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 1.45

The most relevant actors are: A pedestrian with ID 9 is 18.7 meters away at (-8.3, -16.7). A unknown object with ID 26 is 30.2 meters away at (-0.9, 30.2). A unknown object with ID 7 is 32.4 meters away at (29.7, 12.8). A vehicle with ID 29 is 33.4 meters away at (26.2, 20.8). A unknown object with ID 10 is 34.2 meters away at (32.2, 11.8). A pedestrian with ID 8 is 34.7 meters away at (32.9, 10.9). A unknown object with ID 22 is 34.7 meters away at (23.7, 25.3). A unknown object with ID 28 is 37.0 meters away at (26.0, 26.3). A vehicle with ID 27 is 38.6 meters away at (32.8, 20.2). A unknown object with ID 16 is 39.2 meters away at (28.3, 27.1).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00120698 -0.00183847] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.3277943   0.06995996] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 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 0.88

The most relevant actors are: A vehicle with ID 21 is 3.6 meters away at (-1.8, 3.1). A vehicle with ID 10 is 6.9 meters away at (4.5, 5.2). A vehicle with ID 22 is 6.9 meters away at (-6.4, -2.5). A vehicle with ID 26 is 9.3 meters away at (3.0, 8.8). A vehicle with ID 23 is 13.8 meters away at (8.9, 10.6). A vehicle with ID 30 is 17.7 meters away at (8.6, 15.5). A vehicle with ID 28 is 18.0 meters away at (-13.9, -11.5). A vehicle with ID 33 is 22.4 meters away at (14.9, 16.7). A vehicle with ID 36 is 26.7 meters away at (14.4, 22.4). A vehicle with ID 31 is 30.1 meters away at (-22.0, -20.5).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.40753856 -0.48364136] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.3593996  -0.42611217] 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 [-0.8772283 -1.0399439] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.7153246 -0.8311098] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.6686137  0.76687634] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.6707895 -1.9860007] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-2.100174  -2.4474344] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.5) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 21 is 3.5 meters away at (-3.2, 1.5). A vehicle with ID 10 is 6.6 meters away at (4.4, 5.0). A vehicle with ID 26 is 7.7 meters away at (1.9, 7.5). A vehicle with ID 22 is 9.3 meters away at (-8.1, -4.5). A vehicle with ID 23 is 14.3 meters away at (9.2, 10.9). A vehicle with ID 30 is 15.4 meters away at (7.1, 13.7). A vehicle with ID 28 is 23.2 meters away at (-17.4, -15.4). A vehicle with ID 36 is 23.5 meters away at (12.3, 20.0). A vehicle with ID 33 is 27.4 meters away at (18.3, 20.4). A vehicle with ID 38 is 32.5 meters away at (18.5, 26.7).

The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.56917036 -0.67536205] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0.45325634 0.5562394 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.94048846 -1.0845704 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [1.4941398 1.7413683] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-2.225795  -2.5641487] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.3933493 -0.5220236] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [3.156789  3.5090876] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.8041056 -2.1508226] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.7) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 26 is 5.7 meters away at (0.4, 5.7). A vehicle with ID 21 is 6.2 meters away at (-5.9, -1.7). A vehicle with ID 10 is 9.7 meters away at (6.4, 7.3). A vehicle with ID 30 is 13.6 meters away at (5.9, 12.3). A vehicle with ID 22 is 16.2 meters away at (-12.8, -10.0). A vehicle with ID 23 is 21.2 meters away at (13.7, 16.2). A vehicle with ID 36 is 21.3 meters away at (10.9, 18.3). A vehicle with ID 38 is 28.4 meters away at (15.9, 23.5). A vehicle with ID 28 is 33.8 meters away at (-24.4, -23.4). A vehicle with ID 33 is 37.8 meters away at (25.1, 28.3).

The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.66733456 -0.7808141 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.7995245 -2.1431398] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.4512665 2.8565128] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.3650504  -0.43203044] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-2.928664  -3.3562582] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [3.5367022 4.1038127] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.4664228 -0.5602294] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-3.8064358 -4.348373 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [4.5047574 5.209998 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 2.6) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 26 is 5.3 meters away at (-5.2, -0.9). A vehicle with ID 30 is 8.0 meters away at (2.1, 7.7). A vehicle with ID 10 is 16.1 meters away at (10.6, 12.1). A vehicle with ID 36 is 16.5 meters away at (7.7, 14.6). A unknown object with ID 16 is 17.1 meters away at (2.9, 16.8). A vehicle with ID 21 is 18.5 meters away at (-14.3, -11.6). A vehicle with ID 38 is 23.8 meters away at (12.9, 20.0). A vehicle with ID 23 is 30.0 meters away at (19.4, 22.9). A vehicle with ID 22 is 31.9 meters away at (-23.1, -22.0). A vehicle with ID 24 is 35.8 meters away at (32.0, 16.2).

The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.6348732 -3.0070248] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.1056725 -1.2526598] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [4.47831  5.244037] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.6429059  -0.71511334] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.8246748 -4.449507 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.32764974 -0.3613231 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [4.760688  5.7764454] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.532915 -5.268792] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.2) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A pedestrian with ID 11 is 32.3 meters away at (-31.9, -5.1). A unknown object with ID 12 is 35.2 meters away at (12.6, 32.9).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.2587202  -0.01319604] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -1.7) m/s. Its current heading (yaw) is -2.38

The most relevant actors are: A pedestrian with ID 11 is 29.3 meters away at (-29.2, -1.9). A unknown object with ID 12 is 39.3 meters away at (14.7, 36.4).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.40376845 0.23643008] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -0.0) m/s. Its current heading (yaw) is -3.13

The most relevant actors are: A pedestrian with ID 11 is 22.5 meters away at (-22.5, 1.3).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.815162  0.8722533] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 0.5) m/s. Its current heading (yaw) is 3.05

The most relevant actors are: A pedestrian with ID 11 is 13.0 meters away at (-12.8, 2.1). A vehicle with ID 1 is 56.4 meters away at (-29.8, -47.8). A vehicle with ID 3 is 70.0 meters away at (-44.6, -54.0). A vehicle with ID 4 is 71.1 meters away at (-47.1, -53.2). A pedestrian with ID 10 is 73.5 meters away at (-45.5, -57.7).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.0197967  0.74958545] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [1.9771706 5.921216 ] 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 pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0708297  0.4737619] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.6) m/s. Its current heading (yaw) is 2.45

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.6) m/s. Its current heading (yaw) is 2.57

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 3.0) m/s. Its current heading (yaw) is 2.77

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 0.5) m/s. Its current heading (yaw) is 3.08

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 3.8) m/s. Its current heading (yaw) is 1.05

The most relevant actors are: A unknown object with ID 13 is 26.5 meters away at (-7.9, 25.3). A vehicle with ID 22 is 30.0 meters away at (18.4, -23.7). A unknown object with ID 8 is 39.8 meters away at (-3.7, 39.7). A pedestrian with ID 28 is 41.8 meters away at (5.7, 41.4). A vehicle with ID 27 is 45.1 meters away at (32.6, -31.2). A pedestrian with ID 2 is 53.4 meters away at (37.6, -37.9). A cyclist with ID 12 is 79.7 meters away at (70.3, -37.7).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.154181   1.2419652] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.0714288 -0.6505507] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [-2.3331752 -4.170025 ] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-7.878913 25.313656], 26.511478424072266 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 3.7) m/s. Its current heading (yaw) is 1.14

The most relevant actors are: A vehicle with ID 22 is 34.7 meters away at (14.8, -31.4). A vehicle with ID 27 is 48.5 meters away at (29.1, -38.8). A pedestrian with ID 2 is 58.6 meters away at (35.9, -46.3). A vehicle with ID 5 is 60.7 meters away at (58.7, -15.2).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.1722058  -0.72744095] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.01899   5.204481] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.6) m/s. Its current heading (yaw) is 0.50

