The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -2.0) m/s. Its current heading (yaw) is -1.84

The most relevant actors are: A vehicle with ID 43 is 10.4 meters away at (9.5, 4.3). A vehicle with ID 45 is 19.2 meters away at (-13.8, -13.4). A vehicle with ID 46 is 23.9 meters away at (18.5, -15.2). A vehicle with ID 47 is 26.3 meters away at (-26.2, 2.8). A vehicle with ID 27 is 29.4 meters away at (-27.5, -10.3). A vehicle with ID 48 is 32.5 meters away at (27.1, -17.9). A vehicle with ID 49 is 38.7 meters away at (33.3, -19.8). A pedestrian with ID 20 is 39.4 meters away at (34.9, -18.5). A vehicle with ID 8 is 39.5 meters away at (-11.3, -37.9). A vehicle with ID 50 is 50.2 meters away at (13.7, 48.3).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 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 48 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 pedestrian with ID 20 is traveling at a (x, y) velocity of [0.0822833  0.01136271] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.929595 -7.881851] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -4.7) m/s. Its current heading (yaw) is -1.85

The most relevant actors are: A vehicle with ID 45 is 13.6 meters away at (-12.0, -6.4). A vehicle with ID 43 is 16.0 meters away at (11.3, 11.3). A vehicle with ID 46 is 21.9 meters away at (20.3, -8.1). A vehicle with ID 27 is 25.9 meters away at (-25.7, -3.3). A vehicle with ID 47 is 26.3 meters away at (-24.4, 9.9). A vehicle with ID 48 is 31.0 meters away at (29.0, -10.9). A vehicle with ID 49 is 37.4 meters away at (35.2, -12.8). A vehicle with ID 8 is 50.1 meters away at (-14.0, -48.1). A vehicle with ID 24 is 54.7 meters away at (-54.3, 6.6). A vehicle with ID 50 is 57.5 meters away at (15.5, 55.4).

The vehicle 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 vehicle with ID 46 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 [-2.521639 -8.512792] m/s.The vehicle with ID 24 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -6.4) m/s. Its current heading (yaw) is -1.87

The most relevant actors are: A vehicle with ID 45 is 10.1 meters away at (-9.0, 4.7). A vehicle with ID 46 is 23.4 meters away at (23.2, 3.1). A vehicle with ID 27 is 24.0 meters away at (-22.7, 7.8). A vehicle with ID 43 is 26.7 meters away at (14.2, 22.6). A vehicle with ID 47 is 30.0 meters away at (-21.4, 21.0). A vehicle with ID 48 is 31.8 meters away at (31.8, 0.3). A vehicle with ID 49 is 38.1 meters away at (38.0, -1.5). A vehicle with ID 8 is 55.5 meters away at (-16.1, -53.1). A vehicle with ID 1 is 55.6 meters away at (-19.5, -52.1). A vehicle with ID 23 is 59.1 meters away at (-50.3, 31.0).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 [-2.4845972 -7.3098526] m/s.The vehicle with ID 1 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -7.2) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 45 is 19.0 meters away at (-5.0, 18.3). A vehicle with ID 31 is 24.9 meters away at (7.2, -23.9). A vehicle with ID 46 is 32.0 meters away at (27.3, 16.8). A vehicle with ID 48 is 38.5 meters away at (35.9, 13.9). A vehicle with ID 47 is 38.8 meters away at (-17.4, 34.6). A vehicle with ID 43 is 40.6 meters away at (18.2, 36.3). A vehicle with ID 1 is 41.4 meters away at (-15.5, -38.4). A vehicle with ID 49 is 43.9 meters away at (42.2, 12.2). A vehicle with ID 8 is 53.6 meters away at (-15.9, -51.2). A vehicle with ID 4 is 67.1 meters away at (-22.0, -63.4).

The vehicle with ID 45 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 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.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 8 is traveling at a (x, y) velocity of [-1.4704001 -3.8674278] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -34.1694  -104.84029]
 [ -34.36639 -104.79876]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 4.9) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A vehicle with ID 79 is 4.8 meters away at (-4.8, 0.5). A vehicle with ID 83 is 5.8 meters away at (-0.6, 5.8). A pedestrian with ID 93 is 12.9 meters away at (-0.4, 12.9). A vehicle with ID 31 is 16.8 meters away at (7.5, 15.0). A vehicle with ID 80 is 20.1 meters away at (-19.0, -6.4). A vehicle with ID 81 is 21.0 meters away at (-1.7, -21.0). A vehicle with ID 78 is 21.3 meters away at (-18.4, -10.8). A vehicle with ID 85 is 22.4 meters away at (-5.2, -21.8). A vehicle with ID 82 is 22.8 meters away at (-22.6, -3.2). A vehicle with ID 77 is 23.1 meters away at (23.0, 2.0).

The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.7815776 -1.0856061] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-5.238579  4.510555] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-0.727783  0.655122] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 4.2) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 31 is 5.6 meters away at (-0.4, 5.6). A vehicle with ID 83 is 9.2 meters away at (-8.5, -3.6). A pedestrian with ID 93 is 10.2 meters away at (-10.1, 1.5). A vehicle with ID 2 is 14.5 meters away at (1.3, 14.5). A vehicle with ID 79 is 15.6 meters away at (-12.7, -9.0). A unknown object with ID 102 is 15.6 meters away at (15.3, -2.9). A vehicle with ID 77 is 16.8 meters away at (15.0, -7.4). A vehicle with ID 7 is 25.5 meters away at (-1.3, 25.5). A vehicle with ID 8 is 27.3 meters away at (-3.1, 27.2). A vehicle with ID 112 is 29.7 meters away at (29.7, -1.2).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.8089624  -0.89776355] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.6731924 -0.5788752] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 4.0) m/s. Its current heading (yaw) is 0.94

The most relevant actors are: A vehicle with ID 31 is 6.4 meters away at (-6.2, -1.6). A vehicle with ID 2 is 8.3 meters away at (-4.5, 7.0). A vehicle with ID 77 is 17.4 meters away at (9.2, -14.7). A vehicle with ID 83 is 18.1 meters away at (-14.4, -11.0). A pedestrian with ID 93 is 19.4 meters away at (-17.7, -7.9). A vehicle with ID 7 is 19.5 meters away at (-7.2, 18.1). A vehicle with ID 8 is 21.8 meters away at (-9.0, 19.9). A vehicle with ID 79 is 24.8 meters away at (-18.6, -16.4). A vehicle with ID 3 is 29.4 meters away at (-1.3, 29.4). A unknown object with ID 1 is 33.5 meters away at (15.4, 29.8).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.9603917 -1.1562712] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 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 unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 5.3) m/s. Its current heading (yaw) is 1.00

The most relevant actors are: A vehicle with ID 2 is 11.1 meters away at (-10.7, -3.1). A vehicle with ID 7 is 16.2 meters away at (-13.9, 8.5). A vehicle with ID 31 is 17.2 meters away at (-12.9, -11.3). A vehicle with ID 8 is 18.7 meters away at (-15.6, 10.3). A vehicle with ID 3 is 21.3 meters away at (-8.0, 19.8). A unknown object with ID 1 is 21.8 meters away at (8.6, 20.1). A vehicle with ID 77 is 24.5 meters away at (2.5, -24.4). A vehicle with ID 75 is 27.0 meters away at (18.2, 20.0). A vehicle with ID 83 is 29.5 meters away at (-21.0, -20.7). A pedestrian with ID 93 is 32.6 meters away at (-26.1, -19.6).

