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

The most relevant actors are: A unknown object with ID 67 is 6.0 meters away at (-0.1, -6.0). A unknown object with ID 17 is 6.5 meters away at (-2.7, -6.0). A unknown object with ID 72 is 7.9 meters away at (-5.1, -6.1). A vehicle with ID 64 is 11.3 meters away at (6.2, -9.4). A vehicle with ID 63 is 17.9 meters away at (13.3, -12.0). A vehicle with ID 36 is 19.3 meters away at (-7.2, -17.9). A vehicle with ID 75 is 21.0 meters away at (-2.8, 20.8). A pedestrian with ID 62 is 21.1 meters away at (0.2, 21.1). A vehicle with ID 14 is 21.9 meters away at (-8.5, -20.2). A vehicle with ID 66 is 23.9 meters away at (19.5, -13.8).

The unknown object with ID 67 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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 pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.36430028 -1.2238666 ] m/s.The vehicle with ID 14 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -1.3) m/s. Its current heading (yaw) is -2.85

The most relevant actors are: A unknown object with ID 72 is 8.3 meters away at (4.3, -7.1). A unknown object with ID 17 is 9.7 meters away at (6.7, -7.1). A unknown object with ID 67 is 11.7 meters away at (9.3, -7.1). A vehicle with ID 64 is 18.9 meters away at (15.6, -10.6). A vehicle with ID 36 is 19.1 meters away at (2.1, -19.0). A pedestrian with ID 62 is 20.0 meters away at (9.4, 17.6). A unknown object with ID 40 is 20.4 meters away at (-20.0, -4.0). A vehicle with ID 65 is 20.7 meters away at (-14.6, -14.6). A unknown object with ID 77 is 20.9 meters away at (-1.0, 20.9). A vehicle with ID 75 is 20.9 meters away at (6.8, 19.8).

The unknown object with ID 72 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.12049587 -1.3006092 ] m/s.The unknown object with ID 40 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 unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 4.297611 -7.136322], 8.330459594726562 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -4.6) m/s. Its current heading (yaw) is -2.01

The most relevant actors are: A unknown object with ID 25 is 10.4 meters away at (-8.4, -6.2). A unknown object with ID 72 is 11.3 meters away at (11.3, -1.0). A vehicle with ID 65 is 11.4 meters away at (-7.6, -8.4). A unknown object with ID 40 is 13.2 meters away at (-13.0, 2.1). A unknown object with ID 17 is 13.8 meters away at (13.7, -0.9). A vehicle with ID 36 is 15.6 meters away at (9.0, -12.8). A unknown object with ID 28 is 15.9 meters away at (-15.6, 2.9). A unknown object with ID 67 is 16.3 meters away at (16.3, -1.0). A vehicle with ID 14 is 17.0 meters away at (7.9, -15.0). A unknown object with ID 44 is 17.8 meters away at (-17.4, 3.6).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-8.377409  -6.1867056], 10.414236068725586 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -5.4) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 65 is 4.1 meters away at (-3.8, 1.6). A vehicle with ID 14 is 12.8 meters away at (11.7, -5.0). A vehicle with ID 36 is 13.1 meters away at (12.8, -2.7). A vehicle with ID 31 is 13.8 meters away at (9.8, -9.7). A unknown object with ID 72 is 17.6 meters away at (15.1, 9.1). A unknown object with ID 17 is 19.8 meters away at (17.5, 9.2). A vehicle with ID 11 is 20.1 meters away at (-10.2, -17.3). A unknown object with ID 12 is 20.6 meters away at (-14.3, -14.8). A unknown object with ID 67 is 22.1 meters away at (20.1, 9.2). A vehicle with ID 64 is 26.9 meters away at (26.3, 5.6).

The vehicle with ID 65 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 36 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 72 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 vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -0.6) m/s. Its current heading (yaw) is -2.77

The most relevant actors are: A vehicle with ID 15 is 17.6 meters away at (17.3, -3.1). A vehicle with ID 6 is 30.0 meters away at (11.9, 27.5). A vehicle with ID 18 is 31.1 meters away at (-6.0, 30.5). A vehicle with ID 14 is 32.2 meters away at (-5.5, -31.8). A vehicle with ID 19 is 39.2 meters away at (37.9, 10.2). A unknown object with ID 10 is 55.0 meters away at (52.7, 15.7).

The vehicle with ID 15 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 [ 2.8297606  -0.37096542] m/s.The vehicle with ID 18 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.1) m/s. Its current heading (yaw) is -2.77

The most relevant actors are: A unknown object with ID 8 is 15.7 meters away at (-8.4, 13.3). A vehicle with ID 15 is 18.4 meters away at (18.2, -2.7). A vehicle with ID 18 is 31.3 meters away at (-5.0, 30.9). A vehicle with ID 14 is 31.8 meters away at (-4.6, -31.5). A vehicle with ID 19 is 40.2 meters away at (38.8, 10.6). A unknown object with ID 4 is 54.0 meters away at (53.6, 7.1). A unknown object with ID 3 is 54.8 meters away at (54.4, 7.2).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 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 19 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.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-8.40201  13.321259], 15.749593734741211 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.0) m/s. Its current heading (yaw) is -2.32

The most relevant actors are: A vehicle with ID 15 is 20.9 meters away at (20.9, -1.1). A vehicle with ID 14 is 29.8 meters away at (-2.0, -29.7). A vehicle with ID 18 is 32.7 meters away at (-2.3, 32.6). A vehicle with ID 19 is 43.2 meters away at (41.4, 12.2).

The vehicle with ID 15 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -3.9) m/s. Its current heading (yaw) is -1.63

The most relevant actors are: A vehicle with ID 14 is 23.6 meters away at (0.7, -23.6). A vehicle with ID 15 is 24.1 meters away at (23.5, 5.2). A vehicle with ID 18 is 38.7 meters away at (0.3, 38.7). A vehicle with ID 19 is 47.8 meters away at (44.2, 18.3). A vehicle with ID 1 is 76.2 meters away at (28.1, -70.8).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.4) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A unknown object with ID 26 is 17.3 meters away at (-13.6, -10.8). A unknown object with ID 27 is 17.5 meters away at (-14.1, -10.4). A unknown object with ID 9 is 17.6 meters away at (-14.2, -10.4). A unknown object with ID 28 is 17.7 meters away at (-14.8, -9.9). A vehicle with ID 29 is 17.8 meters away at (0.6, 17.8). A pedestrian with ID 16 is 18.2 meters away at (0.9, -18.2). A unknown object with ID 15 is 19.5 meters away at (-15.0, -12.5). A pedestrian with ID 21 is 19.6 meters away at (1.1, -19.6). A pedestrian with ID 24 is 20.1 meters away at (0.5, -20.1). A unknown object with ID 30 is 20.1 meters away at (-16.5, -11.5).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.00090036  0.00177962] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00928067  0.00776884] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00319533 -0.02883266] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-13.570875 -10.761994], 17.3201961517334 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 29 is 17.5 meters away at (0.4, 17.5). A unknown object with ID 26 is 17.7 meters away at (-13.8, -11.1). A unknown object with ID 27 is 17.9 meters away at (-14.3, -10.6). A unknown object with ID 28 is 18.1 meters away at (-15.0, -10.1). A pedestrian with ID 16 is 18.4 meters away at (0.6, -18.4). A pedestrian with ID 21 is 19.8 meters away at (0.9, -19.8). A unknown object with ID 15 is 19.9 meters away at (-15.2, -12.8). A unknown object with ID 30 is 20.5 meters away at (-16.7, -11.8). A unknown object with ID 22 is 21.3 meters away at (-17.2, -12.6). A unknown object with ID 31 is 21.4 meters away at (-16.5, -13.6).

