The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 2.3) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A vehicle with ID 13 is 16.1 meters away at (-15.6, 3.8). A vehicle with ID 25 is 24.3 meters away at (19.6, -14.3). A unknown object with ID 14 is 50.4 meters away at (47.6, 16.5). A unknown object with ID 12 is 67.7 meters away at (52.1, -43.2). A vehicle with ID 17 is 77.6 meters away at (61.1, -47.8). A vehicle with ID 21 is 81.3 meters away at (81.2, -4.2).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 7.611659 -4.327897] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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 (1.1, 3.1) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A vehicle with ID 42 is 12.6 meters away at (-1.8, -12.5). A vehicle with ID 44 is 14.0 meters away at (-5.0, -13.1). A unknown object with ID 39 is 14.7 meters away at (-8.0, 12.3). A unknown object with ID 9 is 15.0 meters away at (11.1, 10.0). A vehicle with ID 45 is 23.0 meters away at (-4.6, -22.6). A pedestrian with ID 46 is 25.3 meters away at (14.4, 20.9). A vehicle with ID 43 is 26.2 meters away at (-10.6, 24.0). A pedestrian with ID 47 is 27.7 meters away at (-2.1, -27.7). A vehicle with ID 54 is 32.4 meters away at (3.7, 32.2). A vehicle with ID 18 is 34.0 meters away at (29.0, 17.7).

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 [0.394561   0.86529154] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 46 is traveling at a (x, y) velocity of [-0.48514268 -1.5166482 ] m/s.The vehicle with ID 43 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 [-0.00090795 -0.02866366] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-2.2860084 -2.863845 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.522692   1.2610798] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.6) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A pedestrian with ID 13 is 13.2 meters away at (-12.5, 4.3). A pedestrian with ID 46 is 13.7 meters away at (10.4, 9.0). A vehicle with ID 44 is 19.2 meters away at (-6.4, -18.1). A vehicle with ID 43 is 20.1 meters away at (-13.4, 15.0). A vehicle with ID 42 is 21.8 meters away at (-4.6, -21.3). A vehicle with ID 54 is 21.9 meters away at (-7.5, 20.6). A vehicle with ID 18 is 23.2 meters away at (20.5, 10.7). A vehicle with ID 53 is 30.3 meters away at (-24.6, 17.6). A vehicle with ID 45 is 32.3 meters away at (-7.5, -31.4). A pedestrian with ID 47 is 36.9 meters away at (-5.1, -36.5).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.423422   -0.31059673] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.42602792 -1.5054423 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.3066318 3.2610037] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-5.5712333   0.58985007] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.7625748   0.55477315] m/s.The vehicle with ID 53 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 47 is traveling at a (x, y) velocity of [0.04264187 0.00552352] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 7.3) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A pedestrian with ID 46 is 8.3 meters away at (5.4, -6.3). A unknown object with ID 12 is 12.4 meters away at (4.6, -11.5). A vehicle with ID 18 is 14.4 meters away at (14.4, -1.0). A vehicle with ID 43 is 17.4 meters away at (-17.2, 2.6). A vehicle with ID 44 is 23.8 meters away at (-7.2, -22.6). A vehicle with ID 54 is 27.3 meters away at (-24.7, 11.7). A vehicle with ID 53 is 29.0 meters away at (-28.5, 5.2). A vehicle with ID 21 is 34.5 meters away at (33.7, -7.2). A vehicle with ID 42 is 34.9 meters away at (-8.4, -33.9). A vehicle with ID 4 is 35.0 meters away at (13.0, 32.5).

The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.36432055 -1.2009321 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [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 44 is traveling at a (x, y) velocity of [1.9110992 4.7211585] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-7.181984   2.3442645] m/s.The vehicle with ID 53 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 [-3.346617   1.1087083] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.9) m/s. Its current heading (yaw) is 1.28

The most relevant actors are: A vehicle with ID 18 is 17.8 meters away at (10.2, -14.6). A vehicle with ID 4 is 20.9 meters away at (9.0, 18.9). A pedestrian with ID 46 is 22.6 meters away at (0.3, -22.6). A vehicle with ID 43 is 23.7 meters away at (-21.0, -11.0). A vehicle with ID 44 is 27.8 meters away at (-8.1, -26.6). A vehicle with ID 15 is 30.2 meters away at (23.6, -18.8). A vehicle with ID 53 is 33.4 meters away at (-32.4, -8.4). A vehicle with ID 20 is 37.1 meters away at (32.8, -17.4). A vehicle with ID 7 is 39.6 meters away at (-39.2, -5.6). A vehicle with ID 26 is 43.3 meters away at (-42.3, -9.3).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.5020821 -1.3655653] m/s.The vehicle with ID 43 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 [1.3704338 4.7605286] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.4487503  0.6569941] m/s.The vehicle with ID 53 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 2.7) m/s. Its current heading (yaw) is 0.71

The most relevant actors are: A vehicle with ID 12 is 65.7 meters away at (53.6, -37.8).

The vehicle with ID 12 is traveling at a (x, y) velocity of [-5.519072   6.5644097] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a vehicle at [ 53.647034 -37.841377], 65.650390625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 6.3) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A unknown object with ID 9 is 17.5 meters away at (11.3, 13.4). A vehicle with ID 12 is 51.6 meters away at (37.8, -35.1). A vehicle with ID 15 is 53.6 meters away at (-24.8, 47.5). A vehicle with ID 11 is 78.2 meters away at (55.3, -55.4).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-4.0563064  5.599833 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 6.833396 -9.346878] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.3394933  7.164546 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [11.323677 13.383319], 17.531082153320312 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 7.9) m/s. Its current heading (yaw) is 1.81

The most relevant actors are: A unknown object with ID 10 is 11.0 meters away at (-10.7, -2.8). A vehicle with ID 15 is 21.4 meters away at (-13.6, 16.6). A vehicle with ID 12 is 50.3 meters away at (30.5, -40.0). A pedestrian with ID 7 is 64.6 meters away at (32.3, -56.0).

The unknown object with ID 10 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 [ 4.475914  -6.2323675] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.1482272  4.7514267] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.9035919  1.2100693] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-10.69106    -2.7757435], 11.045519828796387 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 8.0) m/s. Its current heading (yaw) is 2.20

The most relevant actors are: A vehicle with ID 15 is 7.7 meters away at (0.8, -7.6). A unknown object with ID 10 is 18.7 meters away at (-2.3, -18.5). A vehicle with ID 12 is 58.9 meters away at (33.8, -48.3). A pedestrian with ID 7 is 79.4 meters away at (39.0, -69.1).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 1.6510124 -2.2140856] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-1.9492545  3.0423455] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.86382794  1.1857768 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 1.2) m/s. Its current heading (yaw) is 0.55

The most relevant actors are: A vehicle with ID 57 is 4.1 meters away at (-0.4, 4.1). A vehicle with ID 16 is 8.9 meters away at (-7.9, -4.1). A vehicle with ID 60 is 9.4 meters away at (0.8, 9.4). A vehicle with ID 63 is 10.1 meters away at (-9.9, -2.0). A pedestrian with ID 15 is 11.9 meters away at (11.8, -1.9). A vehicle with ID 61 is 12.2 meters away at (7.7, 9.5). A pedestrian with ID 58 is 12.6 meters away at (12.5, 1.9). A pedestrian with ID 59 is 14.2 meters away at (14.1, 1.8). A pedestrian with ID 77 is 15.0 meters away at (-0.1, 15.0). A unknown object with ID 73 is 15.1 meters away at (13.5, -6.7).