The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.84186906 -0.57148623] m/s.The vehicle with ID 7 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 8 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 unknown object with ID 1 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 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.66045165 -0.85929567] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 10.6) m/s. Its current heading (yaw) is 1.91

The most relevant actors are: A vehicle with ID 3 is 36.1 meters away at (6.0, -35.6). A vehicle with ID 1 is 72.7 meters away at (-31.8, 65.4).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.3196895 -8.894655 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 10.9) m/s. Its current heading (yaw) is 1.91

The most relevant actors are: A vehicle with ID 1 is 49.8 meters away at (-23.5, 43.9). A vehicle with ID 3 is 78.4 meters away at (20.6, -75.6).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0.3628261  0.12446182] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.695341 -9.374402] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 10.8) m/s. Its current heading (yaw) is 1.90

The most relevant actors are: A vehicle with ID 1 is 27.0 meters away at (-15.1, 22.4).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0.42000932 0.12953874] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 10.5) m/s. Its current heading (yaw) is 1.89

The most relevant actors are: A vehicle with ID 1 is 7.1 meters away at (-6.9, 1.5).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0.37322173 0.09775686] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, 7.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 30 is 20.6 meters away at (-12.7, -16.3). A vehicle with ID 31 is 23.8 meters away at (15.1, 18.4). A vehicle with ID 29 is 31.8 meters away at (-22.4, -22.5). A vehicle with ID 33 is 40.5 meters away at (26.1, 31.0). A vehicle with ID 32 is 50.9 meters away at (-34.4, -37.5). A vehicle with ID 34 is 55.0 meters away at (-32.7, -44.2). A vehicle with ID 15 is 69.3 meters away at (45.3, 52.5). A vehicle with ID 37 is 72.3 meters away at (-58.3, -42.6). A vehicle with ID 35 is 78.7 meters away at (-51.9, -59.1).

The vehicle with ID 30 is traveling at a (x, y) velocity of [5.037893  5.9127116] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [6.669002 7.812534] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.9761217 -5.3347926] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [6.2428846 7.295251 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.1081257 -5.5041323] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.979063 3.35843 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [7.553219 7.622046] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-4.5398526 -5.9755797] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 7.8) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 30 is 21.9 meters away at (-13.4, -17.3). A vehicle with ID 31 is 24.8 meters away at (15.8, 19.1). A vehicle with ID 33 is 40.8 meters away at (26.7, 30.8). A vehicle with ID 3 is 60.0 meters away at (36.9, 47.3). A vehicle with ID 29 is 65.1 meters away at (-43.3, -48.6). A vehicle with ID 15 is 72.6 meters away at (48.9, 53.7).

The vehicle with ID 30 is traveling at a (x, y) velocity of [6.9585032 7.9945793] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [6.8536882 8.099893 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [7.6124153 8.03518  ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.9105055 -5.2605286] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [8.708409 8.402494] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, 6.5) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 30 is 19.2 meters away at (-11.5, -15.3). A vehicle with ID 31 is 27.1 meters away at (17.6, 20.6). A vehicle with ID 4 is 38.1 meters away at (35.3, 14.3). A vehicle with ID 3 is 40.6 meters away at (24.5, 32.4). A vehicle with ID 33 is 44.8 meters away at (30.5, 32.8). A vehicle with ID 1 is 56.7 meters away at (-30.4, 47.9). A unknown object with ID 25 is 59.8 meters away at (31.1, 51.0). A vehicle with ID 2 is 67.7 meters away at (-42.6, -52.7). A unknown object with ID 20 is 73.2 meters away at (-48.1, 55.2). A vehicle with ID 15 is 77.7 meters away at (54.8, 55.2).

The vehicle with ID 30 is traveling at a (x, y) velocity of [6.672733  7.5799217] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [7.507037 7.969081] m/s.The vehicle with ID 4 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 [-0.1599104  -0.45412883] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [8.631802 8.329498] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.708358  -3.8851247] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [6.013987  7.0704117] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.397303  7.8819957] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 5.8) m/s. Its current heading (yaw) is 1.05

The most relevant actors are: A vehicle with ID 30 is 15.4 meters away at (-8.4, -12.9). A vehicle with ID 3 is 24.7 meters away at (14.8, 19.8). A vehicle with ID 4 is 26.0 meters away at (25.9, 2.2). A vehicle with ID 6 is 33.2 meters away at (33.1, -2.7). A vehicle with ID 31 is 34.5 meters away at (24.3, 24.5). A vehicle with ID 1 is 38.3 meters away at (-24.5, 29.4). A vehicle with ID 12 is 43.6 meters away at (42.9, -7.9). A unknown object with ID 13 is 48.2 meters away at (27.7, 39.4). A vehicle with ID 14 is 51.6 meters away at (50.3, -11.5). A vehicle with ID 33 is 54.0 meters away at (39.1, 37.3).

The vehicle with ID 30 is traveling at a (x, y) velocity of [7.0773916 7.7646294] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [8.712628 8.012733] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 6.5481005 -3.1000428] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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 [9.696051 8.123078] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.1) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A pedestrian with ID 26 is 22.2 meters away at (-6.5, -21.2). A vehicle with ID 25 is 22.7 meters away at (7.0, 21.6). A pedestrian with ID 29 is 32.0 meters away at (-31.9, -1.0). A vehicle with ID 27 is 38.8 meters away at (-4.0, -38.6). A vehicle with ID 23 is 39.1 meters away at (-39.1, 0.5). A vehicle with ID 24 is 41.4 meters away at (-41.3, -1.4). A pedestrian with ID 30 is 41.8 meters away at (-36.7, 19.9). A vehicle with ID 16 is 41.8 meters away at (-4.7, -41.5). A vehicle with ID 31 is 42.0 meters away at (-41.7, -4.8). A vehicle with ID 35 is 43.1 meters away at (3.7, -42.9).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.30029324 -0.0407715 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-3.0863016 -6.7036476] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.01170891 -0.00517781] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.2821392 -1.06343  ] m/s.The vehicle with ID 16 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -5.1) m/s. Its current heading (yaw) is -1.64

The most relevant actors are: A pedestrian with ID 26 is 11.0 meters away at (-3.9, -10.3). A vehicle with ID 25 is 21.0 meters away at (4.6, 20.5). A vehicle with ID 27 is 27.6 meters away at (-1.3, -27.6). A vehicle with ID 16 is 30.6 meters away at (-1.9, -30.6). A pedestrian with ID 29 is 30.7 meters away at (-29.0, 10.0). A vehicle with ID 35 is 32.4 meters away at (6.3, -31.8). A vehicle with ID 37 is 33.3 meters away at (-3.0, -33.2). A vehicle with ID 38 is 35.1 meters away at (5.2, -34.7). A cyclist with ID 15 is 36.1 meters away at (1.6, -36.1). A vehicle with ID 18 is 36.7 meters away at (-3.6, -36.5).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00098307 -0.00052611] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-2.290757  -5.7408733] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.01439755 0.00341191] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [ 0.01190299 -0.02314177] 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 (0.9, -3.5) m/s. Its current heading (yaw) is -1.32

The most relevant actors are: A pedestrian with ID 26 is 4.8 meters away at (-4.4, -1.8). A vehicle with ID 27 is 19.1 meters away at (-1.9, -19.0). A vehicle with ID 25 is 19.2 meters away at (0.1, 19.2). A vehicle with ID 16 is 22.2 meters away at (-2.6, -22.1). A vehicle with ID 35 is 23.9 meters away at (5.6, -23.3). A vehicle with ID 37 is 25.0 meters away at (-3.6, -24.7). A vehicle with ID 38 is 26.6 meters away at (4.5, -26.2). A cyclist with ID 15 is 27.6 meters away at (1.1, -27.6). A vehicle with ID 43 is 31.8 meters away at (2.1, -31.7). A vehicle with ID 3 is 32.1 meters away at (11.7, -29.9).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.01316723 0.00291905] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-1.5272264 -4.0599656] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [0.02524648 0.01006582] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left 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 -1.02