The vehicle with ID 29 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01919129  0.0025353 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.01349362 -0.01813407] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 29 is 17.4 meters away at (0.4, 17.4). A unknown object with ID 26 is 17.8 meters away at (-13.9, -11.1). A unknown object with ID 27 is 17.9 meters away at (-14.4, -10.6). A unknown object with ID 28 is 18.2 meters away at (-15.0, -10.2). A pedestrian with ID 16 is 18.5 meters away at (0.6, -18.5). A pedestrian with ID 21 is 19.8 meters away at (0.8, -19.8). A unknown object with ID 15 is 19.9 meters away at (-15.3, -12.8). A vehicle with ID 41 is 20.0 meters away at (-13.4, -14.9). A unknown object with ID 30 is 20.5 meters away at (-16.8, -11.9). A unknown object with ID 22 is 21.4 meters away at (-17.2, -12.6).

The vehicle with ID 29 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.00254303 -0.00355281] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00481462 0.00146947] m/s.The unknown object with ID 15 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 [4.3531766 4.6888685] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 41 is 10.8 meters away at (-7.1, -8.1). A vehicle with ID 29 is 17.4 meters away at (0.3, 17.4). A unknown object with ID 26 is 17.8 meters away at (-13.8, -11.1). A unknown object with ID 27 is 17.9 meters away at (-14.4, -10.7). A unknown object with ID 28 is 18.2 meters away at (-15.0, -10.2). A pedestrian with ID 16 is 18.5 meters away at (0.6, -18.5). A pedestrian with ID 21 is 19.8 meters away at (0.8, -19.8). A unknown object with ID 30 is 20.5 meters away at (-16.8, -11.9). A unknown object with ID 22 is 21.4 meters away at (-17.2, -12.7). A unknown object with ID 31 is 21.4 meters away at (-16.5, -13.6).

The vehicle with ID 41 is traveling at a (x, y) velocity of [1.8117551 1.9558551] m/s.The vehicle with ID 29 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00017823 0.00072175] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00105698  0.0013393 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 6.4) m/s. Its current heading (yaw) is 2.10

The most relevant actors are: A vehicle with ID 23 is 19.3 meters away at (2.9, -19.1). A vehicle with ID 24 is 24.2 meters away at (5.0, -23.7). A vehicle with ID 25 is 29.6 meters away at (7.5, -28.6). A vehicle with ID 26 is 35.6 meters away at (10.0, -34.2). A vehicle with ID 27 is 41.9 meters away at (12.3, -40.1). A vehicle with ID 28 is 48.5 meters away at (15.2, -46.0). A vehicle with ID 14 is 58.1 meters away at (18.6, -55.1).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 7.1) m/s. Its current heading (yaw) is 1.98

The most relevant actors are: A pedestrian with ID 12 is 15.3 meters away at (-13.6, -7.1). A unknown object with ID 13 is 27.0 meters away at (-26.8, -3.1). A vehicle with ID 23 is 33.8 meters away at (10.5, -32.1). A vehicle with ID 24 is 38.8 meters away at (12.7, -36.7). A vehicle with ID 25 is 44.3 meters away at (15.1, -41.6). A vehicle with ID 26 is 50.3 meters away at (17.5, -47.1). A vehicle with ID 27 is 56.8 meters away at (19.9, -53.2). A vehicle with ID 28 is 63.2 meters away at (22.5, -59.1). A vehicle with ID 6 is 75.0 meters away at (-33.1, 67.3).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.75246495  1.0500072 ] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 6 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 (-3.1, 7.6) m/s. Its current heading (yaw) is 1.96

The most relevant actors are: A unknown object with ID 15 is 7.4 meters away at (-2.7, -6.8). A vehicle with ID 23 is 49.3 meters away at (16.8, -46.4). A vehicle with ID 24 is 54.3 meters away at (19.1, -50.8). A vehicle with ID 6 is 59.3 meters away at (-26.7, 53.0). A vehicle with ID 25 is 59.9 meters away at (21.5, -55.9). A vehicle with ID 26 is 65.9 meters away at (23.8, -61.4). A vehicle with ID 4 is 66.4 meters away at (-29.5, 59.5). A vehicle with ID 27 is 72.4 meters away at (26.1, -67.5).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 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 closest actor is a unknown object at [-2.7345543 -6.831005 ], 7.358017444610596 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 7.5) m/s. Its current heading (yaw) is 1.95

The most relevant actors are: A vehicle with ID 22 is 35.6 meters away at (-20.6, -29.0). A vehicle with ID 6 is 43.0 meters away at (-20.1, 38.1). A vehicle with ID 4 is 50.1 meters away at (-22.9, 44.6). A vehicle with ID 23 is 65.7 meters away at (23.5, -61.3). A vehicle with ID 3 is 67.2 meters away at (-29.8, 60.3). A vehicle with ID 24 is 70.7 meters away at (25.5, -66.0). A vehicle with ID 25 is 76.2 meters away at (28.1, -70.8).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (-1.1, -0.3) m/s. Its current heading (yaw) is -2.84

The most relevant actors are: A vehicle with ID 14 is 11.2 meters away at (4.4, 10.3). A vehicle with ID 1 is 16.3 meters away at (0.3, -16.3). A vehicle with ID 15 is 18.6 meters away at (1.1, 18.6). A vehicle with ID 18 is 21.2 meters away at (11.1, 18.0). A vehicle with ID 30 is 21.4 meters away at (-8.9, -19.5). A vehicle with ID 26 is 25.4 meters away at (18.1, 17.8). A vehicle with ID 34 is 26.4 meters away at (-6.5, -25.5). A vehicle with ID 23 is 30.2 meters away at (-1.4, 30.2). A vehicle with ID 22 is 30.9 meters away at (-4.2, 30.6). A vehicle with ID 44 is 32.1 meters away at (-4.4, -31.8).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 30 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 34 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 22 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.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.87

The most relevant actors are: A vehicle with ID 14 is 11.7 meters away at (5.0, 10.6). A vehicle with ID 1 is 16.1 meters away at (0.9, -16.1). A vehicle with ID 15 is 18.9 meters away at (1.7, 18.8). A vehicle with ID 30 is 21.0 meters away at (-8.3, -19.3). A vehicle with ID 18 is 21.6 meters away at (11.7, 18.2). A vehicle with ID 26 is 25.9 meters away at (18.6, 18.1). A vehicle with ID 34 is 26.0 meters away at (-5.9, -25.3). A vehicle with ID 23 is 30.4 meters away at (-0.9, 30.4). A vehicle with ID 22 is 31.1 meters away at (-3.6, 30.9). A vehicle with ID 44 is 31.9 meters away at (-3.8, -31.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 18 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 34 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 22 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.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -0.2) m/s. Its current heading (yaw) is -2.92

The most relevant actors are: A vehicle with ID 14 is 12.2 meters away at (5.7, 10.8). A vehicle with ID 16 is 14.4 meters away at (3.3, -14.0). A vehicle with ID 15 is 19.1 meters away at (2.3, 19.0). A vehicle with ID 30 is 20.5 meters away at (-7.5, -19.1). A vehicle with ID 18 is 22.2 meters away at (12.4, 18.4). A cyclist with ID 70 is 24.0 meters away at (23.8, 3.6). A vehicle with ID 34 is 25.6 meters away at (-5.1, -25.1). A vehicle with ID 26 is 26.6 meters away at (19.4, 18.3). A vehicle with ID 23 is 30.6 meters away at (-0.3, 30.6). A vehicle with ID 22 is 31.2 meters away at (-2.9, 31.1).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [-8.99337    -0.21958843] m/s.The vehicle with ID 34 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 22 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 (-2.4, 0.3) m/s. Its current heading (yaw) is 3.00

The most relevant actors are: A cyclist with ID 70 is 12.6 meters away at (12.5, 1.6). A vehicle with ID 14 is 14.1 meters away at (8.9, 11.0). A vehicle with ID 16 is 15.2 meters away at (6.5, -13.7). A vehicle with ID 30 is 19.4 meters away at (-4.2, -19.0). A vehicle with ID 15 is 19.9 meters away at (5.4, 19.2). A vehicle with ID 18 is 24.3 meters away at (15.5, 18.8). A vehicle with ID 34 is 25.1 meters away at (-1.7, -25.0). A vehicle with ID 26 is 29.1 meters away at (22.5, 18.5). A vehicle with ID 23 is 30.9 meters away at (2.8, 30.8). A vehicle with ID 22 is 31.2 meters away at (0.2, 31.2).