The vehicle with ID 57 is traveling at a (x, y) velocity of [3.79819   2.4610558] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [1.4124513 0.8363125] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [3.8198984 3.0910678] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [1.6809659 1.023941 ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [1.3978225 1.0698956] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [4.2226057 3.2754455] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.02615945  0.15337294] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [1.1434131 1.3553537] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 0.5812579 -0.1785647] m/s.The unknown object 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 (2.1, 1.3) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A pedestrian with ID 58 is 8.4 meters away at (8.4, -0.7). A vehicle with ID 63 is 8.4 meters away at (-8.4, -1.1). A pedestrian with ID 10 is 8.7 meters away at (0.6, -8.7). A vehicle with ID 57 is 9.0 meters away at (4.7, 7.7). A vehicle with ID 16 is 9.2 meters away at (-8.1, -4.4). A pedestrian with ID 15 is 10.7 meters away at (10.4, -2.5). A pedestrian with ID 77 is 12.8 meters away at (-3.8, 12.2). A unknown object with ID 73 is 13.1 meters away at (9.4, -9.1). A pedestrian with ID 59 is 13.1 meters away at (13.0, 1.8). A unknown object with ID 56 is 13.5 meters away at (11.4, -7.2).

The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.00175489 0.00922482] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [3.68193   2.2559655] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.6204147  0.64193285] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [5.3016973 3.86961  ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [2.3945963 1.3889561] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [1.4761864 0.9205457] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 0.2224155  -0.15234442] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [1.5995553 1.129697 ] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 0.9) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A vehicle with ID 63 is 4.2 meters away at (-3.5, 2.3). A pedestrian with ID 58 is 5.6 meters away at (4.9, -2.8). A vehicle with ID 16 is 8.4 meters away at (-7.3, -4.1). A pedestrian with ID 10 is 9.4 meters away at (-0.1, -9.4). A pedestrian with ID 15 is 10.1 meters away at (9.7, -2.9). A pedestrian with ID 12 is 11.2 meters away at (-2.3, -11.0). A pedestrian with ID 77 is 11.8 meters away at (-6.8, 9.6). A unknown object with ID 56 is 12.3 meters away at (7.9, -9.4). A pedestrian with ID 59 is 12.5 meters away at (12.4, 1.7). A unknown object with ID 73 is 12.8 meters away at (5.9, -11.3).

The vehicle with ID 63 is traveling at a (x, y) velocity of [4.177458 3.323723] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00167833  0.0181416 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [1.6847507 0.9453317] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.3552562 0.7460019] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [1.4531924 1.0334243] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.0180887 0.7346599] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 0.12430257 -0.09634743] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [1.3888687 1.0925908] m/s.The unknown object 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 (1.4, 0.4) m/s. Its current heading (yaw) is 0.30

The most relevant actors are: A pedestrian with ID 58 is 4.6 meters away at (2.1, -4.1). A vehicle with ID 16 is 8.6 meters away at (-7.6, -4.1). A pedestrian with ID 10 is 9.2 meters away at (-0.1, -9.2). A vehicle with ID 63 is 9.2 meters away at (1.9, 9.0). A pedestrian with ID 15 is 10.0 meters away at (9.8, -2.1). A pedestrian with ID 12 is 10.6 meters away at (-2.6, -10.3). A pedestrian with ID 11 is 11.3 meters away at (-3.2, -10.8). A unknown object with ID 56 is 11.8 meters away at (5.1, -10.7). A pedestrian with ID 77 is 12.5 meters away at (-9.3, 8.3). A pedestrian with ID 59 is 12.5 meters away at (12.2, 2.5).

The pedestrian with ID 58 is traveling at a (x, y) velocity of [2.9527851e-05 1.6604943e-02] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [1.0906126  0.61446303] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.546315  0.6904916] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [4.177354  5.3746223] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [1.3060505 1.1546739] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.2875367  0.78655404] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.3211707  0.84713995] m/s.The unknown object with ID 56 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 [-0.01101761 -0.02166076] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [1.1983072 1.1665211] 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, -1.8) m/s. Its current heading (yaw) is -0.66

The most relevant actors are: A unknown object with ID 20 is 7.0 meters away at (-0.6, -6.9). A vehicle with ID 19 is 7.2 meters away at (-3.2, -6.5). A vehicle with ID 21 is 11.2 meters away at (-6.2, -9.3). A vehicle with ID 22 is 12.1 meters away at (-0.0, -12.1). A vehicle with ID 24 is 13.6 meters away at (9.4, -9.9). A vehicle with ID 25 is 17.7 meters away at (16.2, -7.1). A vehicle with ID 28 is 20.6 meters away at (18.0, -10.1). A vehicle with ID 27 is 22.1 meters away at (-16.2, 15.1). A vehicle with ID 34 is 30.9 meters away at (-18.2, 24.9). A vehicle with ID 29 is 33.8 meters away at (33.0, 7.6).

The unknown object with ID 20 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.6246345  -0.12644757] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-0.556669  -6.9432335], 6.965513229370117 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.3) m/s. Its current heading (yaw) is -0.48

The most relevant actors are: A unknown object with ID 20 is 6.1 meters away at (-3.4, -5.0). A vehicle with ID 19 is 7.5 meters away at (-6.1, -4.5). A vehicle with ID 24 is 10.2 meters away at (6.5, -8.0). A vehicle with ID 22 is 10.6 meters away at (-2.9, -10.2). A vehicle with ID 21 is 11.7 meters away at (-9.1, -7.4). A vehicle with ID 17 is 14.4 meters away at (1.0, -14.4). A vehicle with ID 25 is 15.7 meters away at (14.8, -5.2). A vehicle with ID 28 is 17.1 meters away at (15.1, -8.1). A vehicle with ID 27 is 25.6 meters away at (-19.1, 17.0). A unknown object with ID 4 is 28.0 meters away at (27.8, 3.1).

The unknown object with ID 20 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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 [-3.3943071 -5.0107546], 6.052188396453857 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48

The most relevant actors are: A vehicle with ID 19 is 7.7 meters away at (-6.3, -4.4). A vehicle with ID 24 is 10.0 meters away at (6.2, -7.8). A vehicle with ID 22 is 10.5 meters away at (-3.1, -10.0). A vehicle with ID 17 is 13.9 meters away at (0.7, -13.9). A vehicle with ID 25 is 15.4 meters away at (14.5, -5.1). A vehicle with ID 28 is 16.9 meters away at (14.9, -7.9). A vehicle with ID 27 is 25.8 meters away at (-19.3, 17.2). A unknown object with ID 23 is 27.9 meters away at (27.2, 6.0). A vehicle with ID 34 is 34.4 meters away at (-21.4, 27.0). A vehicle with ID 43 is 40.1 meters away at (33.1, 22.6).

The vehicle with ID 19 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48

The most relevant actors are: A vehicle with ID 19 is 7.7 meters away at (-6.3, -4.4). A vehicle with ID 24 is 9.9 meters away at (6.1, -7.8). A vehicle with ID 22 is 10.6 meters away at (-3.1, -10.1). A vehicle with ID 17 is 13.7 meters away at (1.0, -13.7). A vehicle with ID 25 is 15.3 meters away at (14.4, -5.1). A vehicle with ID 28 is 16.8 meters away at (14.8, -7.9). A vehicle with ID 27 is 25.8 meters away at (-19.3, 17.2). A unknown object with ID 23 is 27.8 meters away at (27.2, 6.0). A vehicle with ID 34 is 34.5 meters away at (-21.4, 27.1). A vehicle with ID 43 is 40.1 meters away at (33.1, 22.7).

The vehicle with ID 19 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 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 43 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, 5.6) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 71 is 4.1 meters away at (1.5, -3.8). A vehicle with ID 67 is 6.5 meters away at (-4.1, 5.1). A pedestrian with ID 72 is 7.4 meters away at (7.4, 0.6). A vehicle with ID 70 is 8.3 meters away at (-8.3, 0.2). A vehicle with ID 69 is 9.9 meters away at (-8.3, -5.3). A pedestrian with ID 61 is 10.3 meters away at (-9.1, 4.8). A vehicle with ID 75 is 19.6 meters away at (-2.6, 19.4). A vehicle with ID 30 is 22.7 meters away at (16.8, 15.3). A vehicle with ID 53 is 24.6 meters away at (-7.2, 23.5). A vehicle with ID 85 is 29.1 meters away at (20.8, 20.3).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.8167227  -0.91622925] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.00171117 -0.00127244] m/s.The vehicle with ID 75 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 6.1) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 30 is 8.1 meters away at (7.4, 3.4). A pedestrian with ID 72 is 12.8 meters away at (-4.2, -12.0). A vehicle with ID 85 is 14.1 meters away at (11.3, 8.4). A vehicle with ID 75 is 14.2 meters away at (-12.1, 7.5). A vehicle with ID 67 is 15.1 meters away at (-13.5, -6.7). A vehicle with ID 5 is 16.7 meters away at (-5.8, 15.7). A unknown object with ID 41 is 17.5 meters away at (-3.7, 17.1). A vehicle with ID 71 is 17.6 meters away at (-8.0, -15.7). A vehicle with ID 53 is 20.7 meters away at (-17.1, 11.7). A vehicle with ID 70 is 21.3 meters away at (-17.7, -11.8).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.1566749  -0.14473766] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [ 2.1502023 -1.8124094] m/s.The unknown object with ID 41 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.5) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 85 is 4.4 meters away at (1.1, -4.2). A vehicle with ID 26 is 5.9 meters away at (5.7, 1.5). A vehicle with ID 30 is 9.7 meters away at (-2.9, -9.2). A vehicle with ID 5 is 13.1 meters away at (-13.1, 0.4). A unknown object with ID 48 is 13.5 meters away at (-11.1, 7.6). A vehicle with ID 27 is 13.8 meters away at (11.1, 8.1). A vehicle with ID 64 is 14.0 meters away at (3.0, 13.7). A unknown object with ID 41 is 15.0 meters away at (-14.3, 4.5). A pedestrian with ID 23 is 17.2 meters away at (2.1, 17.1). A pedestrian with ID 24 is 17.6 meters away at (1.3, 17.6).

The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 1.2135998 -0.9177744] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.8524371 0.9417514] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.85491145 0.98198444] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.3) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 27 is 4.8 meters away at (0.6, -4.7). A vehicle with ID 29 is 5.9 meters away at (5.8, 1.4). A vehicle with ID 65 is 7.0 meters away at (-3.4, 6.1). A vehicle with ID 64 is 7.6 meters away at (-7.6, 0.7). A pedestrian with ID 33 is 9.0 meters away at (8.9, 0.6). A pedestrian with ID 23 is 9.2 meters away at (-6.9, 6.0). A pedestrian with ID 24 is 10.1 meters away at (-7.7, 6.5). A vehicle with ID 66 is 10.6 meters away at (0.1, 10.6). A vehicle with ID 26 is 12.3 meters away at (-4.8, -11.3). A vehicle with ID 28 is 12.5 meters away at (10.2, 7.2).

The vehicle with ID 27 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.5096181  -0.98909616] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [1.0497779 1.064126 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [1.017236   0.99456304] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (-1.3, -2.3) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 30 is 25.5 meters away at (-1.6, -25.5). A pedestrian with ID 28 is 26.0 meters away at (-24.8, 7.9). A vehicle with ID 32 is 28.4 meters away at (-2.2, -28.4). A vehicle with ID 33 is 32.8 meters away at (10.9, -31.0). A vehicle with ID 8 is 37.0 meters away at (35.6, 10.0). A vehicle with ID 35 is 43.0 meters away at (30.0, -30.7). A pedestrian with ID 36 is 53.7 meters away at (42.3, -33.1). A pedestrian with ID 27 is 60.7 meters away at (-55.6, 24.4). A pedestrian with ID 26 is 61.4 meters away at (-56.1, 24.9). A pedestrian with ID 29 is 63.3 meters away at (-58.3, 24.5).

The vehicle with ID 30 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 [ 1.0103381 -0.5784232] m/s.The vehicle with ID 32 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-4.74097    3.4766204] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.9133836  -0.30979568] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.0065956  -0.57482153] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0750978 -0.6019867] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.0636016  -0.93748987] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -1.8) m/s. Its current heading (yaw) is -2.59

The most relevant actors are: A vehicle with ID 30 is 20.6 meters away at (2.5, -20.5). A pedestrian with ID 28 is 22.0 meters away at (-18.7, 11.5). A vehicle with ID 32 is 23.5 meters away at (2.1, -23.4). A vehicle with ID 33 is 30.0 meters away at (15.1, -25.9). A vehicle with ID 35 is 31.5 meters away at (25.0, -19.2). A vehicle with ID 22 is 42.3 meters away at (-0.7, -42.3). A pedestrian with ID 36 is 56.1 meters away at (48.4, -28.3). A pedestrian with ID 27 is 57.1 meters away at (-49.8, 28.0). A pedestrian with ID 26 is 57.5 meters away at (-50.2, 28.1). A pedestrian with ID 29 is 58.9 meters away at (-52.0, 27.6).

The vehicle with ID 30 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 [ 1.0369842  -0.69466114] m/s.The vehicle with ID 32 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 35 is traveling at a (x, y) velocity of [-4.295571   2.8590837] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.8920517  -0.54257935] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.8388277  -0.74171317] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0336388 -0.668162 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.2160872  -0.79094934] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 1.8) m/s. Its current heading (yaw) is 2.72

The most relevant actors are: A pedestrian with ID 28 is 14.3 meters away at (-9.0, 11.1). A vehicle with ID 30 is 22.2 meters away at (9.9, -19.9). A vehicle with ID 32 is 24.7 meters away at (9.5, -22.8). A vehicle with ID 35 is 28.7 meters away at (25.0, -14.2). A vehicle with ID 33 is 33.9 meters away at (22.5, -25.4). A vehicle with ID 22 is 42.2 meters away at (6.6, -41.7). A pedestrian with ID 27 is 48.6 meters away at (-40.0, 27.5). A vehicle with ID 17 is 48.7 meters away at (44.4, 20.1). A pedestrian with ID 26 is 49.3 meters away at (-40.8, 27.7). A pedestrian with ID 29 is 49.9 meters away at (-42.0, 27.0).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 1.3496886  -0.41324833] m/s.The vehicle with ID 30 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 [-3.2006028  1.8974004] m/s.The vehicle with ID 33 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 pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.374      -0.16961746] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.366711   -0.17374104] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.5366267  -0.21512988] m/s.

Instruction: right u-turn approaching.

