vehicle with ID 19 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 27 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 32 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.

There are active red lights at the following coordinates: [[-9.144625   1.3300117]
 [-7.4949193  3.6770802]]

Instruction: Sharp left turn approaching


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

The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.5). A vehicle with ID 15 is 10.7 meters away at (8.1, -7.1). A vehicle with ID 21 is 18.1 meters away at (13.1, -12.5). A vehicle with ID 19 is 19.3 meters away at (16.4, -10.0). A vehicle with ID 18 is 20.5 meters away at (-20.1, 4.1). A vehicle with ID 9 is 22.0 meters away at (-3.5, 21.7). A vehicle with ID 26 is 23.4 meters away at (18.6, -14.2). A vehicle with ID 27 is 26.5 meters away at (23.4, -12.5). A vehicle with ID 33 is 28.0 meters away at (18.6, -21.0). A vehicle with ID 32 is 28.3 meters away at (23.2, -16.1).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-6.411912 -6.977424] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.6749654 -7.0078974] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-9.144625   1.3300117]
 [-7.4949193  3.6770802]]

Instruction: Sharp left turn approaching


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

The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.4). A vehicle with ID 15 is 10.7 meters away at (8.1, -7.1). A vehicle with ID 21 is 18.1 meters away at (13.1, -12.5). A vehicle with ID 9 is 18.5 meters away at (-16.9, 7.5). A vehicle with ID 19 is 19.2 meters away at (16.4, -10.0). A vehicle with ID 26 is 23.4 meters away at (18.6, -14.2). A vehicle with ID 27 is 26.5 meters away at (23.3, -12.4). A vehicle with ID 33 is 28.1 meters away at (18.6, -21.0). A vehicle with ID 32 is 28.3 meters away at (23.2, -16.1). A vehicle with ID 36 is 32.7 meters away at (27.7, -17.3).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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 [-7.0749583 -7.5153637] m/s.The vehicle with ID 19 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 27 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 32 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.

There are active red lights at the following coordinates: [[-9.144625   1.3300117]
 [-7.4949193  3.6770802]]

Instruction: Sharp left turn approaching


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

The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.4). A vehicle with ID 15 is 10.4 meters away at (7.7, -7.0). A vehicle with ID 21 is 18.1 meters away at (13.1, -12.5). A vehicle with ID 19 is 19.2 meters away at (16.4, -10.0). A vehicle with ID 26 is 23.4 meters away at (18.6, -14.2). A vehicle with ID 27 is 26.5 meters away at (23.4, -12.4). A vehicle with ID 33 is 28.1 meters away at (18.6, -21.0). A vehicle with ID 32 is 28.3 meters away at (23.3, -16.1). A vehicle with ID 36 is 32.7 meters away at (27.7, -17.3). A vehicle with ID 38 is 34.3 meters away at (30.9, -14.9).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-9.144625   1.3300117]
 [-7.4949193  3.6770802]]

Instruction: Sharp left 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 1.23

The most relevant actors are: A vehicle with ID 47 is 8.2 meters away at (0.8, -8.1). A pedestrian with ID 45 is 9.6 meters away at (-6.8, 6.8). A vehicle with ID 50 is 11.7 meters away at (-9.4, -7.1). A vehicle with ID 33 is 24.0 meters away at (-15.4, 18.4). A vehicle with ID 54 is 32.2 meters away at (-10.4, 30.5). A vehicle with ID 55 is 34.5 meters away at (-13.9, 31.6). A pedestrian with ID 51 is 37.9 meters away at (-20.3, -32.1). A pedestrian with ID 24 is 38.0 meters away at (-20.9, -31.8). A pedestrian with ID 21 is 39.2 meters away at (-21.2, -33.0). A vehicle with ID 30 is 39.2 meters away at (-20.5, 33.4).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.0616039   0.20779842] m/s.The vehicle with ID 50 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 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 pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.46389335 -1.1917728 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.483858  -1.1773514] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.48424828 -1.1201969 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-25.129166 -63.84163 ]
 [-25.326155 -63.800106]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.1) m/s. Its current heading (yaw) is 1.28

The most relevant actors are: A pedestrian with ID 45 is 9.0 meters away at (-7.7, 4.6). A vehicle with ID 47 is 10.2 meters away at (0.1, -10.2). A vehicle with ID 50 is 13.7 meters away at (-10.1, -9.2). A vehicle with ID 33 is 23.0 meters away at (-16.2, 16.3). A unknown object with ID 26 is 24.6 meters away at (19.5, 15.0). A vehicle with ID 31 is 24.8 meters away at (24.8, 0.7). A vehicle with ID 52 is 28.2 meters away at (-9.1, -26.7). A vehicle with ID 54 is 30.5 meters away at (-11.1, 28.4). A vehicle with ID 55 is 33.0 meters away at (-14.6, 29.6). A vehicle with ID 28 is 34.3 meters away at (34.2, -2.7).