The cyclist with ID 70 is traveling at a (x, y) velocity of [-6.3030534 -1.5558988] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 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 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 0.2) m/s. Its current heading (yaw) is 3.09

The most relevant actors are: A vehicle with ID 33 is 3.2 meters away at (2.0, 2.6). A unknown object with ID 32 is 6.7 meters away at (0.9, -6.6). A unknown object with ID 31 is 6.9 meters away at (-1.5, -6.8). A unknown object with ID 34 is 7.5 meters away at (3.5, -6.7). A vehicle with ID 39 is 10.1 meters away at (10.1, 0.1). A vehicle with ID 40 is 11.1 meters away at (6.3, -9.1). A vehicle with ID 76 is 13.0 meters away at (-6.6, 11.2). A vehicle with ID 46 is 13.1 meters away at (-11.2, 6.8). A vehicle with ID 35 is 13.7 meters away at (-2.0, -13.6). A vehicle with ID 37 is 16.3 meters away at (-2.7, -16.1).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 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 [-1.1345809  0.470679 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -2.5) m/s. Its current heading (yaw) is -2.57

The most relevant actors are: A unknown object with ID 31 is 7.7 meters away at (6.1, -4.7). A unknown object with ID 32 is 9.6 meters away at (8.5, -4.5). A vehicle with ID 33 is 10.4 meters away at (9.2, 4.8). A vehicle with ID 76 is 11.4 meters away at (0.7, 11.4). A unknown object with ID 34 is 12.1 meters away at (11.1, -4.6). A vehicle with ID 46 is 12.3 meters away at (-7.0, 10.2). A vehicle with ID 35 is 12.8 meters away at (5.7, -11.5). A pedestrian with ID 43 is 14.8 meters away at (-14.8, 1.2). A vehicle with ID 37 is 14.8 meters away at (5.1, -14.0). A vehicle with ID 40 is 15.6 meters away at (14.0, -7.0).

The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-0.6255451 -2.4196367] m/s.The unknown object with ID 34 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 [-2.5227404   0.95782226] m/s.The vehicle with ID 35 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 [-0.02102609 -0.01411606] m/s.The vehicle with ID 37 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: Sharp right turn approaching

(The closest actor is a unknown object at [ 6.0827003 -4.667983 ], 7.667418479919434 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -2.6) m/s. Its current heading (yaw) is -2.45

The most relevant actors are: A pedestrian with ID 43 is 10.4 meters away at (-8.0, 6.6). A vehicle with ID 76 is 10.7 meters away at (4.8, 9.6). A unknown object with ID 31 is 12.9 meters away at (12.9, 0.9). A vehicle with ID 35 is 14.0 meters away at (12.6, -6.0). A vehicle with ID 37 is 14.5 meters away at (11.9, -8.4). A vehicle with ID 38 is 15.1 meters away at (10.8, -10.6). A unknown object with ID 32 is 15.4 meters away at (15.4, 1.0). A vehicle with ID 3 is 16.2 meters away at (9.7, -13.0). A vehicle with ID 45 is 17.1 meters away at (-8.6, -14.8). A unknown object with ID 34 is 18.0 meters away at (18.0, 1.0).

The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00893553 -0.00503412] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-2.041644 -4.649222] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object 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 [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -2.3) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 76 is 6.6 meters away at (5.4, 3.8). A vehicle with ID 45 is 10.8 meters away at (-4.2, -10.0). A pedestrian with ID 43 is 12.2 meters away at (-3.4, 11.7). A vehicle with ID 38 is 16.4 meters away at (15.3, -5.9). A vehicle with ID 3 is 16.4 meters away at (14.2, -8.2). A vehicle with ID 37 is 16.8 meters away at (16.4, -3.6). A vehicle with ID 35 is 17.1 meters away at (17.0, -1.2). A unknown object with ID 2 is 18.2 meters away at (-10.6, -14.8). A vehicle with ID 4 is 18.3 meters away at (12.6, -13.2). A unknown object with ID 31 is 18.4 meters away at (17.5, 5.7).

The vehicle with ID 76 is traveling at a (x, y) velocity of [-2.1921422 -6.2741637] m/s.The vehicle with ID 45 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 [-0.00797064  0.03135047] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 2.0) m/s. Its current heading (yaw) is 0.62

The most relevant actors are: A vehicle with ID 14 is 48.8 meters away at (-12.4, 47.1). A vehicle with ID 10 is 68.9 meters away at (-24.8, 64.2).

The vehicle with ID 14 is traveling at a (x, y) velocity of [ 4.5489664 -6.2157903] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 5.635858 -7.653279] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 4.1) m/s. Its current heading (yaw) is 0.92

The most relevant actors are: A vehicle with ID 14 is 32.8 meters away at (-11.0, 30.9). A vehicle with ID 10 is 49.6 meters away at (-20.9, 45.0). A vehicle with ID 8 is 59.9 meters away at (-29.1, 52.4).

The vehicle with ID 14 is traveling at a (x, y) velocity of [ 2.9386635 -4.0050564] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 4.042167 -5.475349] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.8688128 -3.4509916] m/s.

There are active red lights at the following coordinates: [[ 6.2727065 22.446486 ]
 [ 8.902356  24.384499 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 6.5) m/s. Its current heading (yaw) is 1.71

The most relevant actors are: A unknown object with ID 7 is 9.5 meters away at (7.7, 5.6). A vehicle with ID 14 is 18.5 meters away at (-10.5, 15.2). A vehicle with ID 10 is 30.8 meters away at (-17.7, 25.2). A vehicle with ID 8 is 44.5 meters away at (-26.9, 35.5).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.42860055 -0.60442716] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.3556488 -3.4941254] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 1.7062342 -2.0274813] m/s.

There are active red lights at the following coordinates: [[ 6.2727065 22.446486 ]
 [ 8.902356  24.384499 ]]

Instruction: Continue straight.

(The closest actor is a unknown object at [7.6539993 5.620987 ], 9.496273040771484 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 7.2) m/s. Its current heading (yaw) is 2.14

The most relevant actors are: A vehicle with ID 14 is 4.8 meters away at (-4.6, 1.2). A vehicle with ID 10 is 10.9 meters away at (-8.6, 6.7). A unknown object with ID 15 is 12.6 meters away at (-8.1, -9.7). A vehicle with ID 8 is 27.8 meters away at (-19.5, 19.8). A unknown object with ID 12 is 53.7 meters away at (-28.4, 45.6). A vehicle with ID 17 is 68.1 meters away at (-44.0, 52.0).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 0.6435134 -0.7345548] m/s.The unknown object with ID 15 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 [ 0.3512154 -0.2879833] 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 [ 6.6807857 -7.9768715] m/s.