The most relevant actors are: A pedestrian with ID 26 is 9.3 meters away at (-7.5, 5.6). A vehicle with ID 27 is 12.7 meters away at (-4.7, -11.8). A vehicle with ID 16 is 15.5 meters away at (-7.3, -13.7). A vehicle with ID 35 is 16.2 meters away at (2.7, -16.0). A vehicle with ID 20 is 18.5 meters away at (-7.3, -16.9). A vehicle with ID 38 is 19.2 meters away at (1.8, -19.1). A cyclist with ID 15 is 20.4 meters away at (-1.9, -20.3). A vehicle with ID 25 is 20.7 meters away at (-5.1, 20.1). A vehicle with ID 11 is 21.6 meters away at (-7.5, -20.2). A vehicle with ID 5 is 22.0 meters away at (9.6, -19.8).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.5868605  0.2882743] m/s.The vehicle with ID 27 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 [-2.2924376  1.5061975] m/s.The vehicle with ID 35 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 [-1.8020307  1.2027612] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.23285554  0.21593022] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [0.00351609 0.04592229] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.6916308 -1.8299478] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.6901112  1.131517 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, -2.2) m/s. Its current heading (yaw) is -2.87

The most relevant actors are: A vehicle with ID 5 is 29.5 meters away at (21.5, 20.2).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 0.8364145 -2.1397457] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, -2.4) m/s. Its current heading (yaw) is -2.86

The most relevant actors are: A vehicle with ID 5 is 44.9 meters away at (41.0, 18.4). A vehicle with ID 1 is 68.8 meters away at (-61.9, 30.0).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 1.7127018 -4.019814 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [  3.4456432 -12.130437 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, -2.1) m/s. Its current heading (yaw) is -2.87

The most relevant actors are: A vehicle with ID 1 is 41.0 meters away at (-39.2, 12.1). A vehicle with ID 5 is 64.7 meters away at (63.1, 14.4).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 2.7975037 -9.699346 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 4.9872065 -3.3922038] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, -0.8) m/s. Its current heading (yaw) is -3.02

The most relevant actors are: A vehicle with ID 1 is 20.5 meters away at (-20.5, -0.9).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 3.1436398 -6.5356755] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.6) m/s. Its current heading (yaw) is -0.55

The most relevant actors are: A vehicle with ID 55 is 11.4 meters away at (0.3, 11.4). A vehicle with ID 50 is 16.0 meters away at (15.8, -2.2). A pedestrian with ID 18 is 20.6 meters away at (14.7, -14.3). A vehicle with ID 51 is 21.6 meters away at (20.9, -5.3). A vehicle with ID 49 is 27.0 meters away at (25.4, -9.0). A vehicle with ID 52 is 39.6 meters away at (-32.4, 22.8). A vehicle with ID 60 is 42.3 meters away at (-34.8, -24.1). A pedestrian with ID 57 is 43.7 meters away at (-31.1, 30.7). A vehicle with ID 61 is 45.2 meters away at (-45.0, 4.2). A vehicle with ID 59 is 46.0 meters away at (-45.7, -5.8).

The vehicle with ID 55 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 pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.69637847 -0.25145113] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-10.881249   6.312024] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.9539106   0.45791265] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [2.904832 3.329809] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.9416386   0.77998924] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -3.2) m/s. Its current heading (yaw) is -0.59

The most relevant actors are: A vehicle with ID 50 is 7.0 meters away at (5.5, 4.3). A pedestrian with ID 18 is 10.3 meters away at (5.7, -8.6). A vehicle with ID 51 is 10.5 meters away at (10.5, 1.4). A vehicle with ID 49 is 15.2 meters away at (15.0, -2.4). A vehicle with ID 55 is 20.6 meters away at (-10.2, 17.9). A vehicle with ID 60 is 48.5 meters away at (-45.2, -17.5). A unknown object with ID 42 is 53.3 meters away at (50.3, -17.7). A vehicle with ID 61 is 53.8 meters away at (-51.0, 17.2). A pedestrian with ID 57 is 58.1 meters away at (-43.7, 38.3). A vehicle with ID 12 is 59.1 meters away at (-0.1, -59.1).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.7568958  -0.58196354] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [1.8406599 3.1220133] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.0102065  0.5323492] m/s.The vehicle with ID 12 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 (4.3, -2.8) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A pedestrian with ID 18 is 3.9 meters away at (-1.9, -3.4). A vehicle with ID 49 is 6.9 meters away at (5.9, 3.6). A vehicle with ID 51 is 7.4 meters away at (1.5, 7.2). A vehicle with ID 50 is 10.9 meters away at (-3.6, 10.3). A unknown object with ID 28 is 12.6 meters away at (12.6, -1.3). A unknown object with ID 24 is 30.5 meters away at (-21.8, 21.3). A vehicle with ID 46 is 42.8 meters away at (-30.7, 29.8). A unknown object with ID 42 is 42.8 meters away at (41.2, -11.6). A unknown object with ID 27 is 44.7 meters away at (42.1, -15.0). A pedestrian with ID 25 is 51.4 meters away at (14.8, -49.2).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.8051406 -0.5068769] m/s.The vehicle with ID 49 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 50 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [1.0492299 0.6582793] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -3.0) m/s. Its current heading (yaw) is -0.63

The most relevant actors are: A pedestrian with ID 18 is 8.8 meters away at (-8.7, 1.1). A vehicle with ID 49 is 9.3 meters away at (-2.2, 9.0). A vehicle with ID 51 is 14.4 meters away at (-6.7, 12.7). A pedestrian with ID 38 is 17.0 meters away at (16.4, 4.6). A vehicle with ID 50 is 19.7 meters away at (-11.8, 15.8). A unknown object with ID 42 is 33.6 meters away at (33.1, -6.2). A unknown object with ID 27 is 35.2 meters away at (33.9, -9.5). A unknown object with ID 30 is 36.6 meters away at (-13.1, 34.1). A pedestrian with ID 25 is 42.0 meters away at (9.0, -41.0). A pedestrian with ID 48 is 43.0 meters away at (9.7, -41.9).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.63527596 -0.4454923 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.00990357  0.00191903] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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 pedestrian with ID 25 is traveling at a (x, y) velocity of [1.0114858 0.9685466] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.923952   0.96734947] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 19 is 6.5 meters away at (-4.1, -5.0). A vehicle with ID 20 is 6.6 meters away at (1.4, 6.5). A vehicle with ID 27 is 7.7 meters away at (5.1, 5.8). A unknown object with ID 22 is 8.1 meters away at (-4.3, 6.8). A pedestrian with ID 29 is 10.5 meters away at (-10.5, -0.7). A pedestrian with ID 31 is 11.1 meters away at (-11.0, -1.4). A vehicle with ID 40 is 21.5 meters away at (15.1, 15.3). A vehicle with ID 42 is 21.7 meters away at (-20.9, 5.8). A vehicle with ID 24 is 24.1 meters away at (20.9, -12.1). A vehicle with ID 35 is 25.0 meters away at (-24.2, -6.4).

The vehicle with ID 19 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 27 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.00117653 -0.00157514] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.0041553  0.00121659] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [10.040073 -8.253471] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 0.86

The most relevant actors are: A vehicle with ID 19 is 6.4 meters away at (-4.1, -4.9). A vehicle with ID 20 is 6.6 meters away at (1.4, 6.4). A vehicle with ID 27 is 7.8 meters away at (5.1, 5.8). A unknown object with ID 22 is 8.0 meters away at (-4.3, 6.8). A pedestrian with ID 29 is 10.5 meters away at (-10.5, -0.7). A pedestrian with ID 31 is 11.1 meters away at (-11.0, -1.4). A vehicle with ID 42 is 21.7 meters away at (-20.9, 5.8). A vehicle with ID 24 is 24.2 meters away at (20.9, -12.1). A vehicle with ID 35 is 25.0 meters away at (-24.2, -6.4). A vehicle with ID 64 is 32.8 meters away at (-6.6, 32.1).