The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.01498017 -0.01295696] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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 [3.0755184 8.274203 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-25.129166 -63.84163 ]
 [-25.326155 -63.800106]]

Instruction: Slight left turn approaching.

(The closest actor is a pedestrian at [-7.746578  4.634781], 9.027217864990234 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.5) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A pedestrian with ID 45 is 8.9 meters away at (-8.5, 2.5). A vehicle with ID 47 is 12.4 meters away at (-0.6, -12.4). A vehicle with ID 50 is 15.7 meters away at (-10.8, -11.4). A vehicle with ID 52 is 16.5 meters away at (-5.1, -15.7). A vehicle with ID 33 is 22.0 meters away at (-16.9, 14.0). A unknown object with ID 26 is 22.6 meters away at (18.7, 12.8). A vehicle with ID 31 is 24.1 meters away at (24.1, -1.4). A vehicle with ID 54 is 28.8 meters away at (-11.8, 26.3). A vehicle with ID 59 is 31.0 meters away at (-10.0, -29.3). A vehicle with ID 55 is 31.3 meters away at (-15.3, 27.3).

The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.00280508 -0.01905451] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [1.6637228 4.5661526] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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 59 is traveling at a (x, y) velocity of [2.3998237 6.8737926] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-25.129166 -63.84163 ]
 [-25.326155 -63.800106]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 5.3) m/s. Its current heading (yaw) is 1.23

The most relevant actors are: A pedestrian with ID 45 is 12.7 meters away at (-11.4, -5.5). A unknown object with ID 26 is 16.5 meters away at (15.9, 4.7). A vehicle with ID 52 is 16.6 meters away at (-5.1, -15.8). A vehicle with ID 47 is 20.6 meters away at (-3.5, -20.3). A vehicle with ID 33 is 20.7 meters away at (-19.7, 6.1). A vehicle with ID 31 is 23.3 meters away at (21.3, -9.4). A vehicle with ID 54 is 23.3 meters away at (-14.6, 18.2). A vehicle with ID 50 is 23.8 meters away at (-13.7, -19.4). A vehicle with ID 55 is 26.5 meters away at (-18.2, 19.4). A vehicle with ID 59 is 28.8 meters away at (-9.3, -27.2).

The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.00482487  0.00388643] m/s.The unknown object with ID 26 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 [1.519728  4.0921044] m/s.The vehicle with ID 47 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 31 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 50 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 59 is traveling at a (x, y) velocity of [1.2145263 3.849464 ] 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 -0.32

The most relevant actors are: A unknown object with ID 52 is 3.1 meters away at (-1.4, -2.7). A vehicle with ID 84 is 6.3 meters away at (2.6, 5.8). A unknown object with ID 49 is 6.7 meters away at (4.9, -4.7). A vehicle with ID 10 is 7.5 meters away at (-7.2, 2.1). A unknown object with ID 68 is 8.7 meters away at (6.1, -6.2). A vehicle with ID 15 is 9.0 meters away at (8.6, -2.4). A unknown object with ID 70 is 9.3 meters away at (5.3, -7.7). A vehicle with ID 78 is 10.2 meters away at (-10.1, -1.0). A vehicle with ID 81 is 10.5 meters away at (9.8, 3.8). A vehicle with ID 73 is 11.2 meters away at (7.3, 8.5).

The unknown object with ID 52 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 [-1.0074089   0.31483474] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.56544787 -0.15425421] m/s.The unknown object with ID 70 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 81 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.