There are active red lights at the following coordinates: [[ 6.2727065 22.446486 ]
 [ 8.902356  24.384499 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 0.1) m/s. Its current heading (yaw) is 0.02

The most relevant actors are: A vehicle with ID 6 is 40.5 meters away at (40.0, 6.4). A vehicle with ID 16 is 45.0 meters away at (32.6, -31.1). A cyclist with ID 12 is 54.3 meters away at (-47.4, 26.6). A vehicle with ID 14 is 69.8 meters away at (40.5, -56.8).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ -0.34949073 -12.579786  ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-2.7301018 12.979305 ] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [ 9.23837   -6.4709277] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-4.7267017 12.59032  ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 1.2) m/s. Its current heading (yaw) is 0.37

The most relevant actors are: A vehicle with ID 16 is 22.3 meters away at (21.7, -4.9). A vehicle with ID 14 is 42.2 meters away at (25.6, -33.6). A vehicle with ID 3 is 64.4 meters away at (27.5, -58.2).

The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.5216388 14.356053 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.5841064 12.3205   ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.3157735 11.896901 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 2.0) m/s. Its current heading (yaw) is 0.66

The most relevant actors are: A vehicle with ID 14 is 20.2 meters away at (16.4, -11.8). A vehicle with ID 16 is 26.3 meters away at (16.6, 20.4). A cyclist with ID 1 is 26.9 meters away at (-26.9, 0.2). A vehicle with ID 3 is 41.4 meters away at (12.8, -39.4). A unknown object with ID 4 is 46.6 meters away at (9.2, 45.7).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-0.97844154 12.895813  ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 0.96688914 14.033377  ] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 7.340329  -4.2561655] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6463866  9.6873255] 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 ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 2.5) m/s. Its current heading (yaw) is 0.93

The most relevant actors are: A vehicle with ID 14 is 14.9 meters away at (11.7, 9.3). A cyclist with ID 1 is 19.4 meters away at (-17.6, -8.1). A vehicle with ID 3 is 28.7 meters away at (-4.6, -28.3). A vehicle with ID 16 is 44.8 meters away at (14.7, 42.3).

The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.746632  13.1291685] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [6.49159    0.06301927] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-8.423038   6.7539344] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 1.5820262 12.727817 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -0.7) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A vehicle with ID 45 is 8.7 meters away at (-8.7, -0.2). A vehicle with ID 36 is 9.5 meters away at (-9.0, 3.0). A pedestrian with ID 35 is 12.8 meters away at (9.1, 9.0). A vehicle with ID 49 is 15.6 meters away at (-15.4, 2.2). A pedestrian with ID 41 is 16.2 meters away at (13.5, -8.9). A vehicle with ID 43 is 18.2 meters away at (2.2, -18.1). A unknown object with ID 53 is 19.6 meters away at (14.3, -13.3). A vehicle with ID 56 is 19.8 meters away at (13.3, 14.7). A unknown object with ID 54 is 19.9 meters away at (12.1, -15.8). A vehicle with ID 69 is 20.7 meters away at (16.2, 12.9).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.72190964 -0.28211728] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.53414345 -1.205433  ] 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 [-0.7769998 -1.5011374] m/s.The vehicle with ID 43 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 vehicle with ID 56 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 vehicle with ID 69 is traveling at a (x, y) velocity of [-1.1478947 -2.1067722] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -2.3) m/s. Its current heading (yaw) is -0.46

The most relevant actors are: A pedestrian with ID 35 is 9.5 meters away at (1.2, 9.4). A pedestrian with ID 41 is 10.5 meters away at (5.5, -9.0). A unknown object with ID 53 is 12.9 meters away at (7.5, -10.5). A vehicle with ID 36 is 15.0 meters away at (-14.1, 5.2). A vehicle with ID 69 is 15.0 meters away at (7.9, 12.8). A vehicle with ID 45 is 15.7 meters away at (-15.4, 2.6). A vehicle with ID 43 is 15.9 meters away at (-4.5, -15.3). A pedestrian with ID 59 is 16.4 meters away at (16.1, 3.3). A vehicle with ID 37 is 17.4 meters away at (8.2, -15.3). A vehicle with ID 42 is 18.0 meters away at (17.8, -2.9).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.40955558 -1.2073971 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.38460895 -1.4738877 ] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 1.4023042 -0.5387152] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.48690552 -1.0932683 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.180442    0.87637323] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [1.2374887 9.416552 ], 9.497516632080078 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -3.3) m/s. Its current heading (yaw) is -0.74

The most relevant actors are: A pedestrian with ID 41 is 7.4 meters away at (-3.7, -6.4). A vehicle with ID 37 is 9.7 meters away at (-0.1, -9.7). A vehicle with ID 42 is 9.9 meters away at (9.6, 2.7). A pedestrian with ID 59 is 11.7 meters away at (5.3, 10.5). A pedestrian with ID 35 is 14.7 meters away at (-7.7, 12.6). A vehicle with ID 43 is 16.0 meters away at (-12.7, -9.7). A vehicle with ID 69 is 16.8 meters away at (-1.2, 16.7). A unknown object with ID 47 is 17.3 meters away at (17.0, -3.3). A vehicle with ID 48 is 19.4 meters away at (7.2, -18.0). A unknown object with ID 51 is 20.1 meters away at (19.3, -5.6).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.64052445 -1.6118225 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.2825785   0.70525515] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.37111285 -1.2928648 ] m/s.The vehicle with ID 43 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 [-0.48031768 -0.88315517] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -2.2) m/s. Its current heading (yaw) is -0.75

The most relevant actors are: A vehicle with ID 1 is 6.6 meters away at (6.3, 2.1). A vehicle with ID 37 is 7.3 meters away at (-6.1, -4.1). A vehicle with ID 42 is 9.1 meters away at (3.5, 8.4). A unknown object with ID 47 is 11.0 meters away at (10.8, 2.3). A pedestrian with ID 41 is 11.6 meters away at (-11.0, -3.7). A vehicle with ID 48 is 12.3 meters away at (1.1, -12.2). A unknown object with ID 51 is 13.2 meters away at (13.2, 0.0). A unknown object with ID 10 is 15.1 meters away at (6.2, -13.7). A unknown object with ID 57 is 16.4 meters away at (16.3, -2.2). A vehicle with ID 58 is 16.8 meters away at (12.9, -10.8).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.1224413  3.477961 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 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 [-0.4598521 -1.3656423] 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 unknown object with ID 10 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 vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 1.8) m/s. Its current heading (yaw) is 2.64

The most relevant actors are: A vehicle with ID 41 is 3.5 meters away at (0.9, 3.4). A unknown object with ID 42 is 22.6 meters away at (18.2, -13.4). A unknown object with ID 43 is 24.4 meters away at (19.4, -14.8). A pedestrian with ID 37 is 27.2 meters away at (12.9, -23.9). A vehicle with ID 44 is 31.2 meters away at (26.8, -16.1). A vehicle with ID 46 is 33.7 meters away at (31.7, -11.3). A vehicle with ID 45 is 42.0 meters away at (-39.4, -14.7). A unknown object with ID 14 is 43.8 meters away at (0.7, -43.8). A unknown object with ID 40 is 45.5 meters away at (-26.3, 37.2). A unknown object with ID 48 is 47.0 meters away at (-1.5, -47.0).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.35801402  0.9943813 ] m/s.The vehicle with ID 44 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 45 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 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 (-4.4, 3.7) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 41 is 8.7 meters away at (8.4, -2.1). A pedestrian with ID 10 is 22.9 meters away at (-2.4, 22.8). A pedestrian with ID 19 is 26.1 meters away at (11.7, -23.3). A unknown object with ID 42 is 32.0 meters away at (25.9, -18.9). A pedestrian with ID 37 is 33.6 meters away at (19.6, -27.4). A unknown object with ID 43 is 33.9 meters away at (27.2, -20.2). A unknown object with ID 15 is 34.6 meters away at (-16.1, 30.7). A unknown object with ID 40 is 36.6 meters away at (-19.5, 31.0). A vehicle with ID 45 is 37.9 meters away at (-32.1, -20.1). A vehicle with ID 44 is 40.7 meters away at (34.7, -21.3).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.02797873 -0.0007514 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.04476442 -0.05196257] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.77634704  1.0173393 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 45 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.7) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 21 is 19.5 meters away at (-17.0, 9.5). A vehicle with ID 41 is 20.9 meters away at (18.1, -10.6). A unknown object with ID 40 is 24.5 meters away at (-9.9, 22.3). A vehicle with ID 45 is 36.5 meters away at (-22.3, -28.9). A pedestrian with ID 19 is 38.2 meters away at (21.4, -31.7). A vehicle with ID 6 is 43.2 meters away at (-31.5, 29.5). A pedestrian with ID 37 is 43.7 meters away at (27.6, -33.9). A vehicle with ID 44 is 53.5 meters away at (44.6, -29.6). A vehicle with ID 3 is 54.2 meters away at (-41.2, 35.1). A vehicle with ID 46 is 55.3 meters away at (49.2, -25.3).