(The closest actor is a pedestrian at [-8.971702 11.118906], 14.287109375 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 3.3) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A pedestrian with ID 28 is 5.3 meters away at (2.6, 4.6). A vehicle with ID 30 is 31.6 meters away at (19.0, -25.2). A vehicle with ID 35 is 33.7 meters away at (29.3, -16.6). A vehicle with ID 32 is 33.8 meters away at (18.6, -28.2). A pedestrian with ID 27 is 35.5 meters away at (-28.3, 21.4). A pedestrian with ID 26 is 36.3 meters away at (-29.1, 21.6). A pedestrian with ID 29 is 36.5 meters away at (-30.1, 20.5). A vehicle with ID 33 is 44.1 meters away at (31.6, -30.8). A pedestrian with ID 25 is 44.5 meters away at (-36.9, 24.9). A pedestrian with ID 24 is 45.2 meters away at (-37.1, 25.9).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 1.024814  -0.6612714] m/s.The vehicle with ID 30 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 [-1.3581587  0.7568601] m/s.The vehicle with ID 32 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 [ 1.0860735 -0.502403 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0472112  -0.52305114] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.2250496 -0.6141787] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.92918867 -0.67184055] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9468114  -0.56533283] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -5.0) m/s. Its current heading (yaw) is -2.26

The most relevant actors are: A vehicle with ID 39 is 3.7 meters away at (-3.6, 0.6). A vehicle with ID 101 is 4.9 meters away at (-0.4, 4.9). A vehicle with ID 89 is 7.0 meters away at (3.3, -6.2). A vehicle with ID 92 is 7.6 meters away at (7.6, -0.8). A vehicle with ID 97 is 10.0 meters away at (3.1, 9.5). A unknown object with ID 102 is 12.2 meters away at (-10.0, -7.0). A pedestrian with ID 100 is 13.1 meters away at (-1.3, 13.0). A unknown object with ID 67 is 16.0 meters away at (-12.6, -10.0). A vehicle with ID 94 is 16.2 meters away at (7.3, 14.5). A pedestrian with ID 69 is 16.8 meters away at (-2.8, -16.6).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.91734236 -1.035917  ] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.5780509   0.91380835] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.7) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A unknown object with ID 102 is 3.5 meters away at (-1.9, 2.9). A unknown object with ID 67 is 4.4 meters away at (-4.4, -0.2). A pedestrian with ID 69 is 6.6 meters away at (4.5, -4.9). A pedestrian with ID 104 is 7.4 meters away at (4.9, -5.5). A unknown object with ID 84 is 8.2 meters away at (-6.8, -4.5). A unknown object with ID 106 is 8.5 meters away at (-7.6, -3.8). A unknown object with ID 49 is 9.7 meters away at (4.3, -8.7). A vehicle with ID 39 is 11.2 meters away at (4.3, 10.4). A vehicle with ID 89 is 11.9 meters away at (11.3, 3.6). A vehicle with ID 37 is 12.3 meters away at (-10.0, -7.2).

The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.6632524  0.8437429] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [-0.55744034  0.9454391 ] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.The vehicle with ID 89 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 closest actor is a unknown object at [-1.919199  2.88303 ], 3.463406801223755 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.6) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 37 is 3.1 meters away at (-2.2, 2.1). A unknown object with ID 84 is 4.9 meters away at (1.0, 4.8). A unknown object with ID 106 is 5.5 meters away at (0.2, 5.5). A vehicle with ID 90 is 6.7 meters away at (6.0, -2.9). A vehicle with ID 88 is 8.0 meters away at (2.3, -7.7). A unknown object with ID 14 is 9.5 meters away at (4.0, 8.6). A unknown object with ID 67 is 9.8 meters away at (3.3, 9.2). A vehicle with ID 85 is 10.2 meters away at (-8.7, -5.3). A unknown object with ID 46 is 10.5 meters away at (10.5, 0.2). A unknown object with ID 87 is 10.6 meters away at (-1.4, -10.5).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 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 (-3.7, -4.4) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 85 is 3.8 meters away at (-1.2, 3.7). A vehicle with ID 38 is 4.7 meters away at (-4.6, -0.8). A pedestrian with ID 47 is 5.1 meters away at (-4.5, 2.5). A unknown object with ID 87 is 6.4 meters away at (6.2, -1.5). A pedestrian with ID 28 is 7.0 meters away at (-4.9, 5.0). A pedestrian with ID 29 is 7.5 meters away at (-5.9, 4.6). A unknown object with ID 56 is 8.1 meters away at (1.0, -8.0). A pedestrian with ID 4 is 8.1 meters away at (-6.4, 5.0). A vehicle with ID 88 is 9.8 meters away at (9.8, 1.2). A vehicle with ID 37 is 12.3 meters away at (5.3, 11.1).

The vehicle with ID 85 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 pedestrian with ID 47 is traveling at a (x, y) velocity of [0.0043857  0.00082371] m/s.The unknown object with ID 87 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 [-0.8776134 -0.6401004] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.9096271  -0.70042574] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.9079188  -0.70606583] m/s.The vehicle with ID 88 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 (-0.1, 2.9) m/s. Its current heading (yaw) is 1.60

The most relevant actors are: A pedestrian with ID 28 is 8.4 meters away at (-4.0, 7.4). A unknown object with ID 67 is 9.2 meters away at (-8.3, 3.9). A unknown object with ID 68 is 10.1 meters away at (-8.2, 5.9). A unknown object with ID 53 is 17.2 meters away at (16.7, -4.1). A unknown object with ID 69 is 19.1 meters away at (18.6, -4.2). A unknown object with ID 54 is 21.7 meters away at (21.3, -4.4). A unknown object with ID 59 is 36.0 meters away at (-3.9, 35.8). A pedestrian with ID 70 is 52.6 meters away at (0.8, 52.6). A unknown object with ID 71 is 67.3 meters away at (8.9, -66.7). A vehicle with ID 6 is 67.5 meters away at (3.0, 67.5).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.89268273  0.5913054 ] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.46267888 -1.0644944 ] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [-4.0105214  7.38368  ], 8.402560234069824 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 4.3) m/s. Its current heading (yaw) is 1.54

The most relevant actors are: A pedestrian with ID 28 is 5.9 meters away at (-5.6, 1.8). A unknown object with ID 68 is 8.3 meters away at (-8.2, -1.1). A unknown object with ID 67 is 8.9 meters away at (-8.3, -3.2). A unknown object with ID 51 is 27.9 meters away at (-4.2, 27.6). A unknown object with ID 59 is 29.1 meters away at (-4.0, 28.8). A pedestrian with ID 70 is 43.1 meters away at (0.0, 43.1). A vehicle with ID 6 is 60.6 meters away at (2.9, 60.5). A unknown object with ID 8 is 61.2 meters away at (-4.9, 61.1). A vehicle with ID 39 is 73.8 meters away at (20.6, 70.8). A vehicle with ID 40 is 74.0 meters away at (-69.6, -25.1).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.77030516  0.9122527 ] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.476488  -1.1182439] m/s.The vehicle with ID 6 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 vehicle with ID 39 is traveling at a (x, y) velocity of [-3.1377373 -0.806724 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 5.4) m/s. Its current heading (yaw) is 1.48

The most relevant actors are: A pedestrian with ID 28 is 9.3 meters away at (-7.2, -5.9). A unknown object with ID 68 is 14.0 meters away at (-8.8, -10.9). A unknown object with ID 67 is 15.7 meters away at (-8.9, -13.0). A unknown object with ID 59 is 19.6 meters away at (-4.5, 19.1). A pedestrian with ID 70 is 30.9 meters away at (-1.2, 30.9). A vehicle with ID 6 is 50.8 meters away at (2.4, 50.8). A unknown object with ID 8 is 51.5 meters away at (-5.5, 51.2). A vehicle with ID 39 is 62.3 meters away at (13.1, 60.9). A vehicle with ID 11 is 66.7 meters away at (-7.2, 66.3). A pedestrian with ID 7 is 69.6 meters away at (29.9, 62.9).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.49580565  0.99254584] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.24960838 -1.1975766 ] m/s.The vehicle with ID 6 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 vehicle with ID 39 is traveling at a (x, y) velocity of [-3.5476458  0.3189818] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.08669794  0.04694879] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 6.1) m/s. Its current heading (yaw) is 1.37

The most relevant actors are: A unknown object with ID 61 is 9.1 meters away at (-6.5, 6.4). A unknown object with ID 59 is 9.8 meters away at (-6.3, 7.5). A pedestrian with ID 70 is 17.3 meters away at (-3.3, 17.0). A pedestrian with ID 28 is 17.9 meters away at (-9.2, -15.3). A unknown object with ID 68 is 24.7 meters away at (-10.4, -22.4). A unknown object with ID 67 is 26.7 meters away at (-10.5, -24.5). A vehicle with ID 6 is 39.4 meters away at (0.6, 39.4). A unknown object with ID 8 is 40.4 meters away at (-7.2, 39.8). A vehicle with ID 39 is 50.3 meters away at (4.5, 50.1). A unknown object with ID 43 is 55.4 meters away at (-7.5, -54.9).

The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.2773986 -1.1017796] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.11814517 1.1861998 ] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-2.777437    0.39197418] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-6.479665   6.3922195], 9.102006912231445 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 3.1) m/s. Its current heading (yaw) is 2.73

The most relevant actors are: A unknown object with ID 68 is 2.8 meters away at (-1.1, -2.6). A unknown object with ID 65 is 4.8 meters away at (2.6, -4.1). A unknown object with ID 71 is 4.9 meters away at (-4.8, -1.1). A unknown object with ID 64 is 8.0 meters away at (5.9, -5.4). A cyclist with ID 39 is 8.6 meters away at (-4.5, 7.4). A unknown object with ID 61 is 10.9 meters away at (8.6, -6.6). A unknown object with ID 59 is 13.3 meters away at (10.9, -7.6). A vehicle with ID 79 is 14.6 meters away at (3.3, 14.2). A unknown object with ID 58 is 15.8 meters away at (13.2, -8.6). A unknown object with ID 60 is 17.3 meters away at (14.6, -9.2).

The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-3.1049762e-08  7.8316610e-08] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [ 7.3031   -3.173322] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 3.4) m/s. Its current heading (yaw) is 2.70

The most relevant actors are: A unknown object with ID 71 is 12.0 meters away at (9.3, -7.5). A unknown object with ID 50 is 15.0 meters away at (-14.7, 3.3). A unknown object with ID 68 is 15.8 meters away at (13.0, -9.0). A unknown object with ID 56 is 18.2 meters away at (8.0, 16.4). A unknown object with ID 65 is 19.8 meters away at (16.8, -10.5). A unknown object with ID 41 is 20.2 meters away at (-19.8, 4.3). A unknown object with ID 64 is 23.3 meters away at (20.1, -11.8). A unknown object with ID 61 is 26.3 meters away at (22.8, -13.0). A unknown object with ID 59 is 28.8 meters away at (25.1, -14.0). A unknown object with ID 58 is 31.2 meters away at (27.4, -14.9).

The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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.

There are active red lights at the following coordinates: [[36.15843     0.29993832]
 [35.23455    -2.9545574 ]]

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 9.320419  -7.5194335], 11.975479125976562 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 3.6) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A unknown object with ID 50 is 3.8 meters away at (-0.1, -3.8). A unknown object with ID 41 is 5.9 meters away at (-5.2, -2.8). A pedestrian with ID 29 is 22.7 meters away at (11.8, 19.3). A unknown object with ID 71 is 28.0 meters away at (23.9, -14.5). A pedestrian with ID 46 is 28.9 meters away at (8.8, 27.5). A vehicle with ID 30 is 31.3 meters away at (-1.3, 31.3). A unknown object with ID 68 is 31.9 meters away at (27.6, -16.0). A unknown object with ID 65 is 36.0 meters away at (31.4, -17.5). A unknown object with ID 64 is 39.5 meters away at (34.7, -18.8). A unknown object with ID 61 is 42.5 meters away at (37.5, -20.0).

The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.3105536  0.5035825] m/s.The unknown object with ID 71 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 [-0.98450774  0.39368817] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-0.12788391 -3.773325  ], 3.77549147605896 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 3.8) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A unknown object with ID 41 is 14.2 meters away at (9.9, -10.2). A unknown object with ID 50 is 18.7 meters away at (15.0, -11.2). A pedestrian with ID 29 is 27.2 meters away at (23.7, 13.3). A vehicle with ID 30 is 27.4 meters away at (13.5, 23.8). A pedestrian with ID 46 is 30.6 meters away at (22.0, 21.2). A pedestrian with ID 12 is 40.2 meters away at (-21.0, 34.3). A unknown object with ID 71 is 44.8 meters away at (39.1, -21.9). A vehicle with ID 18 is 44.9 meters away at (-44.9, 1.0). A pedestrian with ID 8 is 47.1 meters away at (-29.6, 36.7). A unknown object with ID 64 is 56.3 meters away at (49.9, -26.1).

The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.4888417   0.44784337] m/s.The vehicle with ID 30 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 [-0.7627658  1.1044171] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.1970968  0.6474742] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 3.1949105 -2.4004638] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.3348002   0.58186793] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [  9.914352 -10.23488 ], 14.24946117401123 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.3) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 55 is 3.1 meters away at (-2.6, -1.7). A vehicle with ID 14 is 5.8 meters away at (2.7, 5.2). A vehicle with ID 57 is 7.2 meters away at (-6.9, 1.9). A vehicle with ID 58 is 9.0 meters away at (-1.6, 8.8). A vehicle with ID 60 is 12.7 meters away at (-11.3, 5.7). A vehicle with ID 77 is 16.6 meters away at (-5.2, -15.8). A vehicle with ID 63 is 18.2 meters away at (-11.5, 14.1). A unknown object with ID 66 is 18.9 meters away at (-4.0, 18.5). A unknown object with ID 67 is 19.0 meters away at (-4.0, 18.6). A vehicle with ID 64 is 19.1 meters away at (-10.2, 16.1).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [ 0.4241156  -0.34186652] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -0.8) m/s. Its current heading (yaw) is -0.26

The most relevant actors are: A vehicle with ID 55 is 5.9 meters away at (-5.9, 0.1). A vehicle with ID 14 is 7.0 meters away at (-0.5, 7.0). A vehicle with ID 57 is 10.8 meters away at (-10.2, 3.8). A vehicle with ID 58 is 11.8 meters away at (-4.9, 10.8). A vehicle with ID 77 is 16.2 meters away at (-8.5, -13.8). A vehicle with ID 70 is 16.4 meters away at (9.5, -13.3). A vehicle with ID 60 is 16.5 meters away at (-14.6, 7.6). A vehicle with ID 54 is 17.7 meters away at (13.4, 11.6). A vehicle with ID 62 is 18.6 meters away at (16.9, -7.7). A vehicle with ID 63 is 20.1 meters away at (-13.7, 14.8).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 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 77 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 60 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 62 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 [ 0.83666164 -0.61671114] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 2.8) m/s. Its current heading (yaw) is 0.58

The most relevant actors are: A vehicle with ID 14 is 10.3 meters away at (-8.6, 5.6). A vehicle with ID 54 is 11.5 meters away at (5.3, 10.2). A vehicle with ID 62 is 12.6 meters away at (8.8, -9.0). A vehicle with ID 55 is 14.1 meters away at (-14.0, -1.3). A vehicle with ID 70 is 14.7 meters away at (1.5, -14.7). A vehicle with ID 58 is 16.1 meters away at (-13.0, 9.4). A vehicle with ID 52 is 16.9 meters away at (8.8, 14.4). A vehicle with ID 57 is 18.4 meters away at (-18.3, 2.4). A vehicle with ID 73 is 18.7 meters away at (13.3, -13.2). A vehicle with ID 75 is 18.9 meters away at (5.4, -18.1).

The vehicle with ID 14 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 62 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 70 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[66.259834 66.239456]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 4.7) m/s. Its current heading (yaw) is 0.83

The most relevant actors are: A vehicle with ID 54 is 3.9 meters away at (-3.2, 2.2). A vehicle with ID 52 is 6.4 meters away at (0.2, 6.4). A unknown object with ID 41 is 8.0 meters away at (-8.0, -0.4). A vehicle with ID 12 is 10.9 meters away at (3.5, 10.3). A vehicle with ID 11 is 16.1 meters away at (7.1, 14.4). A vehicle with ID 62 is 16.9 meters away at (0.4, -16.9). A vehicle with ID 14 is 17.2 meters away at (-17.1, -2.4). A vehicle with ID 58 is 21.5 meters away at (-21.5, 1.4). A vehicle with ID 73 is 21.6 meters away at (4.9, -21.0). A vehicle with ID 13 is 21.8 meters away at (10.7, 19.0).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 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 14 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[66.259834 66.239456]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, -5.2) m/s. Its current heading (yaw) is -2.49

The most relevant actors are: A vehicle with ID 27 is 4.4 meters away at (1.7, -4.1). A unknown object with ID 11 is 5.5 meters away at (1.9, 5.2). A vehicle with ID 26 is 7.5 meters away at (5.5, -5.1). A vehicle with ID 23 is 8.0 meters away at (8.0, 0.8). A vehicle with ID 30 is 9.8 meters away at (0.2, -9.8). A vehicle with ID 3 is 10.0 meters away at (8.1, 5.8). A vehicle with ID 24 is 11.3 meters away at (11.2, -1.2). A vehicle with ID 31 is 16.1 meters away at (-6.1, -14.9). A unknown object with ID 17 is 18.3 meters away at (18.0, -2.9). A unknown object with ID 25 is 20.9 meters away at (20.7, -3.2).

The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-6.6652837 -4.821254 ] m/s.The vehicle with ID 24 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 unknown object with ID 17 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, -6.2) m/s. Its current heading (yaw) is -2.46

The most relevant actors are: A vehicle with ID 41 is 4.3 meters away at (0.5, -4.3). A vehicle with ID 31 is 9.0 meters away at (8.3, -3.6). A vehicle with ID 32 is 9.6 meters away at (0.0, -9.6). A vehicle with ID 3 is 10.6 meters away at (8.5, 6.4). A vehicle with ID 37 is 14.3 meters away at (-5.9, -13.1). A vehicle with ID 30 is 14.7 meters away at (14.6, 1.6). A vehicle with ID 27 is 17.5 meters away at (16.0, 7.2). A vehicle with ID 26 is 20.8 meters away at (19.9, 6.3). A unknown object with ID 7 is 22.7 meters away at (-7.2, -21.6). A vehicle with ID 40 is 23.3 meters away at (-13.1, -19.2).

The vehicle with ID 41 is traveling at a (x, y) velocity of [3.6298223 2.8103817] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.4395833 -5.840439 ] m/s.The vehicle with ID 37 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 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 (-8.3, -6.9) m/s. Its current heading (yaw) is -2.45

The most relevant actors are: A vehicle with ID 40 is 6.8 meters away at (3.0, -6.0). A vehicle with ID 37 is 10.1 meters away at (10.1, 0.1). A vehicle with ID 3 is 12.1 meters away at (9.5, 7.6). A vehicle with ID 46 is 13.5 meters away at (-4.1, -12.8). A vehicle with ID 32 is 16.4 meters away at (16.0, 3.6). A vehicle with ID 41 is 25.9 meters away at (22.2, 13.3). A vehicle with ID 31 is 26.1 meters away at (24.2, 9.6). A vehicle with ID 5 is 28.3 meters away at (-18.3, -21.6). A vehicle with ID 30 is 34.1 meters away at (30.6, 14.9). A vehicle with ID 27 is 38.0 meters away at (32.0, 20.5).

The vehicle with ID 40 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 3 is traveling at a (x, y) velocity of [-7.8221364 -6.31006  ] m/s.The vehicle with ID 46 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 41 is traveling at a (x, y) velocity of [1.9086759 1.5015532] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, -6.5) m/s. Its current heading (yaw) is -2.44

The most relevant actors are: A vehicle with ID 5 is 8.9 meters away at (-2.5, -8.5). A vehicle with ID 46 is 11.3 meters away at (11.3, 0.2). A vehicle with ID 3 is 12.8 meters away at (9.9, 8.1). A vehicle with ID 9 is 14.2 meters away at (14.1, 1.8). A vehicle with ID 40 is 20.1 meters away at (18.8, 7.2). A unknown object with ID 6 is 21.0 meters away at (10.8, 18.0). A vehicle with ID 37 is 29.1 meters away at (25.9, 13.3). A vehicle with ID 32 is 36.1 meters away at (31.9, 16.9). A vehicle with ID 18 is 36.4 meters away at (-30.2, -20.4). A vehicle with ID 31 is 46.2 meters away at (40.1, 23.0).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.787929  -6.4223166] m/s.The vehicle with ID 9 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 6 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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 (-1.5, 2.9) m/s. Its current heading (yaw) is 2.05

The most relevant actors are: A unknown object with ID 45 is 8.1 meters away at (-7.9, 1.6). A vehicle with ID 42 is 9.8 meters away at (-7.7, -6.0). A unknown object with ID 46 is 10.1 meters away at (-9.9, 1.7). A vehicle with ID 44 is 11.1 meters away at (-9.9, -5.0). A vehicle with ID 48 is 12.6 meters away at (4.6, 11.7). A vehicle with ID 50 is 15.7 meters away at (-3.0, 15.4). A vehicle with ID 49 is 16.1 meters away at (3.7, 15.6). A pedestrian with ID 41 is 16.7 meters away at (-0.4, -16.7). A unknown object with ID 51 is 18.5 meters away at (-14.4, 11.6). A pedestrian with ID 43 is 18.9 meters away at (-1.2, -18.9).

The unknown object 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 46 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 [-0.40681633 -1.3595432 ] m/s.The unknown object with ID 51 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 [-0.37856272 -1.5030193 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-7.9034724  1.593934 ], 8.062599182128906 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 2.9) m/s. Its current heading (yaw) is 2.34

The most relevant actors are: A unknown object with ID 45 is 5.7 meters away at (-3.3, -4.7). A unknown object with ID 46 is 6.9 meters away at (-5.2, -4.6). A vehicle with ID 50 is 9.3 meters away at (1.6, 9.2). A vehicle with ID 48 is 10.6 meters away at (9.1, 5.6). A unknown object with ID 51 is 11.2 meters away at (-9.8, 5.4). A vehicle with ID 44 is 12.4 meters away at (-5.4, -11.2). A vehicle with ID 49 is 12.5 meters away at (8.2, 9.4). A vehicle with ID 42 is 12.6 meters away at (-3.2, -12.2). A unknown object with ID 55 is 14.4 meters away at (-13.7, 4.5). A pedestrian with ID 54 is 14.8 meters away at (-14.6, 2.3).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 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 unknown object with ID 51 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.02766255  0.00582944] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-3.2752428 -4.6685767], 5.702878475189209 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 2.8) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A unknown object with ID 51 is 4.0 meters away at (-4.0, -0.2). A unknown object with ID 55 is 8.0 meters away at (-7.9, -1.1). A unknown object with ID 40 is 8.0 meters away at (-7.5, 2.6). A vehicle with ID 50 is 8.2 meters away at (7.4, 3.6). A pedestrian with ID 54 is 9.4 meters away at (-8.8, -3.3). A unknown object with ID 57 is 9.7 meters away at (-9.7, -0.3). A unknown object with ID 46 is 10.2 meters away at (0.6, -10.1). A unknown object with ID 45 is 10.5 meters away at (2.5, -10.2). A unknown object with ID 39 is 11.6 meters away at (-10.7, 4.3). A vehicle with ID 62 is 12.9 meters away at (1.8, 12.8).

The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00536405 0.0013616 ] 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-4.0238085  -0.15552521], 4.02681303024292 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 2.5) m/s. Its current heading (yaw) is 2.68

The most relevant actors are: A unknown object with ID 39 is 2.4 meters away at (-2.1, -1.2). A unknown object with ID 40 is 3.0 meters away at (1.1, -2.8). A unknown object with ID 38 is 4.2 meters away at (-4.2, -0.2). A unknown object with ID 57 is 5.9 meters away at (-1.1, -5.8). A unknown object with ID 55 is 6.6 meters away at (0.8, -6.5). A unknown object with ID 51 is 7.3 meters away at (4.6, -5.6). A unknown object with ID 37 is 7.7 meters away at (-7.6, 1.3). A pedestrian with ID 54 is 8.7 meters away at (-0.1, -8.7). A vehicle with ID 14 is 10.3 meters away at (-10.3, 0.5). A pedestrian with ID 59 is 10.7 meters away at (-10.4, -2.4).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 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 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 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 pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.00639668 -0.00842201] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.6356774   0.12951076] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.071804  -1.2074013], 2.3979554176330566 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 5.1) m/s. Its current heading (yaw) is 2.30

The most relevant actors are: A unknown object with ID 105 is 7.5 meters away at (0.3, 7.5). A pedestrian with ID 111 is 9.6 meters away at (3.8, 8.8). A vehicle with ID 104 is 10.5 meters away at (-10.5, -0.1). A unknown object with ID 101 is 11.8 meters away at (-9.1, -7.6). A vehicle with ID 103 is 11.9 meters away at (-11.6, -2.7). A pedestrian with ID 109 is 12.7 meters away at (10.0, 7.7). A pedestrian with ID 110 is 13.4 meters away at (10.4, 8.5). A unknown object with ID 63 is 13.5 meters away at (-6.1, 12.0). A unknown object with ID 78 is 13.8 meters away at (-12.8, -5.2). A pedestrian with ID 99 is 18.1 meters away at (-5.2, -17.4).

The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [ 0.23711255 -1.1273181 ] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [ 1.2011813  -0.63837713] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 1.1762733 -0.6643677] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.7059518 -1.4482776] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [0.26764297 7.4625177 ], 7.467315673828125 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 5.0) m/s. Its current heading (yaw) is 2.52

The most relevant actors are: A unknown object with ID 63 is 6.2 meters away at (5.8, 2.2). A unknown object with ID 74 is 7.5 meters away at (-1.3, 7.4). A vehicle with ID 104 is 9.9 meters away at (1.4, -9.8). A unknown object with ID 105 is 12.5 meters away at (12.2, -2.2). A vehicle with ID 103 is 12.5 meters away at (0.3, -12.5). A unknown object with ID 75 is 13.3 meters away at (-4.4, -12.6). A unknown object with ID 116 is 14.3 meters away at (-12.1, -7.6). A pedestrian with ID 111 is 16.2 meters away at (16.0, -3.0). A pedestrian with ID 109 is 24.7 meters away at (24.4, -3.5). A pedestrian with ID 110 is 24.9 meters away at (24.8, -2.7).

The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [ 0.00885644 -0.8602401 ] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [ 1.1838815  -0.71887493] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 1.1465188  -0.77449316] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [5.768282  2.2384167], 6.187373161315918 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 6.6) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A unknown object with ID 82 is 6.2 meters away at (-1.2, 6.1). A unknown object with ID 97 is 13.9 meters away at (-8.6, 10.9). A unknown object with ID 74 is 14.4 meters away at (13.7, -4.3). A unknown object with ID 96 is 15.2 meters away at (-4.4, -14.5). A unknown object with ID 85 is 15.5 meters away at (-12.3, -9.4). A unknown object with ID 116 is 19.5 meters away at (3.0, -19.3). A pedestrian with ID 56 is 19.8 meters away at (-16.9, -10.4). A unknown object with ID 83 is 20.5 meters away at (-20.0, -4.4). A unknown object with ID 61 is 20.8 meters away at (-19.3, 7.8). A unknown object with ID 75 is 26.5 meters away at (10.7, -24.2).

The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-1.3282893   0.89064693] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-1.1980934  6.0808372], 6.197742462158203 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, 6.1) m/s. Its current heading (yaw) is 2.52

The most relevant actors are: A unknown object with ID 65 is 2.8 meters away at (0.5, 2.7). A unknown object with ID 61 is 5.9 meters away at (-2.7, -5.2). A unknown object with ID 97 is 8.3 meters away at (8.0, -2.2). A unknown object with ID 70 is 10.6 meters away at (-7.2, 7.7). A unknown object with ID 59 is 16.7 meters away at (-11.1, -12.5). A unknown object with ID 82 is 16.9 meters away at (15.4, -7.0). A unknown object with ID 83 is 17.8 meters away at (-3.4, -17.5). A unknown object with ID 26 is 19.8 meters away at (-15.1, 12.9). A unknown object with ID 33 is 20.0 meters away at (-18.5, -7.7). A pedestrian with ID 57 is 20.0 meters away at (-14.4, -13.9).

The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.3192747  1.0785531] m/s.

There are active red lights at the following coordinates: [[-3.363882 -1.378779]
 [-5.270637  4.649142]]

Instruction: Continue straight.

(The closest actor is a unknown object at [0.49356842 2.7400742 ], 2.784172534942627 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 4.6) m/s. Its current heading (yaw) is 0.78

The most relevant actors are: A unknown object with ID 36 is 5.1 meters away at (-4.4, 2.5). A vehicle with ID 66 is 5.6 meters away at (0.4, 5.6). A vehicle with ID 61 is 12.8 meters away at (-12.8, -0.3). A vehicle with ID 24 is 14.1 meters away at (6.5, 12.5). A vehicle with ID 63 is 16.1 meters away at (-7.5, -14.3). A vehicle with ID 71 is 16.3 meters away at (4.9, -15.6). A vehicle with ID 64 is 16.9 meters away at (-16.6, 3.2). A vehicle with ID 62 is 17.0 meters away at (-16.3, -4.9). A vehicle with ID 68 is 20.3 meters away at (-3.2, -20.0). A vehicle with ID 25 is 21.0 meters away at (11.3, 17.7).

The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 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 63 is traveling at a (x, y) velocity of [ 4.3305225 -1.0901382] m/s.The vehicle with ID 71 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 62 is traveling at a (x, y) velocity of [ 1.5991383 -1.4269223] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-4.427996   2.5294347], 5.0995283126831055 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.4) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 24 is 3.5 meters away at (-2.5, 2.5). A vehicle with ID 25 is 7.9 meters away at (2.1, 7.6). A vehicle with ID 66 is 9.8 meters away at (-8.7, -4.5). A pedestrian with ID 18 is 11.5 meters away at (10.2, 5.4). A vehicle with ID 26 is 13.2 meters away at (5.3, 12.0). A vehicle with ID 89 is 13.7 meters away at (13.3, 3.3). A vehicle with ID 90 is 15.6 meters away at (15.5, 1.3). A vehicle with ID 94 is 21.3 meters away at (21.0, -3.7). A vehicle with ID 61 is 24.3 meters away at (-22.0, -10.4). A vehicle with ID 71 is 26.0 meters away at (-4.2, -25.6).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.90494114 1.1176858 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 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 (4.7, 5.3) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A pedestrian with ID 18 is 3.9 meters away at (2.6, -3.0). A vehicle with ID 26 is 4.1 meters away at (-3.9, 1.3). A vehicle with ID 25 is 7.7 meters away at (-7.1, -3.1). A vehicle with ID 89 is 8.5 meters away at (4.1, -7.4). A vehicle with ID 90 is 11.3 meters away at (6.3, -9.4). A vehicle with ID 24 is 14.3 meters away at (-11.7, -8.3). A vehicle with ID 59 is 15.1 meters away at (0.7, 15.1). A vehicle with ID 60 is 17.2 meters away at (-1.3, 17.1). A vehicle with ID 94 is 18.6 meters away at (11.8, -14.4). A vehicle with ID 11 is 20.5 meters away at (-5.2, 19.9).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.847473  1.2172418] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.0) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 59 is 9.7 meters away at (-8.3, 4.9). A pedestrian with ID 18 is 11.9 meters away at (-4.6, -11.0). A unknown object with ID 40 is 12.0 meters away at (0.2, 12.0). A vehicle with ID 60 is 12.4 meters away at (-10.3, 6.9). A vehicle with ID 26 is 15.8 meters away at (-13.0, -9.0). A vehicle with ID 4 is 16.1 meters away at (-2.5, 15.9). A vehicle with ID 11 is 17.2 meters away at (-14.2, 9.7). A vehicle with ID 89 is 18.6 meters away at (-5.1, -17.9). A vehicle with ID 90 is 19.9 meters away at (-2.9, -19.7). A vehicle with ID 12 is 19.9 meters away at (-16.1, 11.7).

The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [1.0518297 1.0422462] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.4) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A unknown object with ID 61 is 19.3 meters away at (-6.8, -18.0). A unknown object with ID 60 is 19.4 meters away at (-9.0, -17.1). A unknown object with ID 62 is 19.5 meters away at (-4.5, -19.0). A unknown object with ID 59 is 19.8 meters away at (-11.8, -15.9). A unknown object with ID 63 is 19.8 meters away at (-3.1, -19.6). A unknown object with ID 64 is 20.3 meters away at (-1.6, -20.2). A unknown object with ID 58 is 21.0 meters away at (-15.1, -14.6). A unknown object with ID 65 is 22.2 meters away at (-4.0, -21.8). A unknown object with ID 35 is 23.1 meters away at (-18.9, -13.2). A unknown object with ID 51 is 25.3 meters away at (-22.1, 12.2).

The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [ -6.7665677 -18.02666  ], 19.254789352416992 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -1.9) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A unknown object with ID 64 is 20.3 meters away at (-12.5, -16.0). A unknown object with ID 63 is 20.7 meters away at (-14.0, -15.3). A unknown object with ID 62 is 21.3 meters away at (-15.4, -14.7). A unknown object with ID 61 is 22.4 meters away at (-17.7, -13.7). A unknown object with ID 65 is 22.9 meters away at (-14.9, -17.4). A unknown object with ID 60 is 23.7 meters away at (-20.0, -12.8). A unknown object with ID 59 is 25.5 meters away at (-22.7, -11.6). A unknown object with ID 58 is 28.0 meters away at (-26.1, -10.3). A unknown object with ID 35 is 31.1 meters away at (-29.9, -8.8). A vehicle with ID 43 is 31.4 meters away at (-5.5, -30.9).

The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-12.480446 -15.982875], 20.27840805053711 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -0.5) m/s. Its current heading (yaw) is -0.14

The most relevant actors are: A cyclist with ID 13 is 18.5 meters away at (-5.6, -17.6). A vehicle with ID 8 is 23.6 meters away at (-23.6, 0.8). A unknown object with ID 64 is 24.7 meters away at (-20.7, -13.4). A unknown object with ID 63 is 25.6 meters away at (-22.3, -12.7). A unknown object with ID 62 is 26.6 meters away at (-23.7, -12.1). A unknown object with ID 65 is 27.6 meters away at (-23.3, -14.9). A unknown object with ID 61 is 28.2 meters away at (-26.0, -11.1). A unknown object with ID 60 is 30.0 meters away at (-28.2, -10.2). A vehicle with ID 43 is 31.4 meters away at (-13.7, -28.3). A vehicle with ID 23 is 31.7 meters away at (-11.5, -29.6).

The cyclist with ID 13 is traveling at a (x, y) velocity of [-11.439627    5.2820363] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [12.083422  -5.7156324] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 0.4) m/s. Its current heading (yaw) is 0.12

The most relevant actors are: A vehicle with ID 8 is 12.4 meters away at (-8.8, -8.8). A unknown object with ID 41 is 29.4 meters away at (-19.9, -21.6). A unknown object with ID 64 is 30.0 meters away at (-26.9, -13.3). A unknown object with ID 63 is 31.1 meters away at (-28.5, -12.6). A unknown object with ID 62 is 32.2 meters away at (-29.8, -12.0). A unknown object with ID 65 is 32.9 meters away at (-29.5, -14.8). A unknown object with ID 61 is 34.0 meters away at (-32.1, -11.0). A vehicle with ID 23 is 34.4 meters away at (-17.7, -29.6). A vehicle with ID 43 is 34.5 meters away at (-19.8, -28.2). A unknown object with ID 4 is 35.7 meters away at (24.0, 26.4).

The vehicle with ID 8 is traveling at a (x, y) velocity of [ 8.950212 -4.200206] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, 6.9) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A pedestrian with ID 30 is 41.6 meters away at (16.4, 38.3). A vehicle with ID 9 is 58.0 meters away at (-35.9, -45.5). A vehicle with ID 29 is 61.0 meters away at (19.8, 57.7). A vehicle with ID 22 is 64.4 meters away at (39.3, 51.0). A cyclist with ID 7 is 65.9 meters away at (34.4, 56.3). A cyclist with ID 5 is 72.2 meters away at (53.9, 48.1). A vehicle with ID 32 is 73.9 meters away at (-58.3, -45.5).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.122718  -1.3485945] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [3.6800942 5.3873734] m/s.The vehicle with ID 29 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 [-10.009797 -10.525532] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [ 0.03198614 -0.02293616] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [ 0.02644351 -0.01791742] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.9955635  2.767867 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [16.38129 38.25135], 41.611446380615234 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, 6.6) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A unknown object with ID 16 is 17.8 meters away at (-8.7, 15.6). A vehicle with ID 22 is 18.9 meters away at (8.5, 16.9). A pedestrian with ID 30 is 22.1 meters away at (2.8, 22.0). A vehicle with ID 15 is 44.9 meters away at (8.5, 44.0). A vehicle with ID 29 is 44.9 meters away at (8.4, 44.1). A cyclist with ID 7 is 48.5 meters away at (23.5, 42.4). A cyclist with ID 5 is 55.1 meters away at (42.2, 35.4). A vehicle with ID 9 is 60.5 meters away at (-37.0, -47.8). A vehicle with ID 1 is 71.8 meters away at (-29.9, 65.3).

The unknown object with ID 16 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 [ -9.641485 -10.378123] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.0126626 -1.2929202] m/s.The vehicle with ID 15 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 cyclist with ID 7 is traveling at a (x, y) velocity of [ 1.2731702  -0.64023644] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-0.4155377  1.012581 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [5.9146914 6.5364094] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.803027  -3.4684722] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-8.66474  15.600489], 17.84524917602539 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 4.7) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A pedestrian with ID 30 is 11.9 meters away at (-9.0, 7.9). A vehicle with ID 22 is 26.6 meters away at (-21.1, -16.2). A cyclist with ID 7 is 32.5 meters away at (16.6, 27.9). A vehicle with ID 15 is 32.5 meters away at (-1.0, 32.5). A vehicle with ID 29 is 32.6 meters away at (-1.0, 32.6). A vehicle with ID 2 is 38.9 meters away at (37.3, 11.2). A cyclist with ID 5 is 40.5 meters away at (31.4, 25.5). A vehicle with ID 1 is 55.7 meters away at (-28.5, 47.8). A vehicle with ID 9 is 55.8 meters away at (-33.7, -44.5). A unknown object with ID 14 is 62.8 meters away at (37.3, 50.5).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.1345845 -1.3892277] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-10.2078705 -11.341927 ] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [ 0.63727504 -2.0910115 ] m/s.The vehicle with ID 15 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 [ 0.53186536 -0.29663318] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-1.175594    0.80474436] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.243087  -2.5112114] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [7.0396414 8.155435 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.