The most relevant actors are: A vehicle with ID 5 is 38.4 meters away at (36.8, -10.8). A vehicle with ID 22 is 38.7 meters away at (10.9, -37.1). A pedestrian with ID 14 is 49.2 meters away at (20.7, -44.6). A vehicle with ID 27 is 51.0 meters away at (25.1, -44.4). A pedestrian with ID 2 is 62.9 meters away at (34.1, -52.9).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-8.435006  4.506732] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.08763355 -0.07952452] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.2643296  -0.70972794] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -1.3) m/s. Its current heading (yaw) is -0.31

The most relevant actors are: A vehicle with ID 5 is 14.8 meters away at (14.4, -3.2). A vehicle with ID 22 is 37.7 meters away at (3.3, -37.6). A pedestrian with ID 14 is 46.9 meters away at (12.9, -45.1). A vehicle with ID 27 is 48.3 meters away at (17.5, -45.0). A pedestrian with ID 2 is 61.4 meters away at (28.3, -54.5).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.563146   3.5052793] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.46671075  0.01810128] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.564391  -0.7284761] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 8.4) m/s. Its current heading (yaw) is 1.03

The most relevant actors are: A vehicle with ID 67 is 11.1 meters away at (-8.6, 7.1). A vehicle with ID 64 is 11.3 meters away at (-10.1, 5.0). A vehicle with ID 70 is 13.9 meters away at (-1.4, 13.9). A vehicle with ID 68 is 14.6 meters away at (-6.6, 13.0). A vehicle with ID 55 is 14.9 meters away at (-7.0, 13.2). A pedestrian with ID 63 is 15.4 meters away at (-15.1, 3.4). A vehicle with ID 62 is 20.0 meters away at (-8.0, 18.3). A vehicle with ID 61 is 20.5 meters away at (-20.3, -2.3). A unknown object with ID 42 is 26.4 meters away at (-4.7, 26.0). A vehicle with ID 71 is 28.5 meters away at (8.3, 27.2).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.46319494 -0.00897825] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 7.5) m/s. Its current heading (yaw) is 1.04

The most relevant actors are: A vehicle with ID 70 is 10.5 meters away at (-10.4, -1.3). A vehicle with ID 71 is 11.9 meters away at (-0.8, 11.9). A unknown object with ID 30 is 13.7 meters away at (-13.6, 1.9). A vehicle with ID 68 is 15.9 meters away at (-15.8, -2.3). A vehicle with ID 55 is 16.3 meters away at (-16.1, -2.2). A vehicle with ID 72 is 17.1 meters away at (2.3, 17.0). A vehicle with ID 62 is 17.4 meters away at (-17.1, 3.0). A vehicle with ID 67 is 19.5 meters away at (-17.7, -8.2). A vehicle with ID 64 is 21.7 meters away at (-19.1, -10.3). A vehicle with ID 73 is 23.3 meters away at (5.8, 22.5).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [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 72 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 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 (4.2, 7.0) m/s. Its current heading (yaw) is 1.03

The most relevant actors are: A vehicle with ID 72 is 6.7 meters away at (-6.2, 2.7). A vehicle with ID 73 is 8.7 meters away at (-2.7, 8.2). A vehicle with ID 71 is 9.6 meters away at (-9.3, -2.3). A vehicle with ID 74 is 16.3 meters away at (1.9, 16.2). A pedestrian with ID 46 is 20.1 meters away at (-4.9, -19.5). A vehicle with ID 70 is 24.6 meters away at (-18.9, -15.6). A vehicle with ID 62 is 28.1 meters away at (-25.7, -11.4). A vehicle with ID 68 is 29.7 meters away at (-24.5, -16.7). A vehicle with ID 1 is 34.5 meters away at (33.9, 6.0). A vehicle with ID 67 is 34.6 meters away at (-26.2, -22.5).

The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.3931835 0.7708891] m/s.The vehicle with ID 70 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 68 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 67 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 (4.7, 4.7) m/s. Its current heading (yaw) is 0.78

The most relevant actors are: A unknown object with ID 26 is 7.6 meters away at (2.8, -7.1). A vehicle with ID 74 is 7.6 meters away at (-6.6, 3.8). A unknown object with ID 38 is 9.6 meters away at (-6.0, 7.5). A pedestrian with ID 40 is 11.5 meters away at (-6.0, 9.8). A vehicle with ID 73 is 11.9 meters away at (-11.2, -4.2). A pedestrian with ID 41 is 12.3 meters away at (-6.1, 10.6). A vehicle with ID 72 is 17.5 meters away at (-14.6, -9.7). A unknown object with ID 35 is 19.5 meters away at (-5.3, -18.8). A vehicle with ID 39 is 21.8 meters away at (-12.0, 18.3). A vehicle with ID 32 is 21.8 meters away at (-8.6, 20.1).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.01837034 -0.01490084] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.02374534 -0.01822929] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 1.0690634 -0.5942613] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [ 2.7543373 -7.0920143], 7.608090400695801 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, -4.2) m/s. Its current heading (yaw) is -2.31

The most relevant actors are: A vehicle with ID 45 is 5.7 meters away at (-1.5, 5.5). A vehicle with ID 37 is 5.8 meters away at (-5.7, 0.5). A vehicle with ID 42 is 6.6 meters away at (1.5, -6.4). A vehicle with ID 44 is 9.7 meters away at (3.2, 9.1). A vehicle with ID 49 is 11.1 meters away at (-10.1, -4.6). A vehicle with ID 46 is 11.3 meters away at (8.0, 7.9). A vehicle with ID 43 is 12.2 meters away at (-3.1, -11.8). A vehicle with ID 54 is 17.9 meters away at (-14.7, -10.1). A vehicle with ID 15 is 19.8 meters away at (-8.5, -17.9). A vehicle with ID 39 is 23.7 meters away at (-18.6, -14.8).

The vehicle with ID 45 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 [-4.085095  -3.5004442] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -5.2) m/s. Its current heading (yaw) is -2.32

The most relevant actors are: A vehicle with ID 49 is 4.9 meters away at (-1.5, 4.7). A vehicle with ID 43 is 6.1 meters away at (5.5, -2.5). A vehicle with ID 54 is 6.1 meters away at (-6.1, -0.8). A vehicle with ID 15 is 8.6 meters away at (0.2, -8.6). A vehicle with ID 37 is 10.2 meters away at (2.8, 9.8). A vehicle with ID 42 is 10.5 meters away at (10.1, 2.8). A vehicle with ID 39 is 11.3 meters away at (-9.9, -5.4). A vehicle with ID 46 is 12.1 meters away at (7.8, 9.2). A vehicle with ID 40 is 15.6 meters away at (-5.3, -14.7). A vehicle with ID 45 is 16.5 meters away at (7.2, 14.9).