There are active red lights at the following coordinates: [[ 56.91285   -9.652015]
 [ 56.430573 -11.880194]]

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 -0.32

The most relevant actors are: A unknown object with ID 52 is 3.1 meters away at (-1.5, -2.7). A unknown object with ID 49 is 6.7 meters away at (4.8, -4.6). A unknown object with ID 32 is 6.9 meters away at (-6.5, -2.3). A vehicle with ID 84 is 7.4 meters away at (-2.0, 7.2). A vehicle with ID 10 is 7.7 meters away at (-7.4, 2.2). A unknown object with ID 68 is 8.6 meters away at (6.0, -6.2). A unknown object with ID 70 is 9.3 meters away at (5.2, -7.7). A vehicle with ID 81 is 10.1 meters away at (9.3, 4.0). A vehicle with ID 78 is 10.3 meters away at (-10.3, -0.9). A vehicle with ID 15 is 10.5 meters away at (10.1, -2.8).

The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 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 [-2.837812   0.8697727] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 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 [-1.1641588   0.34104064] m/s.The vehicle with ID 78 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 [ 1.0938569 -0.3173333] m/s.

There are active red lights at the following coordinates: [[ 56.91285   -9.652015]
 [ 56.430573 -11.880194]]

Instruction: Continue straight.

(The closest actor is a unknown object at [-1.4903761 -2.6983268], 3.08256196975708 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -0.5) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A unknown object with ID 24 is 3.2 meters away at (0.2, -3.2). A unknown object with ID 49 is 5.4 meters away at (3.3, -4.2). A vehicle with ID 81 is 6.7 meters away at (3.4, 5.8). A unknown object with ID 68 is 7.4 meters away at (4.6, -5.7). A unknown object with ID 70 is 8.2 meters away at (3.8, -7.2). A vehicle with ID 10 is 9.1 meters away at (-8.7, 2.6). A vehicle with ID 73 is 10.6 meters away at (5.6, 9.0). A vehicle with ID 48 is 11.1 meters away at (8.6, -7.1). A vehicle with ID 78 is 11.8 meters away at (-11.8, -0.5). A vehicle with ID 84 is 12.5 meters away at (-8.5, 9.1).

The unknown object with ID 24 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 81 is traveling at a (x, y) velocity of [-2.6547837  0.7558918] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 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 73 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 78 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 [-2.4273746  0.6586735] m/s.

There are active red lights at the following coordinates: [[ 56.91285   -9.652015]
 [ 56.430573 -11.880194]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.4) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A unknown object with ID 49 is 3.5 meters away at (-2.4, -2.5). A unknown object with ID 68 is 4.1 meters away at (-1.2, -4.0). A unknown object with ID 24 is 5.8 meters away at (-5.6, -1.4). A unknown object with ID 70 is 5.8 meters away at (-2.0, -5.5). A vehicle with ID 48 is 6.0 meters away at (2.8, -5.3). A vehicle with ID 77 is 8.0 meters away at (6.3, 4.9). A vehicle with ID 73 is 10.7 meters away at (-0.1, 10.7). A unknown object with ID 55 is 11.9 meters away at (-11.9, 0.5). A vehicle with ID 81 is 12.1 meters away at (-7.9, 9.2). A vehicle with ID 10 is 14.4 meters away at (-13.7, 4.1).

The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 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 [-1.9708061   0.48774973] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-2.809104    0.72613454] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 1.4496235  -0.51433367] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.4390683 -2.482734 ], 3.480376720428467 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 6.3) m/s. Its current heading (yaw) is 1.64

The most relevant actors are: A vehicle with ID 5 is 7.4 meters away at (-3.2, -6.7). A vehicle with ID 3 is 49.0 meters away at (48.9, 3.1). A vehicle with ID 8 is 57.0 meters away at (-2.0, -57.0).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 6.8) m/s. Its current heading (yaw) is 1.66

The most relevant actors are: A vehicle with ID 5 is 19.7 meters away at (-2.2, -19.6). A vehicle with ID 3 is 50.8 meters away at (49.8, -9.9). A pedestrian with ID 2 is 62.4 meters away at (61.5, -10.2). A vehicle with ID 8 is 69.9 meters away at (-0.9, -69.9).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.3325864  -0.22392926] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 7.5) m/s. Its current heading (yaw) is 1.65

The most relevant actors are: A vehicle with ID 5 is 33.9 meters away at (-0.9, -33.9). A vehicle with ID 3 is 56.5 meters away at (51.1, -24.0). A pedestrian with ID 2 is 69.7 meters away at (65.1, -25.1).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.1919799  -0.27932674] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 7.5) m/s. Its current heading (yaw) is 1.62