The vehicle with ID 19 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 27 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01048866 -0.00300687] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.00178971 0.0004157 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 [ 4.7345634 -3.9242573] 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 0.86

The most relevant actors are: A vehicle with ID 19 is 6.4 meters away at (-4.1, -4.9). A vehicle with ID 20 is 6.6 meters away at (1.4, 6.5). A vehicle with ID 27 is 7.8 meters away at (5.1, 5.8). A unknown object with ID 22 is 8.1 meters away at (-4.3, 6.8). A pedestrian with ID 29 is 10.5 meters away at (-10.5, -0.7). A pedestrian with ID 31 is 11.1 meters away at (-11.0, -1.4). A vehicle with ID 42 is 21.7 meters away at (-21.0, 5.8). A vehicle with ID 24 is 24.2 meters away at (20.9, -12.0). A vehicle with ID 35 is 25.0 meters away at (-24.2, -6.4). A vehicle with ID 64 is 26.6 meters away at (0.2, 26.6).

The vehicle with ID 19 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 27 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00023144  0.00053436] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.0004624  -0.00160074] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 [ 1.7439059 -1.4228101] 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 0.86

The most relevant actors are: A vehicle with ID 19 is 6.4 meters away at (-4.1, -4.9). A vehicle with ID 20 is 6.6 meters away at (1.5, 6.5). A unknown object with ID 22 is 8.1 meters away at (-4.4, 6.8). A vehicle with ID 27 is 8.2 meters away at (5.4, 6.2). A pedestrian with ID 29 is 10.5 meters away at (-10.5, -0.7). A pedestrian with ID 31 is 11.1 meters away at (-11.0, -1.4). A vehicle with ID 42 is 21.7 meters away at (-21.0, 5.8). A vehicle with ID 1 is 23.3 meters away at (-0.6, 23.3). A vehicle with ID 24 is 24.2 meters away at (20.9, -12.1). A vehicle with ID 35 is 25.1 meters away at (-24.2, -6.5).

The vehicle with ID 19 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0.39019513 0.4920304 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-3.14388e-04  4.80228e-05] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00120787 -0.00024766] m/s.The vehicle with ID 42 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 [ 1.0654739  -0.98489904] m/s.The vehicle with ID 24 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 1.2) m/s. Its current heading (yaw) is 1.39

The most relevant actors are: A vehicle with ID 3 is 6.2 meters away at (4.3, 4.5). A pedestrian with ID 23 is 12.4 meters away at (-10.1, 7.3). A pedestrian with ID 4 is 17.5 meters away at (-10.1, 14.3). A pedestrian with ID 21 is 27.0 meters away at (27.0, -0.0). A pedestrian with ID 22 is 27.7 meters away at (27.7, 0.8). A vehicle with ID 31 is 30.1 meters away at (8.9, -28.7). A pedestrian with ID 26 is 30.1 meters away at (-1.4, -30.1). A cyclist with ID 27 is 31.9 meters away at (20.8, 24.1). A vehicle with ID 32 is 32.4 meters away at (15.6, 28.4). A vehicle with ID 30 is 34.7 meters away at (18.9, 29.1).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.7034376 -1.2670189] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00079216  0.00225056] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.01453607  0.01590161] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.01431303 0.0107224 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0831883  0.8207303] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-0.03618274 -0.02550142] m/s.The vehicle with ID 32 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.40

The most relevant actors are: A vehicle with ID 3 is 5.7 meters away at (4.2, 4.0). A pedestrian with ID 23 is 9.4 meters away at (-8.4, 4.2). A unknown object with ID 17 is 10.4 meters away at (9.7, 3.7). A pedestrian with ID 4 is 17.0 meters away at (-10.2, 13.5). A pedestrian with ID 21 is 26.9 meters away at (26.9, -0.7). A pedestrian with ID 22 is 27.6 meters away at (27.6, 0.2). A pedestrian with ID 26 is 29.3 meters away at (-3.6, -29.1). A cyclist with ID 27 is 30.6 meters away at (20.7, 22.5). A vehicle with ID 31 is 30.7 meters away at (8.8, -29.5). A vehicle with ID 32 is 31.6 meters away at (15.4, 27.6).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.76570374 -1.3191329 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00981352 -0.01427808] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.00542659 -0.00928474] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.0079663  -0.00865779] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.2036182   0.97179836] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ 0.00790768 -0.2730593 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.40

The most relevant actors are: A vehicle with ID 3 is 6.3 meters away at (4.3, 4.6). A pedestrian with ID 23 is 7.0 meters away at (-6.8, 1.5). A pedestrian with ID 4 is 17.2 meters away at (-10.3, 13.8). A pedestrian with ID 21 is 26.8 meters away at (26.8, -0.8). A pedestrian with ID 26 is 27.4 meters away at (-5.7, -26.8). A pedestrian with ID 22 is 27.6 meters away at (27.6, 0.1). A cyclist with ID 27 is 30.3 meters away at (20.8, 22.1). A vehicle with ID 31 is 30.9 meters away at (8.8, -29.6). A vehicle with ID 32 is 31.5 meters away at (15.4, 27.5). A vehicle with ID 30 is 33.9 meters away at (18.7, 28.3).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0.19702423 1.1424125 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.71577305 -1.3523543 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.09058131 0.2680253 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.01637245 -0.00679927] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0581306  1.1033175] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.00138909 -0.00410285] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ 0.09256568 -0.56363726] m/s.The vehicle with ID 31 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 2.7) m/s. Its current heading (yaw) is 1.40

The most relevant actors are: A pedestrian with ID 23 is 7.4 meters away at (-6.2, -4.0). A vehicle with ID 3 is 10.1 meters away at (4.9, 8.8). A pedestrian with ID 4 is 15.9 meters away at (-10.8, 11.7). A cyclist with ID 27 is 25.8 meters away at (22.3, 13.0). A pedestrian with ID 21 is 26.2 meters away at (26.1, -2.7). A vehicle with ID 32 is 26.3 meters away at (14.8, 21.8). A pedestrian with ID 22 is 26.8 meters away at (26.8, -1.8). A pedestrian with ID 26 is 28.1 meters away at (-7.7, -27.0). A vehicle with ID 30 is 29.5 meters away at (18.2, 23.2). A unknown object with ID 20 is 32.6 meters away at (11.1, 30.6).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.21060611 -1.4266826 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0.5755153 5.2848406] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.3419202 0.7021554] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ 2.3470898 -4.8452854] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.28665406  1.0237052 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-0.16264638 -3.5146627 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.2019136  1.1638055] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.56301236  1.3835666 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.02654746 -2.6039588 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [-6.190873 -3.99781 ], 7.369490623474121 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -1.8) m/s. Its current heading (yaw) is -2.57

The most relevant actors are: A pedestrian with ID 14 is 26.8 meters away at (-26.8, 1.1). A pedestrian with ID 24 is 27.9 meters away at (-27.9, 0.8). A pedestrian with ID 25 is 78.4 meters away at (76.8, -15.8).

The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0712569 -0.8231664] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0760854 -1.0624064] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.101491    0.52301514] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 0.7) m/s. Its current heading (yaw) is 2.95

The most relevant actors are: A pedestrian with ID 14 is 21.9 meters away at (-21.9, 0.6). A pedestrian with ID 24 is 22.8 meters away at (-22.8, 0.3).

The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.90348583 -0.45357233] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.8420151  -0.51208705] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -0.4) m/s. Its current heading (yaw) is -3.05

The most relevant actors are: A pedestrian with ID 14 is 14.7 meters away at (-14.6, -1.7). A vehicle with ID 1 is 61.1 meters away at (-24.9, -55.8). A vehicle with ID 2 is 68.8 meters away at (-41.7, -54.7). A vehicle with ID 3 is 69.3 meters away at (-43.9, -53.7). A pedestrian with ID 17 is 72.0 meters away at (-25.7, -67.3).