The vehicle with ID 49 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 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 [-4.65486 -4.49373] m/s.The vehicle with ID 40 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, -5.6) m/s. Its current heading (yaw) is -2.33

The most relevant actors are: A vehicle with ID 38 is 3.7 meters away at (-3.5, 1.1). A vehicle with ID 39 is 5.4 meters away at (0.2, 5.4). A vehicle with ID 40 is 6.2 meters away at (4.9, -3.8). A vehicle with ID 41 is 10.0 meters away at (0.0, -10.0). A vehicle with ID 15 is 10.7 meters away at (10.5, 2.3). A vehicle with ID 54 is 10.9 meters away at (4.2, 10.1). A vehicle with ID 46 is 14.0 meters away at (9.1, 10.7). A vehicle with ID 49 is 17.9 meters away at (8.8, 15.6). A vehicle with ID 43 is 17.9 meters away at (15.8, 8.4). A vehicle with ID 37 is 24.5 meters away at (13.1, 20.7).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.541025  -5.1240926] m/s.The vehicle with ID 49 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -5.4) m/s. Its current heading (yaw) is -2.30

The most relevant actors are: A vehicle with ID 41 is 10.0 meters away at (10.0, 0.8). A vehicle with ID 38 is 13.6 meters away at (6.5, 11.9). A vehicle with ID 46 is 15.0 meters away at (10.2, 11.0). A vehicle with ID 40 is 16.5 meters away at (15.0, 7.0). A vehicle with ID 3 is 19.3 meters away at (-18.4, -5.9). A vehicle with ID 39 is 19.4 meters away at (10.4, 16.3). A vehicle with ID 15 is 24.3 meters away at (20.4, 13.1). A vehicle with ID 54 is 25.5 meters away at (14.4, 21.0). A vehicle with ID 43 is 32.2 meters away at (25.8, 19.3). A vehicle with ID 49 is 32.6 meters away at (18.9, 26.5).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.2587404 -5.1836205] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-75.210266 -84.320114]
 [-77.26279  -86.938866]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, -8.1) m/s. Its current heading (yaw) is -2.31

The most relevant actors are: A vehicle with ID 39 is 10.7 meters away at (-9.6, -4.9). A cyclist with ID 41 is 12.2 meters away at (12.2, -0.6). A vehicle with ID 42 is 14.5 meters away at (-14.5, 0.2). A vehicle with ID 40 is 16.4 meters away at (2.0, 16.3). A vehicle with ID 45 is 20.1 meters away at (-19.2, -6.0). A vehicle with ID 56 is 30.8 meters away at (-9.2, -29.4). A unknown object with ID 31 is 35.3 meters away at (-14.6, -32.1). A unknown object with ID 37 is 36.3 meters away at (-15.2, -33.0). A unknown object with ID 43 is 56.0 meters away at (15.0, 53.9). A unknown object with ID 44 is 57.8 meters away at (17.0, 55.2).

The vehicle with ID 39 is traveling at a (x, y) velocity of [-10.819284 -12.735301] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [2.4438412 4.844343 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-4.013474  -3.8301957] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, -8.5) m/s. Its current heading (yaw) is -2.24

The most relevant actors are: A vehicle with ID 45 is 11.6 meters away at (-5.1, 10.5). A vehicle with ID 56 is 13.7 meters away at (4.9, -12.7). A cyclist with ID 27 is 15.8 meters away at (-0.0, -15.8). A vehicle with ID 42 is 16.7 meters away at (-0.4, 16.7). A vehicle with ID 39 is 21.9 meters away at (-15.8, -15.2). A vehicle with ID 40 is 28.5 meters away at (9.9, 26.7). A cyclist with ID 41 is 41.9 meters away at (34.3, 24.0). A pedestrian with ID 29 is 50.7 meters away at (-22.1, -45.6). A unknown object with ID 43 is 76.2 meters away at (29.1, 70.4). A unknown object with ID 44 is 78.2 meters away at (31.1, 71.7).

The vehicle with ID 45 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 cyclist with ID 27 is traveling at a (x, y) velocity of [ 0.01081693 -0.01418667] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -9.5997715 -14.378073 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.2546606 -2.2535145] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [4.6840577 3.8075345] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.64028984 -1.266073  ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, -8.8) m/s. Its current heading (yaw) is -2.16

The most relevant actors are: A cyclist with ID 27 is 12.9 meters away at (12.8, 1.5). A unknown object with ID 25 is 18.3 meters away at (16.8, -7.2). A vehicle with ID 56 is 18.4 meters away at (17.8, 4.6). A vehicle with ID 45 is 28.9 meters away at (7.7, 27.8). A pedestrian with ID 29 is 32.3 meters away at (-10.5, -30.6). A vehicle with ID 39 is 34.7 meters away at (-20.2, -28.2). A vehicle with ID 42 is 36.3 meters away at (12.5, 34.1). A vehicle with ID 40 is 45.6 meters away at (19.8, 41.1). A vehicle with ID 28 is 72.4 meters away at (-69.2, 21.5).

The cyclist with ID 27 is traveling at a (x, y) velocity of [ 0.02573561 -0.03604717] m/s.The unknown object with ID 25 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 45 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 [-0.6616461 -1.2251756] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -7.6963396 -15.862361 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.81013536 -0.85657513] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -9.2) m/s. Its current heading (yaw) is -2.10

The most relevant actors are: A pedestrian with ID 29 is 15.1 meters away at (-0.5, -15.1). A cyclist with ID 27 is 30.9 meters away at (24.0, 19.4). A vehicle with ID 56 is 36.8 meters away at (29.0, 22.5). A cyclist with ID 34 is 38.0 meters away at (-31.6, -21.1). A vehicle with ID 39 is 48.7 meters away at (-21.9, -43.5). A vehicle with ID 45 is 49.5 meters away at (18.9, 45.7). A vehicle with ID 42 is 57.1 meters away at (23.7, 52.0). A unknown object with ID 35 is 64.4 meters away at (-19.8, -61.3). A vehicle with ID 40 is 65.3 meters away at (30.0, 58.0).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.68716973 -1.1586204 ] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-0.06626182 -0.00419865] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [ 6.9952292 16.385431 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -5.4933496 -17.139624 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 1.1) m/s. Its current heading (yaw) is 1.21

The most relevant actors are: A vehicle with ID 32 is 9.5 meters away at (0.0, -9.5). A vehicle with ID 34 is 17.0 meters away at (-10.1, 13.7). A pedestrian with ID 33 is 17.4 meters away at (1.0, -17.4). A vehicle with ID 35 is 19.5 meters away at (-13.4, 14.2). A vehicle with ID 36 is 26.4 meters away at (-20.5, 16.7). A vehicle with ID 37 is 30.5 meters away at (-11.9, 28.1). A vehicle with ID 38 is 32.6 meters away at (-15.3, 28.7). A vehicle with ID 40 is 35.7 meters away at (-19.0, 30.2). A vehicle with ID 41 is 36.1 meters away at (35.4, 6.8). A vehicle with ID 8 is 41.3 meters away at (16.5, 37.9).

The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.38165066 1.0881501 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-29.149874 -73.82891 ]
 [-28.952885 -73.87043 ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.6) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A vehicle with ID 34 is 14.4 meters away at (-12.1, 7.8). A vehicle with ID 32 is 15.5 meters away at (-2.0, -15.4). A vehicle with ID 35 is 17.6 meters away at (-15.5, 8.4). A pedestrian with ID 33 is 20.9 meters away at (-0.3, -20.9). A vehicle with ID 36 is 25.0 meters away at (-22.5, 11.0). A vehicle with ID 37 is 26.2 meters away at (-14.0, 22.2). A vehicle with ID 38 is 28.6 meters away at (-17.3, 22.8). A vehicle with ID 40 is 32.2 meters away at (-21.1, 24.3). A vehicle with ID 41 is 33.4 meters away at (33.4, 0.8). A vehicle with ID 10 is 34.3 meters away at (-24.1, 24.4).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.38374463 1.2568206 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-29.149874 -73.82891 ]
 [-28.952885 -73.87043 ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 6.7) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A vehicle with ID 34 is 16.3 meters away at (-15.9, -3.6). A vehicle with ID 35 is 19.4 meters away at (-19.2, -3.2). A vehicle with ID 37 is 20.8 meters away at (-17.8, 10.8). A vehicle with ID 8 is 23.1 meters away at (10.6, 20.5). A vehicle with ID 38 is 24.0 meters away at (-21.2, 11.2). A vehicle with ID 36 is 26.4 meters away at (-26.4, -0.4). A vehicle with ID 32 is 27.5 meters away at (-5.9, -26.9). A vehicle with ID 40 is 28.0 meters away at (-24.9, 12.8). A pedestrian with ID 33 is 30.1 meters away at (-3.3, -29.9). A vehicle with ID 10 is 30.7 meters away at (-27.9, 12.8).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.4193302 1.3406435] m/s.The vehicle with ID 10 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 (2.3, 7.0) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A vehicle with ID 8 is 8.7 meters away at (5.9, 6.5). A vehicle with ID 30 is 21.7 meters away at (0.7, 21.7). A vehicle with ID 37 is 22.8 meters away at (-22.5, -3.3). A vehicle with ID 34 is 27.0 meters away at (-20.6, -17.5). A vehicle with ID 31 is 28.3 meters away at (3.0, 28.2). A vehicle with ID 35 is 29.5 meters away at (-23.8, -17.4). A vehicle with ID 36 is 34.3 meters away at (-31.0, -14.8). A pedestrian with ID 33 is 42.0 meters away at (-7.1, -41.4). A vehicle with ID 32 is 42.2 meters away at (-10.5, -40.9). A vehicle with ID 1 is 52.4 meters away at (20.0, 48.4).