The vehicle with ID 21 is traveling at a (x, y) velocity of [ 6.0581393 -5.0553694] m/s.The vehicle with ID 41 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.30694517  0.36625242] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.0234282  0.8576132] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.8) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 21 is 12.5 meters away at (6.7, -10.5). A pedestrian with ID 35 is 18.4 meters away at (17.8, -4.5). A vehicle with ID 6 is 28.7 meters away at (-20.6, 20.0). A vehicle with ID 41 is 35.3 meters away at (29.0, -20.2). A vehicle with ID 3 is 39.6 meters away at (-30.2, 25.6). A vehicle with ID 45 is 40.2 meters away at (-11.1, -38.6). A vehicle with ID 8 is 50.1 meters away at (-47.3, -16.4). A pedestrian with ID 37 is 55.6 meters away at (36.3, -42.1). A vehicle with ID 25 is 56.2 meters away at (-31.2, -46.7). A vehicle with ID 44 is 67.8 meters away at (55.2, -39.4).

The vehicle with ID 21 is traveling at a (x, y) velocity of [ 6.7891183 -5.6990337] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.02560974  0.0043576 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.37055504  0.2751498 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.0672121  0.7991409] m/s.The vehicle with ID 25 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -5.6) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A unknown object with ID 36 is 14.5 meters away at (7.6, -12.4). A pedestrian with ID 39 is 22.3 meters away at (21.7, -5.2). A vehicle with ID 35 is 40.1 meters away at (-27.3, 29.3). A vehicle with ID 40 is 42.0 meters away at (-31.2, -28.1). A pedestrian with ID 28 is 43.2 meters away at (-32.9, -28.0). A pedestrian with ID 45 is 43.3 meters away at (29.3, -31.9). A vehicle with ID 37 is 46.5 meters away at (-33.0, 32.8). A unknown object with ID 10 is 47.9 meters away at (39.9, -26.4). A vehicle with ID 41 is 48.4 meters away at (-41.2, -25.4). A vehicle with ID 38 is 51.6 meters away at (-37.4, 35.6).

The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0896097  0.7319507] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.45196858  0.09624054] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.2263811   0.76226795] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [  7.5902166 -12.357542 ], 14.502421379089355 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -6.0) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A unknown object with ID 36 is 5.7 meters away at (-5.7, -0.7). A pedestrian with ID 39 is 9.3 meters away at (5.8, 7.3). A pedestrian with ID 45 is 22.7 meters away at (13.7, -18.1). A unknown object with ID 10 is 30.4 meters away at (26.5, -14.8). A vehicle with ID 40 is 47.4 meters away at (-44.5, -16.3). A vehicle with ID 41 is 56.2 meters away at (-54.6, -13.5). A vehicle with ID 42 is 56.7 meters away at (-51.0, -24.8). A vehicle with ID 35 is 57.8 meters away at (-40.6, 41.1). A vehicle with ID 43 is 63.0 meters away at (-59.8, -19.8). A vehicle with ID 37 is 64.2 meters away at (-46.3, 44.4).

The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.2262291   0.36787543] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.1548861  0.9060519] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-5.6925373 -0.7284069], 5.738950729370117 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -6.2) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A pedestrian with ID 45 is 4.8 meters away at (-2.5, -4.1). A unknown object with ID 10 is 13.1 meters away at (12.7, -2.9). A unknown object with ID 6 is 14.6 meters away at (14.1, -4.0). A unknown object with ID 36 is 22.5 meters away at (-19.4, 11.3). A pedestrian with ID 39 is 22.6 meters away at (-10.1, 20.2). A vehicle with ID 11 is 46.0 meters away at (4.0, -45.8). A vehicle with ID 40 is 58.3 meters away at (-58.2, -4.1). A vehicle with ID 41 is 68.3 meters away at (-68.3, -1.4). A vehicle with ID 1 is 69.1 meters away at (30.2, -62.1). A vehicle with ID 43 is 74.2 meters away at (-73.8, -8.1).

The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.1229682  1.0093036] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0562891   0.49246007] m/s.The vehicle with ID 11 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 [0.38817143 0.57355976] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -6.2) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A unknown object with ID 6 is 8.6 meters away at (-0.4, 8.6). A unknown object with ID 10 is 9.9 meters away at (-1.7, 9.7). A pedestrian with ID 45 is 22.1 meters away at (-19.4, 10.6). A unknown object with ID 29 is 32.7 meters away at (-12.5, -30.2). A unknown object with ID 36 is 41.5 meters away at (-33.9, 23.9). A pedestrian with ID 39 is 42.8 meters away at (-27.0, 33.1). A vehicle with ID 1 is 51.8 meters away at (15.5, -49.4). A unknown object with ID 19 is 57.4 meters away at (-33.0, 47.0). A unknown object with ID 18 is 60.7 meters away at (-33.8, 50.4). A pedestrian with ID 12 is 64.4 meters away at (18.3, -61.8).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.1404331  1.0628586] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.1586876  -0.21118228] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.1317452  -0.92502403] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-0.37482452  8.550228  ], 8.558440208435059 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 unknown object with ID 10 is 3.1 meters away at (1.5, 2.8). A unknown object with ID 11 is 4.1 meters away at (3.4, 2.3). A unknown object with ID 12 is 6.0 meters away at (5.4, 2.5). A vehicle with ID 15 is 8.6 meters away at (-7.4, 4.3). A vehicle with ID 17 is 8.8 meters away at (8.3, -2.9). A unknown object with ID 19 is 10.8 meters away at (10.7, 1.1). A unknown object with ID 14 is 15.8 meters away at (-12.6, 9.5). A unknown object with ID 28 is 18.1 meters away at (-14.7, 10.6). A unknown object with ID 29 is 20.0 meters away at (-16.4, 11.5). A unknown object with ID 30 is 22.2 meters away at (-18.4, 12.4).

The unknown object with ID 10 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 unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 21.724352  -10.7356615]
 [ 19.999939   -5.632256 ]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [1.5246695 2.750573 ], 3.1448798179626465 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 unknown object with ID 10 is 3.1 meters away at (1.5, 2.8). A unknown object with ID 11 is 4.1 meters away at (3.4, 2.3). A unknown object with ID 12 is 6.0 meters away at (5.4, 2.5). A vehicle with ID 15 is 8.6 meters away at (-7.4, 4.3). A vehicle with ID 17 is 8.8 meters away at (8.3, -2.9). A unknown object with ID 19 is 10.8 meters away at (10.7, 1.1). A unknown object with ID 14 is 15.8 meters away at (-12.6, 9.5). A unknown object with ID 28 is 18.1 meters away at (-14.6, 10.6). A unknown object with ID 29 is 20.0 meters away at (-16.4, 11.5). A unknown object with ID 30 is 22.2 meters away at (-18.4, 12.4).