The most relevant actors are: A vehicle with ID 5 is 48.9 meters away at (0.1, -48.9). A unknown object with ID 4 is 62.9 meters away at (-5.6, -62.6).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -3.8) m/s. Its current heading (yaw) is -0.59

The most relevant actors are: A vehicle with ID 38 is 7.5 meters away at (0.8, 7.5). A vehicle with ID 37 is 10.7 meters away at (-3.5, 10.1). A vehicle with ID 36 is 15.5 meters away at (-8.0, 13.3). A vehicle with ID 7 is 28.5 meters away at (15.2, -24.1). A unknown object with ID 32 is 31.6 meters away at (31.5, -2.6). A unknown object with ID 42 is 34.2 meters away at (33.8, -5.1). A unknown object with ID 44 is 36.7 meters away at (35.7, -8.4). A unknown object with ID 45 is 38.4 meters away at (36.5, -11.9). A unknown object with ID 10 is 39.5 meters away at (36.4, -15.4). A vehicle with ID 46 is 46.5 meters away at (-11.3, -45.1).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.2497034 1.2782046] 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -3.7) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A unknown object with ID 13 is 13.1 meters away at (-13.0, 0.9). A vehicle with ID 7 is 16.2 meters away at (6.4, -14.9). A vehicle with ID 38 is 17.7 meters away at (-9.4, 15.0). A vehicle with ID 37 is 22.5 meters away at (-13.9, 17.6). A unknown object with ID 42 is 23.7 meters away at (23.5, 2.4). A unknown object with ID 44 is 25.4 meters away at (25.4, -1.0). A unknown object with ID 45 is 26.5 meters away at (26.2, -4.4). A unknown object with ID 10 is 27.2 meters away at (26.1, -7.9). A vehicle with ID 36 is 27.8 meters away at (-18.4, 20.8). A vehicle with ID 46 is 43.4 meters away at (-21.7, -37.5).

The unknown object with ID 13 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 [0.6182709  0.70023364] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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 46 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 (5.0, -4.3) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 7 is 6.5 meters away at (-2.8, -5.9). A unknown object with ID 45 is 16.6 meters away at (16.2, 3.8). A unknown object with ID 44 is 17.0 meters away at (15.4, 7.2). A unknown object with ID 24 is 22.1 meters away at (-13.1, 17.9). A vehicle with ID 38 is 30.2 meters away at (-19.4, 23.1). A vehicle with ID 37 is 35.2 meters away at (-23.9, 25.8). A vehicle with ID 36 is 40.6 meters away at (-28.4, 29.0). A vehicle with ID 40 is 40.9 meters away at (-23.1, -33.8). A vehicle with ID 46 is 43.2 meters away at (-31.6, -29.5). A pedestrian with ID 11 is 44.3 meters away at (-20.1, -39.5).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0.50055784 0.42193353] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.53787196 -0.74623406] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -5.2) m/s. Its current heading (yaw) is -0.74

The most relevant actors are: A vehicle with ID 7 is 12.9 meters away at (-12.0, 4.6). A unknown object with ID 45 is 14.5 meters away at (5.5, 13.5). A unknown object with ID 44 is 17.5 meters away at (4.8, 16.8). A vehicle with ID 6 is 18.4 meters away at (15.8, -9.4). A unknown object with ID 8 is 20.4 meters away at (2.9, 20.2). A unknown object with ID 24 is 36.3 meters away at (-23.7, 27.5). A vehicle with ID 40 is 41.5 meters away at (-33.7, -24.1). A vehicle with ID 38 is 44.5 meters away at (-30.1, 32.8). A vehicle with ID 46 is 46.6 meters away at (-42.3, -19.7). A vehicle with ID 48 is 47.6 meters away at (-37.6, -29.1).

The vehicle with ID 7 is traveling at a (x, y) velocity of [1.170895   0.47389016] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 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 [-4.895341   4.4565554] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A vehicle with ID 88 is 8.6 meters away at (-0.6, -8.6). A vehicle with ID 96 is 11.3 meters away at (1.5, 11.2). A vehicle with ID 73 is 11.3 meters away at (10.2, 4.9). A vehicle with ID 79 is 11.7 meters away at (-7.8, -8.7). A vehicle with ID 78 is 12.9 meters away at (6.3, 11.3). A vehicle with ID 90 is 12.9 meters away at (-5.6, 11.6). A vehicle with ID 100 is 13.4 meters away at (12.5, 4.9). A vehicle with ID 99 is 13.9 meters away at (8.7, 10.9). A vehicle with ID 80 is 15.5 meters away at (-12.6, -9.0). A vehicle with ID 89 is 16.1 meters away at (-10.2, 12.4).