The vehicle with ID 8 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 37 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.4462163 1.348732 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 0.7) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 29 is 17.0 meters away at (13.9, -9.9). A pedestrian with ID 8 is 25.4 meters away at (-7.3, 24.4). A unknown object with ID 27 is 27.1 meters away at (20.9, -17.2). A unknown object with ID 15 is 28.9 meters away at (22.2, -18.4). A unknown object with ID 13 is 38.6 meters away at (-20.9, 32.5). A pedestrian with ID 30 is 39.7 meters away at (-38.6, 9.5). A unknown object with ID 17 is 52.6 meters away at (4.8, -52.4). A vehicle with ID 38 is 55.9 meters away at (-12.4, -54.5). A vehicle with ID 40 is 60.5 meters away at (-46.1, 39.1). A vehicle with ID 34 is 61.0 meters away at (-61.0, 0.7).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.02875575  0.00934934] 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 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 pedestrian with ID 30 is traveling at a (x, y) velocity of [0.92096984 1.1572629 ] m/s.The unknown object with ID 17 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 [-2.012401  -1.8484279] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 2.560529  -2.2277734] 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, 1.2) m/s. Its current heading (yaw) is 2.66

The most relevant actors are: A vehicle with ID 29 is 21.5 meters away at (18.3, -11.4). A pedestrian with ID 8 is 23.0 meters away at (-3.1, 22.8). A unknown object with ID 27 is 31.5 meters away at (25.4, -18.6). A unknown object with ID 15 is 33.3 meters away at (26.7, -19.8). A pedestrian with ID 30 is 33.7 meters away at (-32.3, 9.9). A unknown object with ID 13 is 35.0 meters away at (-17.0, 30.6). A unknown object with ID 3 is 36.9 meters away at (-20.2, 30.9). A vehicle with ID 24 is 52.5 meters away at (-47.2, -23.0). A vehicle with ID 34 is 53.5 meters away at (-53.4, -3.8). A unknown object with ID 17 is 54.8 meters away at (9.7, -53.9).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.0180381   0.00836507] 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 15 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 [0.99282557 1.0889406 ] 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 3 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 34 is traveling at a (x, y) velocity of [ 0.6393367 -0.5731045] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 2.1) m/s. Its current heading (yaw) is 2.49

The most relevant actors are: A pedestrian with ID 30 is 26.4 meters away at (-25.0, 8.5). A vehicle with ID 29 is 27.7 meters away at (23.5, -14.7). A unknown object with ID 27 is 37.7 meters away at (30.7, -22.0). A vehicle with ID 34 is 48.0 meters away at (-47.3, -7.9). A vehicle with ID 24 is 49.6 meters away at (-42.0, -26.4). A vehicle with ID 40 is 49.9 meters away at (-36.9, 33.6). A vehicle with ID 41 is 54.3 meters away at (-50.1, -20.9). A vehicle with ID 28 is 55.4 meters away at (-45.7, -31.2). A vehicle with ID 42 is 59.5 meters away at (-53.8, -25.2). A vehicle with ID 19 is 60.4 meters away at (-49.0, -35.2).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [1.0529355 1.0333713] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.79615813 -0.64193726] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 1.6) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 5 is 14.9 meters away at (3.0, 14.5). A pedestrian with ID 30 is 20.3 meters away at (-19.2, 6.7). A vehicle with ID 29 is 33.8 meters away at (28.2, -18.7). A vehicle with ID 34 is 42.8 meters away at (-40.4, -14.0). A vehicle with ID 40 is 43.7 meters away at (-32.1, 29.7). A unknown object with ID 27 is 43.8 meters away at (35.3, -25.9). A vehicle with ID 24 is 48.0 meters away at (-37.3, -30.3). A vehicle with ID 41 is 51.7 meters away at (-45.4, -24.8). A vehicle with ID 28 is 54.0 meters away at (-41.0, -35.2). A vehicle with ID 22 is 54.6 meters away at (-41.2, 35.8).

The unknown object with ID 5 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 [0.16026573 1.3160517 ] m/s.The vehicle with ID 29 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 [ 1.4211144 -2.0751657] m/s.The vehicle with ID 40 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 vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 3.0052948 14.546762 ], 14.853959083557129 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -3.4) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A vehicle with ID 19 is 15.9 meters away at (-15.9, -1.3). A vehicle with ID 3 is 17.8 meters away at (-16.3, 7.0). A pedestrian with ID 18 is 23.8 meters away at (-18.8, 14.5). A vehicle with ID 17 is 28.1 meters away at (-26.9, 8.1). A vehicle with ID 20 is 33.1 meters away at (-32.6, -5.5). A pedestrian with ID 25 is 40.8 meters away at (40.3, 6.7). A vehicle with ID 23 is 43.0 meters away at (39.5, -17.0). A vehicle with ID 22 is 47.0 meters away at (-46.9, -3.5). A unknown object with ID 24 is 53.7 meters away at (-19.5, 50.0). A vehicle with ID 21 is 62.9 meters away at (-61.9, 11.3).

The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.6273842  1.8526121] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 7.4338436 -3.2116992] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.8464166 -0.4444606] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.4781793  4.1340337] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.6713445 -6.9909763] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2875072  -0.05153011] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [10.25274   -4.2955317] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.1401896  3.468642 ] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-8.019774   3.3008413] m/s.

There are active red lights at the following coordinates: [[-40.54882     1.4582031]]

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -3.4) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A vehicle with ID 3 is 19.1 meters away at (-17.6, 7.6). A pedestrian with ID 25 is 25.7 meters away at (21.8, 13.7). A pedestrian with ID 18 is 39.0 meters away at (-33.2, 20.6). A vehicle with ID 19 is 39.9 meters away at (-38.3, 11.0). A vehicle with ID 23 is 48.0 meters away at (44.2, -18.8). A vehicle with ID 17 is 50.6 meters away at (-42.8, 26.9). A vehicle with ID 20 is 55.5 meters away at (-53.5, -14.6). A vehicle with ID 15 is 68.7 meters away at (-67.7, 11.6).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 7.5974445 -3.158441 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2327862  0.0294781] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.8970261  -0.40116706] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.1119337  4.453411 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [10.32131  -4.313574] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [1.7698832 7.457561 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.767373 -9.042738] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.9383671  4.4317336] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -3.4) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A vehicle with ID 3 is 19.5 meters away at (-17.8, 7.9). A pedestrian with ID 25 is 20.9 meters away at (3.6, 20.6). A vehicle with ID 23 is 52.8 meters away at (48.7, -20.5). A pedestrian with ID 18 is 54.2 meters away at (-47.3, 26.5). A vehicle with ID 19 is 64.9 meters away at (-57.6, 29.9).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 7.6996717 -3.1730032] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.0649205   0.05366864] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [10.132741 -4.192511] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.7731544  -0.46655026] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.11160804  7.210945  ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -3.4) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A pedestrian with ID 16 is 10.0 meters away at (9.3, 3.7). A vehicle with ID 3 is 20.2 meters away at (-18.5, 8.3). A vehicle with ID 23 is 57.7 meters away at (53.2, -22.2).