The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.9838874  -0.80206823] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.32627675 -1.197301  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -2.8) m/s. Its current heading (yaw) is -2.53

The most relevant actors are: A pedestrian with ID 14 is 7.7 meters away at (-7.7, -0.4). A pedestrian with ID 21 is 8.3 meters away at (-8.2, -1.2). A vehicle with ID 1 is 55.3 meters away at (-16.1, -52.9). A vehicle with ID 2 is 61.3 meters away at (-32.8, -51.8). A vehicle with ID 3 is 61.7 meters away at (-35.0, -50.8). A pedestrian with ID 17 is 69.0 meters away at (-17.5, -66.8). A vehicle with ID 9 is 74.5 meters away at (-22.4, -71.1).

The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.9214098  -0.75281185] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.7040773  -0.99333256] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.25348645 -1.2040026 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -3.5) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A pedestrian with ID 16 is 28.3 meters away at (-28.2, -2.4). A pedestrian with ID 17 is 28.6 meters away at (-28.5, -3.0). A vehicle with ID 18 is 29.5 meters away at (-29.2, -4.0). A pedestrian with ID 19 is 30.4 meters away at (-30.2, -2.8). A vehicle with ID 7 is 43.6 meters away at (-43.5, -2.2). A vehicle with ID 20 is 43.7 meters away at (-43.6, -2.3). A cyclist with ID 21 is 45.3 meters away at (-45.2, 2.0). A unknown object with ID 11 is 63.4 meters away at (54.2, -32.9).

The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.23794354  0.1167853 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.12055881 -0.04326006] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01688113 0.0154127 ] m/s.The vehicle with ID 7 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 cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.00215965 -0.00790939] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.8, -3.4) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A unknown object with ID 6 is 12.5 meters away at (-8.6, 9.1). A unknown object with ID 12 is 29.4 meters away at (-29.3, 2.8). A pedestrian with ID 16 is 44.5 meters away at (-44.3, 4.7). A pedestrian with ID 17 is 44.7 meters away at (-44.5, 4.1). A vehicle with ID 18 is 45.5 meters away at (-45.4, 3.0). A unknown object with ID 11 is 46.0 meters away at (37.9, -26.0). A vehicle with ID 7 is 59.9 meters away at (-59.7, 4.9). A vehicle with ID 14 is 63.2 meters away at (-62.9, 6.6).

The unknown object with ID 6 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 pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.00427994  0.01860328] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.01444439 -0.0168076 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 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.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-8.582006  9.067195], 12.48458480834961 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.1) m/s. Its current heading (yaw) is -0.31

The most relevant actors are: A unknown object with ID 6 is 27.1 meters away at (-22.7, 14.8). A unknown object with ID 10 is 28.8 meters away at (-24.8, 14.6). A pedestrian with ID 16 is 59.1 meters away at (-58.1, 10.8). A vehicle with ID 18 is 60.2 meters away at (-59.6, 8.9).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.08904712 0.07650621] m/s.The vehicle with ID 18 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 [-22.672865  14.796851], 27.07407569885254 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, 0.6) m/s. Its current heading (yaw) is 0.09

The most relevant actors are: A pedestrian with ID 13 is 70.2 meters away at (69.5, 10.0). A pedestrian with ID 2 is 70.2 meters away at (69.6, 9.1). A pedestrian with ID 16 is 73.5 meters away at (-72.3, 13.5). A vehicle with ID 18 is 73.6 meters away at (-72.8, 11.0).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.2210726   0.15401584] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.2327405   0.16322601] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-1.0446914  0.3833217] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a pedestrian at [69.484955  9.954337], 70.1943588256836 meters away.)


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

The most relevant actors are: A cyclist with ID 84 is 11.2 meters away at (-1.3, 11.1). A vehicle with ID 93 is 12.7 meters away at (-12.3, -2.9). A vehicle with ID 8 is 15.9 meters away at (5.8, 14.8). A pedestrian with ID 86 is 18.7 meters away at (16.7, 8.5). A pedestrian with ID 85 is 19.9 meters away at (-5.1, 19.3). A pedestrian with ID 87 is 20.3 meters away at (-9.8, 17.8). A pedestrian with ID 88 is 24.4 meters away at (-6.1, 23.6). A pedestrian with ID 89 is 24.6 meters away at (-6.6, 23.7). A pedestrian with ID 90 is 24.9 meters away at (-6.0, 24.1). A pedestrian with ID 91 is 25.1 meters away at (-6.5, 24.2).

The cyclist with ID 84 is traveling at a (x, y) velocity of [0.01848618 0.01101193] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [1.2864704 4.150477 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.6319424 -6.5527673] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.6044501   0.19151467] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.1352574   0.27573532] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-1.0440018 -0.7329667] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [0.06247942 0.00892751] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [0.03117456 0.00734865] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.02587224 0.00695592] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.04338644 -0.00417635] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.3) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A vehicle with ID 101 is 10.3 meters away at (-10.2, -1.0). A unknown object with ID 68 is 13.2 meters away at (-13.0, -2.3). A unknown object with ID 58 is 13.8 meters away at (-13.4, -3.5). A vehicle with ID 8 is 14.8 meters away at (6.3, 13.4). A unknown object with ID 53 is 14.9 meters away at (-14.9, -0.7). A unknown object with ID 55 is 15.0 meters away at (-14.1, -5.0). A vehicle with ID 81 is 15.2 meters away at (-14.9, -2.9). A vehicle with ID 93 is 16.1 meters away at (-5.0, 15.3). A cyclist with ID 84 is 23.4 meters away at (4.1, 23.1). A vehicle with ID 106 is 24.4 meters away at (-15.9, -18.5).

The vehicle with ID 101 is traveling at a (x, y) velocity of [1.3201667 3.6184044] 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 58 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 [-3.0495007 -6.8273854] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0.90610147 2.7810583 ] m/s.The cyclist with ID 84 is traveling at a (x, y) velocity of [0.01751086 0.00545188] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [1.602523  4.4731007] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -6.2) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A vehicle with ID 106 is 7.9 meters away at (-7.4, 2.7). A unknown object with ID 55 is 11.4 meters away at (-8.5, 7.6). A pedestrian with ID 100 is 12.3 meters away at (0.5, -12.3). A vehicle with ID 81 is 13.5 meters away at (-9.3, 9.8). A vehicle with ID 8 is 13.6 meters away at (5.5, 12.4). A vehicle with ID 30 is 16.1 meters away at (-12.7, -9.9). A vehicle with ID 101 is 18.4 meters away at (-2.4, 18.2). A unknown object with ID 19 is 19.3 meters away at (-16.9, -9.4). A unknown object with ID 20 is 19.3 meters away at (-17.4, -8.5). A unknown object with ID 65 is 20.0 meters away at (-18.3, -8.2).

The vehicle with ID 106 is traveling at a (x, y) velocity of [1.3210617 3.9334722] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [ 0.00321983 -0.01206873] m/s.The vehicle with ID 81 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 [-2.9916472 -6.7791376] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [1.522643  4.0631213] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [1.0151169 2.7677577] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.4) m/s. Its current heading (yaw) is -1.97

The most relevant actors are: A pedestrian with ID 100 is 5.5 meters away at (5.5, -0.6). A vehicle with ID 30 is 10.9 meters away at (-4.4, 10.0). A unknown object with ID 19 is 12.1 meters away at (-11.8, 2.3). A vehicle with ID 8 is 12.1 meters away at (4.9, 11.1). A unknown object with ID 20 is 12.7 meters away at (-12.3, 3.2). A unknown object with ID 15 is 13.6 meters away at (-13.3, -2.8). A unknown object with ID 65 is 13.7 meters away at (-13.2, 3.5). A unknown object with ID 40 is 13.9 meters away at (-13.6, 2.6). A unknown object with ID 76 is 14.1 meters away at (-14.0, 1.7). A unknown object with ID 11 is 14.5 meters away at (-13.9, -4.1).