The vehicle with ID 88 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 73 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 78 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 100 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 80 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.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -0.4) m/s. Its current heading (yaw) is -0.08

The most relevant actors are: A vehicle with ID 73 is 5.3 meters away at (0.1, 5.3). A vehicle with ID 100 is 5.9 meters away at (2.4, 5.4). A vehicle with ID 74 is 8.7 meters away at (7.0, 5.2). A vehicle with ID 105 is 11.3 meters away at (3.4, 10.8). A vehicle with ID 99 is 11.4 meters away at (-1.3, 11.3). A vehicle with ID 78 is 12.2 meters away at (-3.8, 11.6). A vehicle with ID 77 is 12.6 meters away at (6.1, 11.0). A vehicle with ID 72 is 13.0 meters away at (12.2, 4.5). A vehicle with ID 88 is 13.5 meters away at (-10.7, -8.2). A vehicle with ID 96 is 14.3 meters away at (-8.5, 11.6).

The vehicle with ID 73 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 74 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 99 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 77 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 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 (5.4, -0.5) m/s. Its current heading (yaw) is -0.09

The most relevant actors are: A vehicle with ID 72 is 5.7 meters away at (1.8, 5.4). A vehicle with ID 111 is 6.5 meters away at (4.0, 5.1). A vehicle with ID 74 is 6.9 meters away at (-3.4, 6.0). A vehicle with ID 71 is 8.2 meters away at (6.5, 5.0). A vehicle with ID 100 is 10.1 meters away at (-8.0, 6.2). A vehicle with ID 110 is 11.8 meters away at (0.3, 11.8). A vehicle with ID 73 is 12.0 meters away at (-10.3, 6.1). A vehicle with ID 50 is 12.1 meters away at (4.9, 11.0). A vehicle with ID 26 is 12.5 meters away at (7.2, 10.3). A vehicle with ID 77 is 12.6 meters away at (-4.3, 11.8).

The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 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 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -0.5) m/s. Its current heading (yaw) is -0.10

The most relevant actors are: A cyclist with ID 66 is 4.9 meters away at (1.9, -4.5). A vehicle with ID 71 is 7.3 meters away at (-4.2, 6.0). A vehicle with ID 111 is 9.1 meters away at (-6.7, 6.1). A vehicle with ID 75 is 10.5 meters away at (2.5, -10.2). A vehicle with ID 23 is 10.9 meters away at (1.5, 10.8). A vehicle with ID 72 is 11.0 meters away at (-9.0, 6.4). A vehicle with ID 21 is 11.2 meters away at (3.8, 10.5). A vehicle with ID 25 is 11.3 meters away at (-1.0, 11.2). A vehicle with ID 26 is 11.8 meters away at (-3.5, 11.2). A vehicle with ID 70 is 12.6 meters away at (11.8, 4.3).

The cyclist with ID 66 is traveling at a (x, y) velocity of [-4.917349    0.30855948] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 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 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 70 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 (-1.9, -3.1) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 46 is 6.0 meters away at (5.4, -2.6). A unknown object with ID 54 is 8.7 meters away at (8.7, 0.1). A unknown object with ID 50 is 9.7 meters away at (9.6, 1.5). A pedestrian with ID 55 is 11.8 meters away at (5.2, -10.6). A pedestrian with ID 59 is 12.7 meters away at (6.1, -11.2). A pedestrian with ID 66 is 13.7 meters away at (13.1, -4.0). A pedestrian with ID 58 is 14.3 meters away at (3.2, -13.9). A pedestrian with ID 79 is 14.9 meters away at (4.1, -14.3). A pedestrian with ID 75 is 15.2 meters away at (8.7, -12.5). A vehicle with ID 68 is 15.5 meters away at (13.8, 7.1).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 0.00584729 -0.00694977] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.01260477 -0.00015365] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.00643754 -0.01425479] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00738425 -0.00515736] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.02990128 -0.00492725] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 0.00344568 -0.0024648 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.2) m/s. Its current heading (yaw) is -2.09