The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.01032063 0.0005514 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 7.8027205 -3.281395 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [10.257141 -4.310408] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.3) m/s. Its current heading (yaw) is 1.21

The most relevant actors are: A vehicle with ID 8 is 3.7 meters away at (-2.4, 2.8). A pedestrian with ID 2 is 23.4 meters away at (21.0, -10.5). A vehicle with ID 14 is 26.4 meters away at (21.1, 16.0). A vehicle with ID 10 is 29.0 meters away at (15.3, 24.6). A vehicle with ID 13 is 33.2 meters away at (-17.4, -28.2). A vehicle with ID 19 is 39.3 meters away at (-17.0, -35.4). A vehicle with ID 9 is 61.1 meters away at (-28.4, -54.1).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.529703  1.099358] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.05493918 12.697496  ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [2.6527092 4.8923416] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [5.5452156 9.492221 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [5.178472  7.5384245] 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 1.21

The most relevant actors are: A vehicle with ID 8 is 3.6 meters away at (-2.5, 2.6). A vehicle with ID 19 is 21.1 meters away at (-8.4, -19.4). A vehicle with ID 13 is 23.3 meters away at (-12.8, -19.5). A vehicle with ID 14 is 26.3 meters away at (21.0, 15.8). A vehicle with ID 9 is 46.9 meters away at (-20.7, -42.1). A vehicle with ID 10 is 54.1 meters away at (19.0, 50.7). A unknown object with ID 5 is 66.1 meters away at (32.5, 57.5). A unknown object with ID 4 is 79.0 meters away at (57.8, -53.7).

The vehicle with ID 8 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 [3.226222 6.386205] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [2.0070305 4.0115733] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [2.9485369 4.9098454] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 3.0404923 13.459839 ] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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 1.21

The most relevant actors are: A vehicle with ID 8 is 3.5 meters away at (-2.5, 2.5). A vehicle with ID 19 is 10.6 meters away at (-3.9, -9.9). A vehicle with ID 13 is 15.8 meters away at (-9.4, -12.6). A vehicle with ID 14 is 26.2 meters away at (21.0, 15.7). A cyclist with ID 7 is 35.5 meters away at (-11.7, -33.5). A vehicle with ID 9 is 37.4 meters away at (-16.0, -33.8). A vehicle with ID 11 is 70.8 meters away at (-34.7, -61.6).

The vehicle with ID 8 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 [1.4534836 3.2486055] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [1.4220573 2.9254391] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [3.7086008 6.731477 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [2.0046654 3.8578641] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [5.906175 8.75462 ] 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 1.21

The most relevant actors are: A vehicle with ID 8 is 3.5 meters away at (-2.5, 2.5). A vehicle with ID 19 is 7.1 meters away at (-2.5, -6.7). A vehicle with ID 13 is 11.4 meters away at (-7.5, -8.5). A cyclist with ID 7 is 22.6 meters away at (-5.5, -21.9). A vehicle with ID 14 is 26.2 meters away at (20.9, 15.7). A vehicle with ID 9 is 29.2 meters away at (-12.2, -26.6). A vehicle with ID 11 is 52.7 meters away at (-24.8, -46.5).

The vehicle with ID 8 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 13 is traveling at a (x, y) velocity of [0.53817356 1.1826346 ] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [2.7492416 5.335225 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [1.7521483 3.319095 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [4.0217266 6.2651296] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -6.7) m/s. Its current heading (yaw) is -0.87

The most relevant actors are: A vehicle with ID 55 is 6.9 meters away at (2.9, 6.3). A vehicle with ID 60 is 10.1 meters away at (7.9, 6.4). A pedestrian with ID 26 is 11.2 meters away at (-11.2, -0.2). A pedestrian with ID 69 is 12.5 meters away at (3.1, -12.1). A pedestrian with ID 70 is 12.9 meters away at (2.5, -12.7). A vehicle with ID 52 is 13.6 meters away at (1.6, 13.6). A vehicle with ID 50 is 13.8 meters away at (-2.4, 13.6). A vehicle with ID 67 is 14.0 meters away at (14.0, -0.6). A vehicle with ID 5 is 15.1 meters away at (-9.4, 11.8). A unknown object with ID 51 is 18.3 meters away at (-17.0, 6.8).

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 pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.01429099 -0.0069248 ] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.8773181  1.013421 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.8629331  1.0210779] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 4.9248214 -5.0815816] m/s.The unknown object 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 (7.5, -7.3) m/s. Its current heading (yaw) is -0.77

The most relevant actors are: A pedestrian with ID 69 is 12.5 meters away at (-11.8, 4.0). A pedestrian with ID 70 is 12.8 meters away at (-12.3, 3.4). A vehicle with ID 67 is 13.5 meters away at (1.0, 13.5). A vehicle with ID 20 is 16.7 meters away at (4.4, 16.1). A vehicle with ID 5 is 17.9 meters away at (-11.9, 13.3). A vehicle with ID 60 is 21.1 meters away at (-5.1, 20.5). A vehicle with ID 55 is 22.9 meters away at (-10.1, 20.5). A pedestrian with ID 68 is 28.0 meters away at (1.8, 27.9). A vehicle with ID 52 is 30.1 meters away at (-11.4, 27.8). A vehicle with ID 11 is 30.4 meters away at (-18.5, 24.2).

The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.72299767  0.86943203] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.74372363  0.89087856] m/s.The vehicle with ID 67 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 [-6.7406826  7.72334  ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 5.974227  -6.8915606] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.8337317  0.9028539] m/s.The vehicle with ID 52 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 [ 6.6878095 -6.8026347] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.9, -6.8) m/s. Its current heading (yaw) is -0.66

The most relevant actors are: A vehicle with ID 43 is 8.8 meters away at (0.9, 8.7). A vehicle with ID 5 is 20.2 meters away at (-14.8, 13.7). A pedestrian with ID 40 is 24.7 meters away at (15.6, -19.2). A vehicle with ID 31 is 25.9 meters away at (25.7, -3.5). A vehicle with ID 11 is 29.7 meters away at (-19.3, 22.5). A vehicle with ID 67 is 31.9 meters away at (-15.1, 28.0). A pedestrian with ID 48 is 33.5 meters away at (33.5, 0.8). A pedestrian with ID 69 is 36.0 meters away at (-29.6, 20.5). A pedestrian with ID 70 is 36.2 meters away at (-30.3, 19.8). A vehicle with ID 60 is 41.0 meters away at (-21.4, 34.9).

The vehicle with ID 43 is traveling at a (x, y) velocity of [-8.304766  6.896185] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 7.5626264 -7.147901 ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.103888   1.0576758] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-11.209336   9.019454] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 8.703221 -8.962729] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.1371188  0.8995362] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.75894916  0.9316673 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.8073619  0.9049321] m/s.The vehicle with ID 60 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 (9.0, -6.3) m/s. Its current heading (yaw) is -0.61

The most relevant actors are: A pedestrian with ID 40 is 6.0 meters away at (-4.3, -4.2). A pedestrian with ID 48 is 20.6 meters away at (13.8, 15.3). A vehicle with ID 5 is 20.9 meters away at (-16.6, 12.7). A vehicle with ID 39 is 21.1 meters away at (21.1, 0.2). A pedestrian with ID 41 is 21.2 meters away at (12.7, -17.0). A vehicle with ID 11 is 24.7 meters away at (-17.5, 17.4). A pedestrian with ID 29 is 26.8 meters away at (26.5, 4.0). A vehicle with ID 31 is 29.0 meters away at (-11.9, 26.5). A vehicle with ID 49 is 36.2 meters away at (34.5, -11.0). A pedestrian with ID 37 is 39.1 meters away at (38.9, -3.0).