The unknown object with ID 10 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 unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 21.724352  -10.7356615]
 [ 19.999939   -5.632256 ]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [1.5237408 2.7521186], 3.1457817554473877 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 unknown object with ID 10 is 3.1 meters away at (1.5, 2.7). A unknown object with ID 11 is 4.1 meters away at (3.4, 2.3). A unknown object with ID 12 is 6.0 meters away at (5.4, 2.5). A vehicle with ID 15 is 8.6 meters away at (-7.4, 4.3). A vehicle with ID 17 is 8.7 meters away at (8.2, -2.9). A unknown object with ID 19 is 10.8 meters away at (10.7, 1.1). A unknown object with ID 28 is 18.0 meters away at (-14.6, 10.5). A vehicle with ID 39 is 19.1 meters away at (-17.1, 8.4). A unknown object with ID 29 is 20.0 meters away at (-16.4, 11.5). A unknown object with ID 30 is 22.2 meters away at (-18.4, 12.4).

The unknown object with ID 10 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 unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 1.6652141  -0.86042774] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 21.724352  -10.7356615]
 [ 19.999939   -5.632256 ]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [1.5356557 2.7491868], 3.149010419845581 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 unknown object with ID 10 is 3.1 meters away at (1.5, 2.8). A unknown object with ID 11 is 4.1 meters away at (3.4, 2.3). A unknown object with ID 12 is 6.0 meters away at (5.4, 2.5). A vehicle with ID 15 is 8.5 meters away at (-7.4, 4.2). A vehicle with ID 17 is 8.8 meters away at (8.3, -2.9). A unknown object with ID 19 is 10.8 meters away at (10.7, 1.1). A vehicle with ID 39 is 16.5 meters away at (-14.8, 7.3). A unknown object with ID 28 is 18.1 meters away at (-14.7, 10.6). A unknown object with ID 29 is 20.0 meters away at (-16.4, 11.5). A unknown object with ID 30 is 22.2 meters away at (-18.4, 12.4).

The unknown object with ID 10 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 unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 0.5525208 -0.2964624] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 21.724352  -10.7356615]
 [ 19.999939   -5.632256 ]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [1.52639   2.7501469], 3.145341634750366 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 0.89

The most relevant actors are: A vehicle with ID 52 is 6.2 meters away at (-1.5, -6.0). A vehicle with ID 48 is 7.2 meters away at (-4.2, -5.8). A vehicle with ID 53 is 8.1 meters away at (0.6, -8.1). A pedestrian with ID 54 is 13.8 meters away at (0.1, 13.8). A vehicle with ID 55 is 14.4 meters away at (-3.0, -14.0). A vehicle with ID 56 is 15.1 meters away at (6.2, 13.7). A vehicle with ID 57 is 16.8 meters away at (-7.0, -15.3). A pedestrian with ID 58 is 18.3 meters away at (-14.8, -10.8). A unknown object with ID 59 is 20.6 meters away at (19.2, 7.5). A vehicle with ID 60 is 20.9 meters away at (-6.9, -19.7).

The vehicle with ID 52 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 53 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 [0.5736258  0.47023737] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.5510814  -0.37767714] m/s.The unknown object 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 1.7) m/s. Its current heading (yaw) is 1.14

The most relevant actors are: A vehicle with ID 52 is 8.0 meters away at (-2.5, -7.6). A vehicle with ID 48 is 9.1 meters away at (-5.3, -7.4). A vehicle with ID 53 is 9.6 meters away at (-0.4, -9.6). A pedestrian with ID 54 is 14.0 meters away at (1.6, 13.9). A vehicle with ID 56 is 14.2 meters away at (6.2, 12.8). A vehicle with ID 55 is 16.1 meters away at (-4.0, -15.6). A vehicle with ID 57 is 18.6 meters away at (-8.1, -16.7). A unknown object with ID 59 is 19.2 meters away at (18.3, 5.8). A unknown object with ID 62 is 19.3 meters away at (-1.2, 19.3). A pedestrian with ID 61 is 19.5 meters away at (-6.9, 18.2).

The vehicle with ID 52 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 53 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 [1.266367   0.85204166] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0.3367323  0.25070927] m/s.The vehicle with ID 55 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 unknown object with ID 59 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 pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.11158831 -0.05987441] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 3.1) m/s. Its current heading (yaw) is 1.75

The most relevant actors are: A vehicle with ID 56 is 10.1 meters away at (6.0, 8.1). A pedestrian with ID 54 is 11.1 meters away at (2.9, 10.7). A vehicle with ID 48 is 12.5 meters away at (-5.3, -11.3). A vehicle with ID 52 is 12.8 meters away at (-3.1, -12.5). A unknown object with ID 62 is 14.5 meters away at (-1.7, 14.4). A vehicle with ID 53 is 14.5 meters away at (-1.0, -14.5). A pedestrian with ID 61 is 15.1 meters away at (-6.4, 13.7). A vehicle with ID 67 is 17.5 meters away at (-3.1, 17.3). A unknown object with ID 59 is 17.8 meters away at (17.8, 0.9). A unknown object with ID 64 is 19.8 meters away at (19.8, -0.4).

The vehicle with ID 56 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 [0.6947768  0.89812547] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0.54027575 0.9218082 ] m/s.The vehicle with ID 52 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 vehicle with ID 53 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 [0.52301025 0.49742064] m/s.The vehicle 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 unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 3.4) m/s. Its current heading (yaw) is 2.23

The most relevant actors are: A unknown object with ID 62 is 7.8 meters away at (1.3, 7.7). A pedestrian with ID 61 is 8.6 meters away at (-2.1, 8.4). A vehicle with ID 56 is 9.3 meters away at (9.2, 1.5). A pedestrian with ID 54 is 9.7 meters away at (7.9, 5.7). A vehicle with ID 67 is 10.5 meters away at (-0.0, 10.5). A vehicle with ID 50 is 13.6 meters away at (-7.5, 11.4). A vehicle with ID 48 is 15.7 meters away at (-0.7, -15.7). A vehicle with ID 52 is 19.2 meters away at (-0.1, -19.2). A vehicle with ID 53 is 21.3 meters away at (2.0, -21.2). A unknown object with ID 59 is 21.6 meters away at (20.8, -5.8).

The unknown object with ID 62 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 [0.44513616 0.7872713 ] m/s.The vehicle with ID 56 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 [1.0959386 0.755296 ] m/s.The vehicle with ID 67 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 [1.1472769 1.629529 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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 [1.2727611 7.674367 ], 7.779191970825195 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 0.8) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A vehicle with ID 35 is 3.1 meters away at (-2.4, -2.0). A cyclist with ID 36 is 3.7 meters away at (3.3, 1.7). A vehicle with ID 38 is 9.0 meters away at (-5.7, 6.9). A pedestrian with ID 40 is 12.0 meters away at (-12.0, 0.7). A vehicle with ID 56 is 23.2 meters away at (-13.2, 19.1). A vehicle with ID 42 is 26.2 meters away at (-20.1, -16.9). A pedestrian with ID 47 is 27.8 meters away at (3.3, 27.6). A vehicle with ID 50 is 29.5 meters away at (-26.1, 13.7). A vehicle with ID 51 is 30.8 meters away at (-30.1, 6.6). A vehicle with ID 55 is 33.6 meters away at (-19.5, 27.4).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-3.1923392  1.928977 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.3771117 -1.3102218] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ -3.2636013 -11.826228 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ -1.4757189 -13.109903 ] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.02681418 0.00439637] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0.36004406 0.40607336] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.18415408 0.5435606 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-2.2051923 -3.5489032] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.4) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 35 is 3.2 meters away at (-0.6, -3.1). A cyclist with ID 36 is 3.3 meters away at (0.6, 3.2). A vehicle with ID 38 is 6.9 meters away at (-3.9, 5.8). A pedestrian with ID 40 is 10.7 meters away at (-10.3, -3.0). A vehicle with ID 66 is 15.7 meters away at (-13.8, 7.4). A vehicle with ID 56 is 17.9 meters away at (-16.8, -6.1). A vehicle with ID 50 is 26.6 meters away at (-22.4, 14.3). A vehicle with ID 51 is 28.5 meters away at (-27.6, 7.2). A vehicle with ID 77 is 30.6 meters away at (-5.7, 30.1). A vehicle with ID 43 is 31.2 meters away at (-18.8, 24.8).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-1.54329    1.0571152] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.13853025 -1.178264  ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ -2.8648417 -11.761257 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ -2.071016 -12.301328] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [1.6307881 1.3948983] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.5534825 1.2489219] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-3.3742254 -9.499492 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A cyclist with ID 36 is 3.2 meters away at (0.7, 3.1). A vehicle with ID 35 is 3.5 meters away at (-0.0, -3.5). A vehicle with ID 38 is 6.3 meters away at (-3.2, 5.4). A pedestrian with ID 40 is 10.3 meters away at (-8.6, -5.7). A vehicle with ID 77 is 15.6 meters away at (-11.0, 11.0). A pedestrian with ID 39 is 23.3 meters away at (11.3, 20.3). A vehicle with ID 50 is 23.6 meters away at (-16.9, 16.4). A vehicle with ID 66 is 24.4 meters away at (-17.8, -16.7). A vehicle with ID 68 is 26.1 meters away at (18.1, -18.9). A vehicle with ID 51 is 27.2 meters away at (-25.4, 9.9).