The most relevant actors are: A vehicle with ID 46 is 8.2 meters away at (8.0, 1.8). A pedestrian with ID 115 is 8.3 meters away at (1.6, -8.1). A unknown object with ID 5 is 8.4 meters away at (8.4, -0.3). A pedestrian with ID 55 is 10.0 meters away at (7.8, -6.3). A pedestrian with ID 59 is 11.0 meters away at (8.7, -6.7). A pedestrian with ID 58 is 11.2 meters away at (5.9, -9.5). A pedestrian with ID 56 is 11.8 meters away at (1.8, -11.6). A pedestrian with ID 79 is 12.0 meters away at (6.8, -9.9). A unknown object with ID 54 is 12.2 meters away at (11.3, 4.5). A pedestrian with ID 51 is 13.4 meters away at (5.4, -12.2).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [1.3911699 3.1958306] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.00819674 -0.00772972] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.0031257  -0.00694387] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00317633 -0.00319816] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.0133005 0.0300708] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.0173239  -0.00398676] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.21908617  0.00321951] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) m/s. Its current heading (yaw) is -2.06

The most relevant actors are: A pedestrian with ID 115 is 3.3 meters away at (3.3, -0.2). A vehicle with ID 46 is 8.9 meters away at (8.5, 2.7). A unknown object with ID 5 is 9.0 meters away at (8.9, 0.6). A pedestrian with ID 55 is 10.0 meters away at (8.3, -5.5). A pedestrian with ID 58 is 10.7 meters away at (6.3, -8.6). A pedestrian with ID 59 is 10.9 meters away at (9.2, -5.9). A pedestrian with ID 56 is 11.1 meters away at (2.3, -10.8). A pedestrian with ID 79 is 11.6 meters away at (7.3, -9.1). A pedestrian with ID 51 is 12.2 meters away at (5.3, -11.0). A pedestrian with ID 75 is 13.9 meters away at (11.8, -7.3).

The pedestrian with ID 115 is traveling at a (x, y) velocity of [0.13293432 3.3335772 ] m/s.The vehicle with ID 46 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [0.00735713 0.01604667] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00547339  0.00199927] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.00331814 -0.00597579] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.00303795 0.00141069] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.00419645 -0.00263967] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.08712938  0.08985886] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 0.00816484 -0.00265942] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -2.06

The most relevant actors are: A pedestrian with ID 115 is 7.6 meters away at (3.4, 6.8). A vehicle with ID 46 is 9.1 meters away at (8.7, 2.9). A unknown object with ID 5 is 9.2 meters away at (9.1, 0.9). A pedestrian with ID 55 is 9.9 meters away at (8.5, -5.2). A pedestrian with ID 58 is 10.6 meters away at (6.5, -8.4). A pedestrian with ID 56 is 10.8 meters away at (2.5, -10.5). A pedestrian with ID 59 is 11.0 meters away at (9.4, -5.7). A pedestrian with ID 51 is 11.3 meters away at (5.0, -10.1). A pedestrian with ID 79 is 11.6 meters away at (7.5, -8.8). A pedestrian with ID 57 is 12.0 meters away at (2.6, -11.7).

The pedestrian with ID 115 is traveling at a (x, y) velocity of [0.37844995 3.4351587 ] m/s.The vehicle with ID 46 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [0.02374119 0.02051135] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.03298526 0.02698207] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.0121855   0.05698994] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.01996538 0.02220559] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.2240427   0.26833794] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [0.06438303 0.04243091] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.18669699  0.7385976 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -0.6) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A vehicle with ID 14 is 7.9 meters away at (-7.4, 2.6). A vehicle with ID 59 is 9.6 meters away at (-9.6, 0.3). A vehicle with ID 63 is 11.1 meters away at (10.0, -4.7). A pedestrian with ID 60 is 11.8 meters away at (7.7, 8.9). A vehicle with ID 62 is 15.6 meters away at (-15.4, 2.3). A vehicle with ID 64 is 15.6 meters away at (3.1, -15.3). A unknown object with ID 67 is 19.3 meters away at (14.5, -12.6). A unknown object with ID 68 is 19.5 meters away at (12.3, -15.2). A vehicle with ID 66 is 19.6 meters away at (12.9, 14.7). A unknown object with ID 69 is 20.3 meters away at (14.3, -14.4).

The vehicle with ID 14 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 63 is traveling at a (x, y) velocity of [-2.1354058 -6.7847676] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [1.1556447 0.7824649] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.