The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.1473206  1.0429834] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.1496918  0.872622 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 8.0789175 -6.437582 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-9.440158  7.187198] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.2148587   0.99741536] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [10.957729 -8.657458] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.2624449 -0.8945863] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-8.346151   7.5583453] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-11.214254   8.194633] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.2521352 -0.8545612] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.2) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 42 is 2.9 meters away at (-2.1, -2.0). A vehicle with ID 52 is 4.2 meters away at (-1.9, 3.8). A vehicle with ID 44 is 5.2 meters away at (3.2, -4.0). A vehicle with ID 40 is 7.1 meters away at (-7.0, -0.5). A unknown object with ID 45 is 7.9 meters away at (5.4, 5.7). A pedestrian with ID 47 is 8.2 meters away at (6.4, -5.1). A vehicle with ID 38 is 8.4 meters away at (-3.6, 7.5). A vehicle with ID 48 is 10.2 meters away at (8.5, -5.6). A vehicle with ID 49 is 12.1 meters away at (11.9, 2.3). A vehicle with ID 39 is 13.5 meters away at (-13.4, 1.3).

The vehicle with ID 42 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 [-8.305301  2.573654] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.02031154 -0.03712543] m/s.The vehicle with ID 38 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 39 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 (6.5, -2.2) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 51 is 3.5 meters away at (0.9, -3.4). A vehicle with ID 48 is 4.5 meters away at (-4.2, -1.6). A vehicle with ID 49 is 6.5 meters away at (-1.0, 6.4). A pedestrian with ID 47 is 6.5 meters away at (-6.4, -0.9). A vehicle with ID 55 is 7.5 meters away at (5.7, -4.8). A pedestrian with ID 27 is 7.7 meters away at (2.9, -7.2). A pedestrian with ID 43 is 8.0 meters away at (3.3, -7.3). A vehicle with ID 64 is 8.9 meters away at (8.9, 0.2). A vehicle with ID 44 is 9.6 meters away at (-9.6, 0.1). A unknown object with ID 25 is 10.0 meters away at (-5.4, 8.4).

The vehicle with ID 51 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 47 is traveling at a (x, y) velocity of [-0.00013335 -0.04774265] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.32258463  0.06612492] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.4581528   0.15917152] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-9.041943   2.7565517] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -2.1) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 58 is 2.9 meters away at (-1.5, -2.5). A vehicle with ID 55 is 6.9 meters away at (-6.8, -1.0). A pedestrian with ID 43 is 11.0 meters away at (-10.7, -2.6). A vehicle with ID 51 is 11.7 meters away at (-11.6, 0.5). A vehicle with ID 36 is 12.4 meters away at (12.2, 2.2). A vehicle with ID 20 is 13.5 meters away at (11.7, -6.7). A vehicle with ID 49 is 17.0 meters away at (-13.6, 10.3). A vehicle with ID 48 is 17.0 meters away at (-16.9, 2.4). A vehicle with ID 7 is 18.2 meters away at (-17.4, 5.2). A pedestrian with ID 47 is 19.3 meters away at (-19.1, 3.0).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.7827423   0.31489486] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 48 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 [ 6.992459  -2.2737858] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.00935065 -0.02652903] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -1.8) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 20 is 3.1 meters away at (0.2, -3.1). A cyclist with ID 18 is 4.1 meters away at (0.1, 4.1). A vehicle with ID 36 is 5.9 meters away at (0.7, 5.8). A vehicle with ID 58 is 13.1 meters away at (-13.0, 1.0). A vehicle with ID 14 is 14.2 meters away at (14.2, -1.3). A unknown object with ID 1 is 15.6 meters away at (9.2, -12.5). A vehicle with ID 7 is 16.3 meters away at (-15.6, 4.7). A unknown object with ID 2 is 16.4 meters away at (9.1, -13.6). A vehicle with ID 55 is 18.7 meters away at (-18.5, 2.7). A vehicle with ID 41 is 20.7 meters away at (20.7, -0.1).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [-6.003327   1.9435816] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.7485223  1.9244894] m/s.The unknown object with ID 1 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 [ 6.4147224 -2.2281907] m/s.The unknown object with ID 2 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 41 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 (-5.6, 4.5) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A vehicle with ID 1 is 15.3 meters away at (15.1, 2.2). A unknown object with ID 8 is 16.5 meters away at (7.0, -14.9). A vehicle with ID 11 is 62.8 meters away at (47.6, -41.0). A vehicle with ID 12 is 81.3 meters away at (66.6, -46.6).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.4400127 -1.4917473] m/s.The unknown object with ID 8 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.3) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 1 is 19.5 meters away at (17.8, -8.1). A unknown object with ID 3 is 32.8 meters away at (30.3, 12.6). A vehicle with ID 11 is 76.7 meters away at (58.4, -49.8).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.238847   0.6214436] m/s.The unknown object with ID 3 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 3.9) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A pedestrian with ID 4 is 20.0 meters away at (-18.9, 6.8). A vehicle with ID 1 is 20.2 meters away at (16.2, -12.0).

The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.76578236  0.44116005] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.212125   3.2524314] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 3.0) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 1 is 20.1 meters away at (15.8, -12.4). A vehicle with ID 5 is 68.1 meters away at (36.6, -57.4).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.5193772  2.847186 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 0.8) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A vehicle with ID 28 is 3.4 meters away at (-1.8, 2.8). A vehicle with ID 30 is 6.4 meters away at (-4.6, 4.5). A vehicle with ID 29 is 8.3 meters away at (-8.1, -1.6). A vehicle with ID 34 is 12.3 meters away at (-12.3, 0.0). A pedestrian with ID 40 is 13.3 meters away at (13.3, -0.8). A pedestrian with ID 37 is 13.9 meters away at (13.9, -1.2). A pedestrian with ID 43 is 14.5 meters away at (14.4, -2.0). A pedestrian with ID 45 is 15.0 meters away at (14.8, -2.5). A pedestrian with ID 47 is 15.3 meters away at (15.2, -2.0). A pedestrian with ID 50 is 16.2 meters away at (16.2, -0.1).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.5194523  0.67378867] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.5605136 0.6099244] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.08458512 0.04141035] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.00017484 -0.00183525] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.0192954  -0.01374499] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.01451382  0.01123618] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A vehicle with ID 28 is 3.4 meters away at (-2.4, 2.4). A vehicle with ID 30 is 6.6 meters away at (-5.2, 4.1). A vehicle with ID 29 is 9.0 meters away at (-8.8, -2.0). A vehicle with ID 34 is 12.9 meters away at (-12.9, -0.4). A pedestrian with ID 40 is 13.2 meters away at (13.2, -0.3). A pedestrian with ID 37 is 13.8 meters away at (13.8, -0.6). A pedestrian with ID 43 is 13.9 meters away at (13.7, -2.5). A pedestrian with ID 45 is 14.4 meters away at (14.1, -2.9). A pedestrian with ID 47 is 14.8 meters away at (14.6, -2.3). A pedestrian with ID 50 is 15.6 meters away at (15.6, -0.5).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.00172038 0.0012635 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00446306  0.01166761] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.01281751 -0.00133944] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.01277271 -0.0038482 ] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.00710417 -0.00263223] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.02227132 -0.0283319 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A vehicle with ID 28 is 3.4 meters away at (-2.4, 2.4). A vehicle with ID 30 is 6.7 meters away at (-5.3, 4.1). A vehicle with ID 29 is 9.0 meters away at (-8.8, -2.0). A vehicle with ID 42 is 10.9 meters away at (-9.1, -6.0). A vehicle with ID 34 is 13.0 meters away at (-13.0, -0.4). A pedestrian with ID 40 is 13.2 meters away at (13.2, -0.4). A pedestrian with ID 37 is 13.8 meters away at (13.8, -0.6). A pedestrian with ID 43 is 13.9 meters away at (13.7, -2.5). A pedestrian with ID 45 is 14.4 meters away at (14.0, -2.9). A pedestrian with ID 47 is 14.7 meters away at (14.5, -2.4).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [1.4783322  0.89380866] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.00204532 -0.01841983] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.00901896 0.00322817] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.00080918 0.00059886] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.00032944 -0.00451819] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.00326892 -0.0019395 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A vehicle with ID 28 is 3.4 meters away at (-2.1, 2.6). A vehicle with ID 30 is 6.7 meters away at (-5.3, 4.1). A vehicle with ID 42 is 8.8 meters away at (-7.3, -4.9). A vehicle with ID 29 is 9.1 meters away at (-8.8, -2.0). A vehicle with ID 34 is 13.0 meters away at (-13.0, -0.5). A pedestrian with ID 40 is 13.2 meters away at (13.2, -0.4). A pedestrian with ID 37 is 13.8 meters away at (13.8, -0.6). A pedestrian with ID 43 is 13.9 meters away at (13.7, -2.5). A pedestrian with ID 45 is 14.4 meters away at (14.0, -3.0). A pedestrian with ID 47 is 14.7 meters away at (14.5, -2.4).