The cyclist with ID 36 is traveling at a (x, y) velocity of [0.00739224 0.00659371] m/s.The vehicle with ID 35 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 40 is traveling at a (x, y) velocity of [ 0.57067245 -1.2853765 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-2.4830127 -9.238483 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.7733688  0.9362718] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [3.5132058 1.2059358] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ -1.9543262 -12.531198 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-6.2101917  1.1615661] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.91042656 1.6622474 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A cyclist with ID 36 is 3.2 meters away at (0.8, 3.1). A vehicle with ID 35 is 3.5 meters away at (0.0, -3.5). A vehicle with ID 38 is 6.2 meters away at (-3.2, 5.3). A pedestrian with ID 40 is 11.1 meters away at (-7.4, -8.2). A vehicle with ID 77 is 16.3 meters away at (-15.0, -6.4). A vehicle with ID 50 is 17.5 meters away at (-5.8, 16.5). A vehicle with ID 68 is 19.5 meters away at (5.9, -18.6). A unknown object with ID 27 is 22.1 meters away at (20.0, 9.2). A pedestrian with ID 39 is 24.1 meters away at (9.7, 22.0). A vehicle with ID 19 is 24.9 meters away at (-20.6, 14.1).

The cyclist with ID 36 is traveling at a (x, y) velocity of [ 0.00433246 -0.00598502] m/s.The vehicle with ID 35 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 40 is traveling at a (x, y) velocity of [ 0.59031856 -1.306936  ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-1.578522 -8.864699] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 6.431792  -1.9727929] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-5.9687085 -0.6951551] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.85928816  0.78885543] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.9024494 2.067562 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.1) m/s. Its current heading (yaw) is 2.75

The most relevant actors are: A cyclist with ID 26 is 7.7 meters away at (-5.4, 5.4). A unknown object with ID 46 is 17.4 meters away at (15.0, 8.9). A unknown object with ID 45 is 17.5 meters away at (14.5, 9.8). A unknown object with ID 49 is 17.7 meters away at (15.8, 8.0). A unknown object with ID 47 is 18.0 meters away at (13.9, 11.5). A unknown object with ID 50 is 18.5 meters away at (13.8, 12.3). A unknown object with ID 53 is 18.6 meters away at (17.2, 7.1). A pedestrian with ID 54 is 19.0 meters away at (16.2, 10.1). A unknown object with ID 61 is 20.3 meters away at (19.4, 6.0). A pedestrian with ID 33 is 20.4 meters away at (16.4, 12.1).

The cyclist with ID 26 is traveling at a (x, y) velocity of [-4.025107   1.5938569] 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 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 pedestrian with ID 54 is traveling at a (x, y) velocity of [0.08912796 0.05909095] m/s.The unknown object with ID 61 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 [ 0.01365009 -0.00794728] m/s.

There are active red lights at the following coordinates: [[-7.4521093  3.141017 ]
 [-8.063428   1.6430464]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 0.6) m/s. Its current heading (yaw) is 2.90

The most relevant actors are: A cyclist with ID 26 is 19.6 meters away at (-16.0, 11.2). A unknown object with ID 45 is 19.9 meters away at (18.0, 8.4). A unknown object with ID 46 is 20.0 meters away at (18.5, 7.5). A unknown object with ID 47 is 20.1 meters away at (17.4, 10.1). A unknown object with ID 49 is 20.5 meters away at (19.3, 6.7). A unknown object with ID 50 is 20.5 meters away at (17.3, 11.0). A unknown object with ID 53 is 21.5 meters away at (20.7, 5.8). A pedestrian with ID 54 is 21.6 meters away at (19.7, 8.8). A pedestrian with ID 33 is 22.7 meters away at (20.0, 10.8). A pedestrian with ID 34 is 22.8 meters away at (20.5, 10.0).

The cyclist with ID 26 is traveling at a (x, y) velocity of [-8.696404  4.403536] 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 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 53 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 [0.03169    0.00655873] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00578257 -0.01099536] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.03287203 -0.04634535] m/s.

There are active red lights at the following coordinates: [[-7.4521093  3.141017 ]
 [-8.063428   1.6430464]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -0.0) m/s. Its current heading (yaw) is -3.14

The most relevant actors are: A pedestrian with ID 41 is 16.5 meters away at (-16.5, 1.1). A vehicle with ID 82 is 20.4 meters away at (-9.5, 18.1). A unknown object with ID 45 is 23.6 meters away at (22.3, 7.9). A unknown object with ID 47 is 23.7 meters away at (21.7, 9.5). A unknown object with ID 46 is 23.8 meters away at (22.8, 7.0). A unknown object with ID 50 is 23.9 meters away at (21.6, 10.4). A unknown object with ID 49 is 24.4 meters away at (23.6, 6.1). A unknown object with ID 23 is 25.4 meters away at (23.2, 10.2). A pedestrian with ID 54 is 25.4 meters away at (24.0, 8.1). A unknown object with ID 53 is 25.6 meters away at (25.0, 5.2).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.0954704 -0.7509636] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 5.2168727 -2.4497166] 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 47 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 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 [-0.02261313 -0.00565471] m/s.The unknown object with ID 53 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 (-0.3, -0.0) m/s. Its current heading (yaw) is -3.03

The most relevant actors are: A pedestrian with ID 41 is 12.4 meters away at (-12.4, -0.4). A vehicle with ID 82 is 13.4 meters away at (4.4, 12.7). A unknown object with ID 45 is 25.2 meters away at (23.9, 7.9). A unknown object with ID 47 is 25.2 meters away at (23.3, 9.6). A unknown object with ID 46 is 25.4 meters away at (24.4, 7.0). A unknown object with ID 50 is 25.5 meters away at (23.2, 10.5). A pedestrian with ID 68 is 26.0 meters away at (-0.4, 26.0). A unknown object with ID 49 is 26.0 meters away at (25.3, 6.2). A pedestrian with ID 54 is 27.0 meters away at (25.7, 8.2). A unknown object with ID 53 is 27.2 meters away at (26.7, 5.2).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.2532257  -0.84540564] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 6.3825316 -2.832484 ] 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 47 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 1.2732625  -0.66302013] m/s.The unknown object with ID 49 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 [-0.01416433 -0.00219667] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-23.367321  18.767008]
 [-21.573708  21.732553]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -2.1) m/s. Its current heading (yaw) is -0.42