The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.00654599 -0.02339764] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [1.6863439 3.834769 ] m/s.The unknown object with ID 19 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 [-2.6160698 -5.959079 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 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 (0.5, -0.4) m/s. Its current heading (yaw) is -0.68

The most relevant actors are: A vehicle with ID 12 is 4.5 meters away at (-4.4, -1.2). A vehicle with ID 11 is 9.1 meters away at (7.3, -5.4). A vehicle with ID 14 is 11.2 meters away at (-8.5, 7.2). A vehicle with ID 16 is 13.0 meters away at (1.2, 12.9). A pedestrian with ID 21 is 13.4 meters away at (9.9, 9.1). A pedestrian with ID 23 is 14.1 meters away at (10.2, 9.8). A vehicle with ID 17 is 14.4 meters away at (14.3, 1.8). A vehicle with ID 18 is 16.6 meters away at (-3.3, 16.3). A pedestrian with ID 20 is 16.9 meters away at (15.7, 6.3). A pedestrian with ID 22 is 17.2 meters away at (16.2, 5.8).

The vehicle with ID 12 is traveling at a (x, y) velocity of [ 3.5545485 -2.9752967] m/s.The vehicle with ID 11 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 [ 2.127375  -1.7350986] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.93189585  0.75233805] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.98655534  0.73405236] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00203787 0.00032379] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.00504213 -0.00781419] 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 -0.68

The most relevant actors are: A vehicle with ID 12 is 5.4 meters away at (0.6, -5.3). A vehicle with ID 14 is 8.2 meters away at (-6.2, 5.4). A vehicle with ID 11 is 8.7 meters away at (7.0, -5.2). A vehicle with ID 16 is 13.2 meters away at (1.0, 13.1). A pedestrian with ID 21 is 13.7 meters away at (8.1, 11.1). A vehicle with ID 17 is 14.2 meters away at (14.1, 2.0). A pedestrian with ID 23 is 14.4 meters away at (8.2, 11.8). A vehicle with ID 41 is 14.9 meters away at (14.7, -1.9). A pedestrian with ID 20 is 16.7 meters away at (15.5, 6.4). A vehicle with ID 18 is 16.9 meters away at (-3.6, 16.5).

The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.0032284 -1.6463538] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.4393527  -0.33052596] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.73045033  0.9333557 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8239431  1.0508438] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-2.4644551   0.84767294] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00408091  0.00384893] m/s.The vehicle with ID 18 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 -0.68

The most relevant actors are: A vehicle with ID 14 is 8.0 meters away at (-6.0, 5.3). A vehicle with ID 12 is 8.7 meters away at (3.8, -7.9). A vehicle with ID 11 is 8.7 meters away at (7.0, -5.2). A vehicle with ID 41 is 8.8 meters away at (8.7, 1.6). A vehicle with ID 35 is 10.4 meters away at (-9.7, 3.7). A vehicle with ID 16 is 13.2 meters away at (1.0, 13.1). A vehicle with ID 17 is 14.2 meters away at (14.1, 2.0). A pedestrian with ID 21 is 14.6 meters away at (6.6, 13.0). A pedestrian with ID 23 is 15.4 meters away at (6.7, 13.9). A pedestrian with ID 20 is 16.7 meters away at (15.4, 6.5).

The vehicle with ID 14 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 [ 1.0960948  -0.86276555] m/s.The vehicle with ID 11 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 [-3.4475594  2.4444766] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 3.8048272 -3.1403778] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.75814575  0.87414336] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8367973  0.9329402] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.0098823  0.01505591] 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 -0.68

The most relevant actors are: A vehicle with ID 35 is 4.0 meters away at (-3.9, -1.2). A vehicle with ID 41 is 7.9 meters away at (0.8, 7.9). A vehicle with ID 14 is 8.0 meters away at (-6.0, 5.3). A vehicle with ID 11 is 8.7 meters away at (7.0, -5.2). A vehicle with ID 12 is 10.0 meters away at (4.9, -8.7). A vehicle with ID 16 is 13.2 meters away at (0.9, 13.2). A vehicle with ID 17 is 14.2 meters away at (14.0, 2.1). A pedestrian with ID 21 is 15.6 meters away at (5.1, 14.7). A pedestrian with ID 23 is 16.4 meters away at (5.2, 15.6). A pedestrian with ID 20 is 16.7 meters away at (15.4, 6.5).

The vehicle with ID 35 is traveling at a (x, y) velocity of [ 2.1875336 -1.8305702] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-4.516943  3.617171] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.8785754  0.7935694] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8581992  0.7916626] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00255084  0.00096791] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -2.7) m/s. Its current heading (yaw) is -0.45

The most relevant actors are: A pedestrian with ID 36 is 3.4 meters away at (-0.9, 3.3). A pedestrian with ID 37 is 3.9 meters away at (-0.3, 3.9). A pedestrian with ID 35 is 13.2 meters away at (-5.7, 11.8). A vehicle with ID 38 is 21.0 meters away at (-18.4, 10.2). A pedestrian with ID 49 is 24.5 meters away at (15.8, -18.7). A vehicle with ID 50 is 28.5 meters away at (-28.4, -2.5). A unknown object with ID 40 is 28.9 meters away at (-28.8, 2.5). A unknown object with ID 44 is 29.1 meters away at (-22.4, -18.5). A unknown object with ID 41 is 29.3 meters away at (-29.3, 1.4). A unknown object with ID 46 is 29.7 meters away at (-21.2, -20.8).

The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.98744804 -0.6212339 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.95621365 -0.5955478 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00115595 -0.00246077] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0.7005171 4.2297177] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.0619996  -0.29054916] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [2.7519004 6.0519958] 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 44 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 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 (7.3, -2.9) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A pedestrian with ID 37 is 14.1 meters away at (-11.3, 8.4). A pedestrian with ID 36 is 14.1 meters away at (-11.8, 7.8). A pedestrian with ID 49 is 14.9 meters away at (4.7, -14.1). A unknown object with ID 58 is 22.6 meters away at (19.9, -10.7). A unknown object with ID 59 is 22.7 meters away at (19.5, -11.7). A pedestrian with ID 35 is 25.5 meters away at (-18.7, 17.4). A unknown object with ID 46 is 37.5 meters away at (-34.2, -15.3). A unknown object with ID 44 is 37.7 meters away at (-35.3, -13.1). A pedestrian with ID 68 is 38.0 meters away at (36.2, -11.7). A vehicle with ID 38 is 38.3 meters away at (-28.5, 25.5).

The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.1090149  -0.44439816] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.099173   -0.49313998] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.0096995 -0.4073303] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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 [0.00931736 0.03439084] m/s.The unknown object with ID 46 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 pedestrian with ID 68 is traveling at a (x, y) velocity of [-1.0049444   0.41016692] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [1.977517  5.3773513] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -3.5) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A unknown object with ID 58 is 5.8 meters away at (4.0, -4.2). A unknown object with ID 59 is 6.3 meters away at (3.6, -5.1). A pedestrian with ID 49 is 12.5 meters away at (-9.2, -8.5). A pedestrian with ID 68 is 18.9 meters away at (18.4, -4.4). A vehicle with ID 18 is 23.2 meters away at (17.8, -14.9). A pedestrian with ID 37 is 28.6 meters away at (-25.0, 13.9). A pedestrian with ID 36 is 28.7 meters away at (-25.5, 13.2). A pedestrian with ID 67 is 31.8 meters away at (14.7, -28.2). A pedestrian with ID 35 is 43.3 meters away at (-35.1, 25.3). A vehicle with ID 23 is 55.5 meters away at (49.8, -24.5).

The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.0960935  -0.33777314] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.8476126  0.3912407] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-8.821763   4.1098123] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.1767349  -0.48607314] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.1614922  -0.48940757] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 1.2180631  -0.77597016] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.28280428  1.0258067 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [ 4.0055313 -4.178011 ], 5.787923336029053 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -4.4) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A pedestrian with ID 68 is 4.2 meters away at (0.1, 4.2). A unknown object with ID 58 is 12.9 meters away at (-12.4, 3.5). A unknown object with ID 59 is 13.0 meters away at (-12.7, 2.6). A vehicle with ID 18 is 17.3 meters away at (-17.3, 0.5). A pedestrian with ID 67 is 21.7 meters away at (0.6, -21.7). A pedestrian with ID 49 is 23.6 meters away at (-23.5, -1.6). A vehicle with ID 31 is 25.8 meters away at (18.3, -18.1). A vehicle with ID 23 is 37.1 meters away at (33.3, -16.5). A vehicle with ID 30 is 39.1 meters away at (31.2, -23.6). A pedestrian with ID 9 is 39.7 meters away at (28.1, -28.0).

The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.7604347   0.47793064] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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 [-9.455393   3.4836853] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 1.2183809 -0.5947864] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.1598594 -0.5661829] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-9.135219  5.755904] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-11.257629    7.1982064] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-1.1567861  0.7291259] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -3.7) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A vehicle with ID 77 is 14.5 meters away at (2.4, 14.3). A vehicle with ID 80 is 14.7 meters away at (8.1, 12.3). A cyclist with ID 45 is 16.8 meters away at (-13.1, -10.6). A pedestrian with ID 88 is 17.1 meters away at (16.9, 2.4). A pedestrian with ID 85 is 19.2 meters away at (-4.6, -18.7). A pedestrian with ID 62 is 28.3 meters away at (-22.4, 17.3). A cyclist with ID 71 is 28.4 meters away at (-22.5, 17.4). A cyclist with ID 73 is 31.5 meters away at (-24.0, 20.4). A unknown object with ID 60 is 31.8 meters away at (-31.1, 6.8). A unknown object with ID 31 is 33.4 meters away at (31.9, -9.7).

The vehicle with ID 77 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 cyclist with ID 45 is traveling at a (x, y) velocity of [-9.975347   4.4752555] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.9067826 -0.6138306] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.01283761 0.00227767] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.00648932 -0.01468007] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [ 0.08442415 -0.09134351] m/s.The cyclist with ID 73 is traveling at a (x, y) velocity of [ 0.00932631 -0.03765991] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -3.3) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A pedestrian with ID 88 is 8.5 meters away at (1.6, 8.3). A unknown object with ID 31 is 15.2 meters away at (15.0, -2.6). A unknown object with ID 41 is 16.4 meters away at (16.3, -2.1). A unknown object with ID 19 is 16.6 meters away at (16.3, -3.2). A unknown object with ID 55 is 16.8 meters away at (16.8, -1.1). A unknown object with ID 18 is 17.3 meters away at (17.0, -2.7). A unknown object with ID 68 is 17.4 meters away at (17.3, -1.5). A vehicle with ID 80 is 21.2 meters away at (-8.8, 19.3). A pedestrian with ID 85 is 24.5 meters away at (-21.5, -11.6). A vehicle with ID 77 is 25.7 meters away at (-14.5, 21.3).

The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.935666   -0.61061996] 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 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 pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.00843298 -0.00428013] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [1.6417198 8.294331 ], 8.455245018005371 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -2.8) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A unknown object with ID 19 is 2.8 meters away at (-0.1, 2.8). A unknown object with ID 18 is 3.4 meters away at (0.7, 3.3). A unknown object with ID 31 is 3.6 meters away at (-1.4, 3.4). A unknown object with ID 68 is 4.6 meters away at (0.9, 4.5). A unknown object with ID 55 is 5.1 meters away at (0.2, 5.1). A pedestrian with ID 88 is 18.8 meters away at (-13.0, 13.5). A unknown object with ID 16 is 20.6 meters away at (0.0, -20.6). A unknown object with ID 15 is 24.7 meters away at (7.5, -23.6). A unknown object with ID 13 is 27.0 meters away at (10.9, -24.7). A unknown object with ID 12 is 29.4 meters away at (13.6, -26.1).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 1.0559092 -0.3594852] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -2.8) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A cyclist with ID 48 is 14.4 meters away at (-1.1, -14.4). A vehicle with ID 49 is 17.2 meters away at (-6.7, -15.9). A unknown object with ID 18 is 17.4 meters away at (-14.9, 9.0). A unknown object with ID 68 is 17.7 meters away at (-14.6, 10.0). A unknown object with ID 19 is 17.7 meters away at (-15.6, 8.4). A unknown object with ID 55 is 18.7 meters away at (-15.3, 10.7). A unknown object with ID 31 is 19.2 meters away at (-16.9, 9.0). A unknown object with ID 15 is 19.6 meters away at (-8.0, -17.8). A unknown object with ID 13 is 19.7 meters away at (-4.6, -19.2). A unknown object with ID 59 is 20.1 meters away at (-11.8, -16.3).

The cyclist with ID 48 is traveling at a (x, y) velocity of [-10.497789    4.8548474] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-7.228298   3.0586593] 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -3.3) m/s. Its current heading (yaw) is -0.55

The most relevant actors are: A vehicle with ID 53 is 9.9 meters away at (7.6, -6.4). A vehicle with ID 49 is 14.2 meters away at (0.8, 14.2). A vehicle with ID 59 is 15.6 meters away at (13.2, -8.4). A vehicle with ID 22 is 16.4 meters away at (-15.8, 4.3). A vehicle with ID 57 is 17.4 meters away at (17.4, -0.4). A vehicle with ID 51 is 19.9 meters away at (2.6, 19.7). A vehicle with ID 67 is 20.6 meters away at (18.0, -10.1). A vehicle with ID 56 is 20.9 meters away at (-17.2, -11.8). A vehicle with ID 62 is 22.3 meters away at (-10.7, -19.6). A vehicle with ID 52 is 25.2 meters away at (-4.6, 24.8).

The vehicle with ID 53 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 4.3717575 -1.5428168] m/s.The vehicle with ID 57 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -2.6) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 59 is 3.2 meters away at (-0.5, -3.2). A vehicle with ID 53 is 6.0 meters away at (-5.9, -1.2). A vehicle with ID 57 is 6.2 meters away at (3.7, 5.0). A vehicle with ID 67 is 6.5 meters away at (4.3, -4.8). A vehicle with ID 76 is 11.9 meters away at (9.9, -6.7). A unknown object with ID 43 is 13.7 meters away at (13.4, 2.8). A vehicle with ID 84 is 18.1 meters away at (15.9, -8.6). A vehicle with ID 30 is 20.1 meters away at (20.0, -0.6). A vehicle with ID 22 is 20.2 meters away at (-19.3, 6.0). A vehicle with ID 88 is 23.0 meters away at (20.7, -10.1).

The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 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 22 is traveling at a (x, y) velocity of [ 5.8117423 -1.9157408] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.5, -2.9) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 84 is 3.1 meters away at (-0.8, -3.0). A vehicle with ID 88 is 5.9 meters away at (3.9, -4.5). A vehicle with ID 30 is 6.0 meters away at (3.3, 5.0). A vehicle with ID 76 is 6.6 meters away at (-6.5, -1.1). A unknown object with ID 43 is 9.2 meters away at (-3.5, 8.5). A vehicle with ID 67 is 12.5 meters away at (-12.5, 0.8). A vehicle with ID 31 is 15.3 meters away at (15.2, 1.2). A vehicle with ID 57 is 16.7 meters away at (-13.0, 10.5). A vehicle with ID 32 is 16.7 meters away at (14.6, -8.1). A vehicle with ID 59 is 17.4 meters away at (-17.3, 2.5).

The vehicle with ID 84 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 32 is 2.9 meters away at (-1.3, -2.6). A vehicle with ID 31 is 6.7 meters away at (-0.7, 6.7). A vehicle with ID 48 is 12.1 meters away at (10.2, -6.5). A vehicle with ID 88 is 12.1 meters away at (-12.1, 1.0). A vehicle with ID 30 is 16.5 meters away at (-12.7, 10.4). A vehicle with ID 84 is 17.2 meters away at (-17.0, 2.6). A vehicle with ID 18 is 21.7 meters away at (21.7, -1.0). A pedestrian with ID 17 is 22.8 meters away at (22.6, 3.0). A vehicle with ID 76 is 23.3 meters away at (-22.9, 4.5). A vehicle with ID 22 is 23.8 meters away at (-22.7, 7.3).

The vehicle with ID 32 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 48 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00346194 -0.00565055] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 8.65843   -2.9718065] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.2) m/s. Its current heading (yaw) is 2.29

The most relevant actors are: A pedestrian with ID 2 is 7.3 meters away at (-3.1, 6.6). A pedestrian with ID 4 is 8.2 meters away at (-3.3, 7.4). A pedestrian with ID 3 is 8.4 meters away at (-3.8, 7.4). A vehicle with ID 38 is 14.0 meters away at (2.2, -13.9). A unknown object with ID 40 is 20.5 meters away at (20.5, -0.3). A vehicle with ID 33 is 23.3 meters away at (-16.4, 16.5). A vehicle with ID 34 is 32.1 meters away at (-24.3, 21.0). A vehicle with ID 49 is 40.5 meters away at (33.4, -22.9). A unknown object with ID 20 is 46.1 meters away at (-28.4, 36.3). A pedestrian with ID 50 is 46.8 meters away at (-7.1, -46.3).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0774074  -0.16469719] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.9777429  -0.29569107] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9349477  -0.37026778] m/s.The vehicle with ID 38 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.8885588 -0.761597 ] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A pedestrian with ID 2 is 7.3 meters away at (-5.0, 5.3). A pedestrian with ID 4 is 8.0 meters away at (-5.2, 6.1). A pedestrian with ID 3 is 8.1 meters away at (-5.8, 5.6). A unknown object with ID 28 is 12.6 meters away at (-7.8, 9.8). A vehicle with ID 38 is 13.9 meters away at (2.9, -13.6). A unknown object with ID 40 is 20.7 meters away at (20.7, -0.5). A vehicle with ID 33 is 23.0 meters away at (-16.3, 16.3). A vehicle with ID 34 is 31.8 meters away at (-24.1, 20.7). A vehicle with ID 49 is 40.8 meters away at (33.5, -23.2). A vehicle with ID 51 is 47.6 meters away at (38.7, -27.7).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.9979522 -0.8214591] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.0109854  -0.85174805] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9761184 -0.8438482] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [1.088599  0.7904866] m/s.The unknown object with ID 40 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 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 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A pedestrian with ID 2 is 7.7 meters away at (-6.8, 3.6). A pedestrian with ID 4 is 8.3 meters away at (-7.0, 4.4). A pedestrian with ID 3 is 8.7 meters away at (-7.7, 4.0). A vehicle with ID 38 is 14.4 meters away at (7.7, -12.2). A unknown object with ID 40 is 20.7 meters away at (20.7, -0.6). A vehicle with ID 33 is 23.0 meters away at (-16.2, 16.3). A vehicle with ID 34 is 31.7 meters away at (-24.0, 20.7). A vehicle with ID 49 is 40.8 meters away at (33.6, -23.2). A vehicle with ID 51 is 47.7 meters away at (38.8, -27.8). A vehicle with ID 58 is 48.7 meters away at (-27.8, -39.9).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.8097741 -0.9070326] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.85890794 -0.91954666] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9253753 -0.7711645] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 3.2113566  -0.46853653] m/s.The unknown object with ID 40 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 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 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 1.1) m/s. Its current heading (yaw) is 2.38

The most relevant actors are: A pedestrian with ID 2 is 7.3 meters away at (-7.2, 0.8). A pedestrian with ID 4 is 7.8 meters away at (-7.6, 1.6). A pedestrian with ID 3 is 8.1 meters away at (-8.1, 1.0). A unknown object with ID 30 is 16.7 meters away at (-16.7, 0.1). A vehicle with ID 33 is 21.7 meters away at (-15.3, 15.4). A unknown object with ID 40 is 21.8 meters away at (21.7, -1.7). A vehicle with ID 38 is 23.9 meters away at (15.8, -17.9). A vehicle with ID 34 is 30.3 meters away at (-23.0, 19.8). A vehicle with ID 49 is 42.1 meters away at (34.4, -24.2). A vehicle with ID 6 is 42.6 meters away at (32.4, -27.7).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.81158286 -0.95721424] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.81008965 -0.9840424 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.56788164 -1.1444108 ] m/s.The unknown object with ID 30 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 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 [ 4.222884  -3.7597811] 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 6 is traveling at a (x, y) velocity of [-4.6131763  4.022021 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 1.0) m/s. Its current heading (yaw) is 2.24

The most relevant actors are: A vehicle with ID 18 is 3.2 meters away at (1.9, 2.5). A vehicle with ID 19 is 5.2 meters away at (5.0, -1.6). A vehicle with ID 23 is 9.6 meters away at (-5.9, 7.6). A pedestrian with ID 21 is 14.0 meters away at (-1.7, 13.9). A pedestrian with ID 22 is 14.1 meters away at (-0.6, 14.1). A pedestrian with ID 32 is 15.5 meters away at (-5.5, 14.5). A vehicle with ID 30 is 16.0 meters away at (8.7, -13.5). A pedestrian with ID 33 is 16.3 meters away at (-5.7, 15.3). A pedestrian with ID 35 is 17.1 meters away at (-6.3, 15.9). A pedestrian with ID 39 is 19.2 meters away at (-3.6, -18.9).

The vehicle with ID 18 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.7817817  1.2483574] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.66071945  1.347654  ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.05330394  0.03297436] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-2.4489775  4.096219 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.03977334  0.01770752] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.01902311 -0.00361875] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.67886657 -1.024786  ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.2) m/s. Its current heading (yaw) is 2.13

The most relevant actors are: A vehicle with ID 18 is 3.0 meters away at (2.5, 1.6). A vehicle with ID 19 is 6.2 meters away at (5.7, -2.6). A vehicle with ID 23 is 8.4 meters away at (-5.2, 6.6). A vehicle with ID 30 is 10.7 meters away at (6.0, -8.9). A vehicle with ID 37 is 12.9 meters away at (4.0, -12.3). A pedestrian with ID 32 is 14.3 meters away at (-4.8, 13.4). A pedestrian with ID 33 is 15.2 meters away at (-5.1, 14.3). A pedestrian with ID 22 is 16.0 meters away at (-0.9, 15.9). A pedestrian with ID 35 is 16.0 meters away at (-5.8, 14.9). A pedestrian with ID 21 is 16.2 meters away at (-1.9, 16.1).

The vehicle with ID 18 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.99723876  1.5797427 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-4.0029917  5.6105113] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.02240432 -0.1380216 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.02396974 -0.00053499] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.19267435  1.4789191 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.02061263 -0.01160213] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.23032409  1.5805095 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.13

The most relevant actors are: A vehicle with ID 18 is 3.0 meters away at (2.6, 1.5). A vehicle with ID 37 is 4.0 meters away at (-3.1, -2.5). A vehicle with ID 19 is 6.3 meters away at (5.7, -2.7). A vehicle with ID 23 is 8.3 meters away at (-5.1, 6.5). A vehicle with ID 30 is 8.7 meters away at (4.9, -7.2). A pedestrian with ID 32 is 14.1 meters away at (-4.7, 13.3). A pedestrian with ID 33 is 15.0 meters away at (-5.0, 14.2). A pedestrian with ID 35 is 15.9 meters away at (-5.7, 14.8). A pedestrian with ID 22 is 18.6 meters away at (-0.2, 18.6). A pedestrian with ID 21 is 19.2 meters away at (-1.1, 19.2).

The vehicle with ID 18 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 [-2.9164915  4.0417023] m/s.The vehicle 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.00050319 -0.00070467] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.01325523 -0.01176539] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00296194 -0.00230189] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.7399515 1.3114593] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.78473634 1.3938973 ] m/s.

Instruction: Sharp right turn approaching