The vehicle with ID 28 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 42 is traveling at a (x, y) velocity of [0.62069994 0.35862643] m/s.The vehicle with ID 29 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 pedestrian with ID 40 is traveling at a (x, y) velocity of [0.00584342 0.00508089] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.0146525  -0.00256687] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00263502  0.00270524] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.00351785 -0.00068977] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.00065186 0.00056993] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A vehicle with ID 79 is 8.6 meters away at (-6.6, -5.6). A vehicle with ID 19 is 10.0 meters away at (8.8, -4.7). A vehicle with ID 78 is 11.5 meters away at (-0.8, 11.5). A pedestrian with ID 73 is 15.4 meters away at (12.7, 8.8). A pedestrian with ID 87 is 15.6 meters away at (14.4, 5.9). A pedestrian with ID 75 is 15.6 meters away at (13.7, 7.5). A unknown object with ID 74 is 16.0 meters away at (-10.9, -11.7). A pedestrian with ID 76 is 16.2 meters away at (13.7, 8.7). A pedestrian with ID 77 is 16.3 meters away at (14.7, 7.1). A pedestrian with ID 72 is 16.4 meters away at (12.4, 10.8).

The vehicle with ID 79 is traveling at a (x, y) velocity of [-10.383294    4.5040913] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 1.7574991 -1.5293621] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 3.1576352  -0.96867764] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.690569   1.3044655] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.8766091  1.0206954] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.7534864  1.1511011] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.7021046  1.255844 ] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.6698165   0.98429966] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.7665884  1.4158738] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -1.0) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A vehicle with ID 78 is 11.4 meters away at (0.7, 11.4). A pedestrian with ID 87 is 14.1 meters away at (10.7, 9.2). A vehicle with ID 19 is 14.2 meters away at (10.8, -9.3). A pedestrian with ID 88 is 14.4 meters away at (12.0, 8.1). A pedestrian with ID 75 is 14.7 meters away at (9.8, 10.9). A pedestrian with ID 73 is 15.1 meters away at (8.6, 12.3). A pedestrian with ID 77 is 15.4 meters away at (11.1, 10.7). A pedestrian with ID 83 is 15.6 meters away at (13.8, 7.2). A pedestrian with ID 76 is 15.8 meters away at (9.9, 12.3). A pedestrian with ID 72 is 16.7 meters away at (8.4, 14.5).

The vehicle with ID 78 is traveling at a (x, y) velocity of [ 1.147211  -0.3065961] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.65188134  1.028355  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 2.119268  -4.1455154] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.6335842  1.0915171] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.7410589  1.1484607] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.81418383  1.1514546 ] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.594594   1.2456048] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.00351233 -0.00543093] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.7530461  1.2279907] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.9444879  1.2027526] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -1.6) m/s. Its current heading (yaw) is -0.44

The most relevant actors are: A pedestrian with ID 83 is 12.5 meters away at (7.7, 9.8). A pedestrian with ID 88 is 13.9 meters away at (4.7, 13.1). A vehicle with ID 78 is 14.2 meters away at (-3.9, 13.6). A pedestrian with ID 87 is 14.5 meters away at (3.5, 14.0). A pedestrian with ID 75 is 15.9 meters away at (2.2, 15.8). A pedestrian with ID 77 is 16.1 meters away at (3.5, 15.8). A pedestrian with ID 82 is 16.2 meters away at (-5.9, -15.1). A pedestrian with ID 73 is 16.9 meters away at (1.0, 16.9). A pedestrian with ID 76 is 17.4 meters away at (2.1, 17.3). A vehicle with ID 19 is 18.6 meters away at (7.2, -17.1).

The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.01472917 -0.0055717 ] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.5133028  1.2552001] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 0.53857845 -0.10552242] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.6005966  1.1603465] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.8148292  1.0868577] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.82163936  1.145521  ] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.3565288   0.03948899] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.7000925   0.96942735] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.84434175  0.957552  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.15828153 -6.032597  ] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a pedestrian at [7.744665 9.845745], 12.526712417602539 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -3.6) m/s. Its current heading (yaw) is -0.96

The most relevant actors are: A pedestrian with ID 83 is 14.5 meters away at (1.6, 14.5). A pedestrian with ID 82 is 18.2 meters away at (-15.0, -10.3). A vehicle with ID 78 is 19.5 meters away at (-7.7, 17.9). A vehicle with ID 64 is 20.0 meters away at (-3.9, -19.6). A pedestrian with ID 88 is 20.2 meters away at (-3.0, 19.9). A pedestrian with ID 87 is 21.2 meters away at (-4.2, 20.7). A vehicle with ID 70 is 21.9 meters away at (13.7, 17.0). A pedestrian with ID 77 is 22.8 meters away at (-4.3, 22.4). A pedestrian with ID 58 is 22.9 meters away at (-19.0, -12.8). A pedestrian with ID 32 is 23.0 meters away at (-18.5, -13.7).

The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.00206298  0.00594858] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.5609016   0.29004917] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 2.298057   -0.10668541] m/s.The vehicle with ID 64 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 [-0.89052236  0.97155607] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.9376726  0.93556  ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.9321219   0.86934775] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.41637078  0.9943608 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.19767475  1.0248973 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 0.2) m/s. Its current heading (yaw) is 0.05

The most relevant actors are: A vehicle with ID 46 is 5.1 meters away at (-2.6, -4.3). A vehicle with ID 49 is 11.5 meters away at (-5.1, -10.3). A vehicle with ID 45 is 13.1 meters away at (-13.1, -0.1). A vehicle with ID 48 is 19.5 meters away at (-19.3, 2.5). A vehicle with ID 59 is 20.2 meters away at (19.9, -3.6). A vehicle with ID 61 is 25.4 meters away at (24.5, 6.8). A unknown object with ID 57 is 28.3 meters away at (-18.5, -21.4). A unknown object with ID 56 is 30.4 meters away at (-26.8, -14.4). A unknown object with ID 12 is 31.5 meters away at (-28.0, -14.5). A unknown object with ID 58 is 32.8 meters away at (-30.3, -12.5).

The vehicle with ID 46 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 45 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 0.7) m/s. Its current heading (yaw) is 0.32

The most relevant actors are: A vehicle with ID 46 is 9.8 meters away at (-8.3, -5.2). A vehicle with ID 59 is 14.7 meters away at (13.1, -6.7). A vehicle with ID 49 is 15.5 meters away at (-10.7, -11.2). A vehicle with ID 45 is 18.8 meters away at (-18.8, -1.1). A vehicle with ID 61 is 19.5 meters away at (18.7, 5.7). A vehicle with ID 48 is 25.1 meters away at (-25.1, 1.6). A vehicle with ID 63 is 29.8 meters away at (24.2, 17.5). A pedestrian with ID 71 is 36.8 meters away at (12.8, -34.4). A pedestrian with ID 70 is 36.9 meters away at (14.3, -34.1). A vehicle with ID 60 is 37.3 meters away at (-22.2, -30.0).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.1838742 -2.3298984] m/s.The vehicle with ID 49 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 61 is traveling at a (x, y) velocity of [-0.16733417 -0.38954294] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.35606602 1.2225357 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.42442927 1.3680992 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 0.5) m/s. Its current heading (yaw) is 0.48

The most relevant actors are: A vehicle with ID 46 is 12.7 meters away at (-11.1, -6.2). A vehicle with ID 61 is 14.6 meters away at (14.5, 1.2). A vehicle with ID 14 is 14.7 meters away at (14.6, 1.3). A vehicle with ID 59 is 15.2 meters away at (6.3, -13.8). A vehicle with ID 49 is 18.2 meters away at (-13.4, -12.3). A vehicle with ID 45 is 21.7 meters away at (-21.6, -2.1). A vehicle with ID 63 is 25.5 meters away at (20.8, 14.8). A vehicle with ID 48 is 27.7 meters away at (-27.7, 0.5). A cyclist with ID 27 is 30.9 meters away at (-17.4, -25.5). A unknown object with ID 30 is 32.6 meters away at (32.1, 5.8).