The most relevant actors are: A unknown object with ID 29 is 12.1 meters away at (-9.6, -7.4). A vehicle with ID 56 is 14.5 meters away at (14.2, 3.0). A vehicle with ID 55 is 15.9 meters away at (-10.6, 11.8). A vehicle with ID 63 is 16.9 meters away at (16.2, -4.6). A pedestrian with ID 58 is 19.3 meters away at (17.9, 7.2). A vehicle with ID 12 is 19.9 meters away at (-17.5, -9.5). A vehicle with ID 51 is 21.4 meters away at (3.7, -21.1). A vehicle with ID 53 is 23.2 meters away at (2.0, -23.1). A unknown object with ID 57 is 23.4 meters away at (-23.0, -4.2). A vehicle with ID 9 is 23.7 meters away at (19.4, -13.5).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-0.94199544  5.978871  ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-4.2781706  3.39833  ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00894104 -0.01552646] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.014802  2.7161856] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.5994573 -5.2547817] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-9.611187  -7.3574915], 12.104032516479492 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -4.2) m/s. Its current heading (yaw) is -0.62

The most relevant actors are: A vehicle with ID 63 is 7.9 meters away at (-1.0, 7.9). A vehicle with ID 56 is 10.4 meters away at (3.8, 9.7). A vehicle with ID 51 is 15.7 meters away at (-6.7, -14.2). A pedestrian with ID 58 is 15.8 meters away at (7.4, 14.0). A vehicle with ID 24 is 15.9 meters away at (15.0, -5.2). A vehicle with ID 53 is 18.5 meters away at (-8.3, -16.5). A vehicle with ID 12 is 23.6 meters away at (-23.4, 3.4). A vehicle with ID 25 is 23.9 meters away at (-12.2, -20.6). A vehicle with ID 9 is 28.3 meters away at (22.7, -17.0). A vehicle with ID 14 is 28.3 meters away at (0.5, -28.3).

The vehicle with ID 63 is traveling at a (x, y) velocity of [-2.4004734  2.0306773] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.00423748 0.00367496] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-4.277961   3.7531955] m/s.The vehicle with ID 53 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 [2.8527713 3.134193 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.717613  -5.1967025] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -4.5) m/s. Its current heading (yaw) is -0.63

The most relevant actors are: A vehicle with ID 24 is 10.8 meters away at (-4.6, 9.8). A vehicle with ID 52 is 17.4 meters away at (17.1, -3.3). A pedestrian with ID 54 is 18.7 meters away at (18.6, -1.3). A vehicle with ID 51 is 19.6 meters away at (-18.8, -5.7). A vehicle with ID 56 is 20.1 meters away at (-8.5, 18.3). A vehicle with ID 53 is 22.1 meters away at (-20.6, -7.8). A vehicle with ID 14 is 22.9 meters away at (-11.6, -19.7). A pedestrian with ID 58 is 23.2 meters away at (-4.9, 22.6). A vehicle with ID 19 is 23.8 meters away at (20.6, -11.9). A vehicle with ID 23 is 24.2 meters away at (-22.0, -10.1).

The vehicle with ID 24 is traveling at a (x, y) velocity of [-2.6142979  2.169594 ] m/s.The vehicle with ID 52 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 [ 0.01433889 -0.00515674] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.02189248 -0.03893247] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.89797    4.9116607] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -4.5) m/s. Its current heading (yaw) is -0.68

The most relevant actors are: A vehicle with ID 19 is 5.2 meters away at (-0.8, 5.2). A vehicle with ID 52 is 7.7 meters away at (5.3, 5.6). A pedestrian with ID 54 is 10.2 meters away at (6.8, 7.6). A vehicle with ID 10 is 10.7 meters away at (10.7, 1.1). A vehicle with ID 14 is 25.7 meters away at (-23.3, -10.9). A vehicle with ID 24 is 29.1 meters away at (-19.7, 21.5). A vehicle with ID 17 is 30.2 meters away at (-26.3, -14.8). A vehicle with ID 9 is 30.6 meters away at (23.5, -19.6). A vehicle with ID 51 is 30.7 meters away at (-30.6, 3.2). A vehicle with ID 53 is 32.4 meters away at (-32.4, 1.0).

The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.777486   3.2338183] m/s.The vehicle with ID 52 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 [ 0.04426223 -0.00833658] m/s.The vehicle with ID 10 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 24 is traveling at a (x, y) velocity of [-1.1167263  0.9248298] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 5.4194965 -4.7074323] m/s.The vehicle with ID 51 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 3.2) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A unknown object with ID 51 is 7.5 meters away at (-5.8, 4.7). A vehicle with ID 19 is 12.4 meters away at (8.8, 8.8). A vehicle with ID 60 is 13.8 meters away at (-5.3, 12.7). A pedestrian with ID 61 is 15.5 meters away at (3.2, 15.2). A vehicle with ID 56 is 15.9 meters away at (-7.7, 13.9). A vehicle with ID 54 is 17.9 meters away at (-16.3, 7.3). A vehicle with ID 52 is 18.1 meters away at (-18.1, 0.9). A vehicle with ID 59 is 22.5 meters away at (21.8, 5.6). A vehicle with ID 28 is 22.8 meters away at (18.7, -12.9). A vehicle with ID 57 is 22.9 meters away at (-22.5, 4.2).

The unknown object with ID 51 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 [4.272176  1.9359581] m/s.The vehicle with ID 60 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 [1.0361742 1.0675057] m/s.The vehicle with ID 56 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 5.194094 -3.350784] m/s.The vehicle with ID 28 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.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-5.799214  4.733349], 7.485684394836426 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 2.9) m/s. Its current heading (yaw) is 0.82

The most relevant actors are: A unknown object with ID 51 is 11.1 meters away at (-11.0, -1.4). A pedestrian with ID 61 is 11.6 meters away at (-0.4, 11.6). A vehicle with ID 60 is 12.5 meters away at (-10.6, 6.6). A vehicle with ID 19 is 12.9 meters away at (12.7, 2.5). A vehicle with ID 56 is 15.1 meters away at (-12.9, 7.8). A vehicle with ID 68 is 18.9 meters away at (-5.2, 18.2). A vehicle with ID 53 is 20.8 meters away at (20.2, 4.6). A vehicle with ID 54 is 21.5 meters away at (-21.5, 1.1). A vehicle with ID 52 is 23.9 meters away at (-23.3, -5.3). A vehicle with ID 7 is 24.2 meters away at (15.4, -18.7).

The unknown object with ID 51 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 [0.7928962 1.2965405] m/s.The vehicle with ID 60 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 [ 4.720437  -2.2077029] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 52 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.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-11.009134   -1.3635216], 11.09325122833252 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 0.6) m/s. Its current heading (yaw) is 0.16

The most relevant actors are: A pedestrian with ID 61 is 11.3 meters away at (-5.1, 10.1). A vehicle with ID 53 is 13.9 meters away at (13.9, 0.7). A vehicle with ID 60 is 17.0 meters away at (-16.8, 2.6). A unknown object with ID 51 is 18.1 meters away at (-17.3, -5.4). A vehicle with ID 68 is 18.2 meters away at (-11.6, 14.1). A vehicle with ID 19 is 18.6 meters away at (16.5, -8.6). A vehicle with ID 56 is 19.6 meters away at (-19.2, 3.9). A pedestrian with ID 30 is 23.6 meters away at (23.0, 5.6). A vehicle with ID 7 is 24.4 meters away at (9.2, -22.6). A vehicle with ID 65 is 24.6 meters away at (-16.7, 18.1).

The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.8051969 1.2978462] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.728123 -4.365287] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.1044155   0.72410953] m/s.The vehicle with ID 7 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.

Instruction: Continue straight.