The vehicle with ID 46 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 [-1.2480606 -2.9291263] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.1785197 -2.9310286] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-3.226942  -3.2736418] m/s.The vehicle with ID 49 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 63 is traveling at a (x, y) velocity of [-0.9814672 -2.1710553] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-3.21988    6.8717265] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 1.8) m/s. Its current heading (yaw) is 0.63

The most relevant actors are: A vehicle with ID 61 is 11.2 meters away at (7.6, -8.3). A vehicle with ID 63 is 15.9 meters away at (14.6, 6.4). A vehicle with ID 46 is 16.8 meters away at (-14.7, -8.3). A vehicle with ID 59 is 21.5 meters away at (-5.7, -20.8). A vehicle with ID 49 is 22.2 meters away at (-16.9, -14.4). A vehicle with ID 45 is 25.4 meters away at (-25.1, -4.1). A unknown object with ID 1 is 28.7 meters away at (9.9, 26.9). A pedestrian with ID 10 is 28.9 meters away at (28.7, 3.9). A vehicle with ID 48 is 31.3 meters away at (-31.2, -1.5). A pedestrian with ID 70 is 33.8 meters away at (9.8, -32.4).

The vehicle with ID 61 is traveling at a (x, y) velocity of [-2.4246392 -4.487077 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-1.6141307 -3.761318 ] m/s.The vehicle with ID 46 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 [-5.235106  -1.3982803] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00269757 -0.01668089] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.55089945 1.2705944 ] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -1.8) m/s. Its current heading (yaw) is -1.21

The most relevant actors are: A cyclist with ID 27 is 14.1 meters away at (-13.6, 3.7). A pedestrian with ID 26 is 14.2 meters away at (-13.7, 3.9). A vehicle with ID 30 is 15.2 meters away at (-4.8, -14.4). A vehicle with ID 31 is 16.0 meters away at (-12.3, 10.2). A vehicle with ID 38 is 21.4 meters away at (-8.6, 19.6). A vehicle with ID 14 is 22.6 meters away at (-14.2, -17.6). A vehicle with ID 32 is 24.1 meters away at (-23.6, -4.7). A vehicle with ID 40 is 27.3 meters away at (-5.3, 26.8). A pedestrian with ID 20 is 30.3 meters away at (28.3, -10.9). A vehicle with ID 37 is 30.3 meters away at (-30.3, -1.4).

The cyclist with ID 27 is traveling at a (x, y) velocity of [ 1.334061   -0.79389364] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.3166971  -0.70628643] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.604983    0.76073515] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.4264145  2.8188813] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 0.96178734 -1.2179762 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.13143505 -0.31088793] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00371474  0.0114741 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 1.427778  -0.8170954] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.1) m/s. Its current heading (yaw) is -1.12

The most relevant actors are: A cyclist with ID 27 is 12.8 meters away at (-12.0, 4.5). A pedestrian with ID 26 is 12.8 meters away at (-12.0, 4.5). A vehicle with ID 30 is 13.8 meters away at (-8.1, -11.2). A vehicle with ID 31 is 17.9 meters away at (-13.2, 12.2). A vehicle with ID 32 is 23.4 meters away at (-22.8, -5.0). A vehicle with ID 38 is 23.5 meters away at (-9.5, 21.5). A pedestrian with ID 20 is 28.8 meters away at (27.4, -8.8). A vehicle with ID 37 is 29.1 meters away at (-29.1, -0.8). A vehicle with ID 40 is 29.3 meters away at (-6.3, 28.6). A vehicle with ID 14 is 30.0 meters away at (-28.4, -9.8).

The cyclist with ID 27 is traveling at a (x, y) velocity of [ 1.3202475  -0.71243876] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.2013435 -0.7119727] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.2432016   0.66974187] 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 [ 0.94857544 -1.6531794 ] m/s.The vehicle with ID 38 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 [-0.01047502 -0.00721577] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 0.4256165  -0.47316062] m/s.The vehicle with ID 40 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 [-7.1123633  3.1986766] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.12

The most relevant actors are: A pedestrian with ID 26 is 10.1 meters away at (-9.5, 3.4). A vehicle with ID 30 is 14.1 meters away at (-9.8, -10.1). A vehicle with ID 31 is 18.0 meters away at (-13.3, 12.2). A vehicle with ID 38 is 23.6 meters away at (-9.6, 21.6). A vehicle with ID 32 is 24.2 meters away at (-21.6, -11.0). A vehicle with ID 37 is 28.4 meters away at (-28.4, -1.3). A vehicle with ID 40 is 29.3 meters away at (-6.4, 28.6). A vehicle with ID 39 is 33.9 meters away at (-33.8, 1.1). A vehicle with ID 49 is 34.8 meters away at (-31.3, 15.1). A vehicle with ID 42 is 34.8 meters away at (-34.4, 5.0).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.3791716 -0.573662 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.61493856  0.36728603] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-0.01143076 -4.0118155 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 0.42438504 -0.33114398] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 0.47976092 -0.31347677] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [6.203137  1.0945808] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.12

The most relevant actors are: A pedestrian with ID 26 is 7.3 meters away at (-6.9, 2.4). A vehicle with ID 30 is 14.2 meters away at (-10.2, -9.8). A vehicle with ID 31 is 18.1 meters away at (-13.3, 12.2). A vehicle with ID 38 is 23.6 meters away at (-9.6, 21.6). A vehicle with ID 37 is 26.9 meters away at (-26.8, -2.6). A vehicle with ID 40 is 28.3 meters away at (-7.0, 27.4). A vehicle with ID 49 is 28.4 meters away at (-19.2, 21.0). A vehicle with ID 39 is 32.3 meters away at (-32.3, 0.0). A vehicle with ID 42 is 34.3 meters away at (-34.0, 4.8). A vehicle with ID 25 is 35.0 meters away at (23.1, -26.3).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.2563522  -0.22040634] m/s.The vehicle with ID 30 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 1.1618302 -1.1497321] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.22358994 -0.5136869 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [5.222895  5.0215416] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 1.1053666 -0.8202252] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 0.6169313  -0.31764868] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-7.9042563  4.1658864] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -5.1) m/s. Its current heading (yaw) is -0.77

The most relevant actors are: A vehicle with ID 34 is 3.9 meters away at (-2.3, -3.1). A vehicle with ID 47 is 5.8 meters away at (-5.8, 0.4). A vehicle with ID 42 is 6.3 meters away at (2.5, 5.8). A vehicle with ID 35 is 6.6 meters away at (1.0, -6.5). A vehicle with ID 33 is 11.1 meters away at (4.7, -10.1). A vehicle with ID 41 is 11.2 meters away at (-10.2, 4.6). A unknown object with ID 13 is 12.2 meters away at (11.8, 3.0). A vehicle with ID 16 is 13.1 meters away at (12.1, 5.1). A pedestrian with ID 46 is 15.2 meters away at (-2.9, 14.9). A vehicle with ID 14 is 15.5 meters away at (15.5, 1.7).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 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 46 is traveling at a (x, y) velocity of [-1.2750524  1.1244059] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching