The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 2.7) m/s. Its current heading (yaw) is 2.82

The most relevant actors are: A vehicle with ID 83 is 4.6 meters away at (-3.9, -2.5). A vehicle with ID 59 is 9.4 meters away at (-7.9, -5.1). A vehicle with ID 85 is 14.5 meters away at (-12.1, -8.1). A vehicle with ID 13 is 16.3 meters away at (15.1, -6.0). A vehicle with ID 76 is 17.9 meters away at (14.8, -10.0). A vehicle with ID 92 is 22.1 meters away at (14.5, -16.6). A vehicle with ID 81 is 22.1 meters away at (16.7, 14.5). A vehicle with ID 35 is 24.8 meters away at (-24.5, -3.4). A vehicle with ID 39 is 25.6 meters away at (-25.5, 1.5). A vehicle with ID 29 is 28.5 meters away at (-27.0, 9.0).

The vehicle with ID 83 is traveling at a (x, y) velocity of [ 0.67262566 -0.23000605] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 7.847591  -3.1936595] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-8.115014  4.802801] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 9.041928 -5.776345] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 5.9946566 -2.442488 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-10.575885    3.5517497] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.6, 3.1) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 36 is 11.1 meters away at (-10.6, -3.3). A vehicle with ID 39 is 11.2 meters away at (5.8, -9.6). A vehicle with ID 35 is 11.6 meters away at (-6.9, -9.3). A vehicle with ID 85 is 15.0 meters away at (5.6, -13.9). A vehicle with ID 27 is 15.4 meters away at (-12.7, 8.8). A vehicle with ID 13 is 16.5 meters away at (15.8, -4.7). A pedestrian with ID 44 is 17.1 meters away at (-14.3, -9.3). A vehicle with ID 28 is 18.3 meters away at (-17.3, -5.8). A vehicle with ID 83 is 20.3 meters away at (18.1, -9.2). A vehicle with ID 25 is 22.7 meters away at (-22.4, -3.8).

The vehicle with ID 36 is traveling at a (x, y) velocity of [ 5.682138  -2.1272006] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 7.4979653 -2.999274 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-8.809567   2.7243066] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.00115878 -0.01842493] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [ 3.7815926  -0.11861489] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 3.7) m/s. Its current heading (yaw) is 1.07

The most relevant actors are: A vehicle with ID 73 is 5.5 meters away at (5.2, 1.6). A pedestrian with ID 25 is 11.2 meters away at (-9.3, 6.3). A vehicle with ID 77 is 11.5 meters away at (-3.1, -11.1). A vehicle with ID 18 is 12.5 meters away at (3.9, 11.9). A unknown object with ID 78 is 15.3 meters away at (-15.3, 0.2). A pedestrian with ID 79 is 17.5 meters away at (17.1, -3.5). A pedestrian with ID 80 is 18.1 meters away at (17.9, -2.8). A pedestrian with ID 83 is 18.4 meters away at (18.1, -3.5). A pedestrian with ID 81 is 18.4 meters away at (17.9, -4.4). A pedestrian with ID 84 is 19.7 meters away at (19.3, -3.9).

The vehicle with ID 73 is traveling at a (x, y) velocity of [3.3002326 3.099266 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.70657146 1.2493188 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [2.3256056 4.219888 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0.52852935 6.1993    ] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 1.143243   -0.49323627] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 1.1928501  -0.40031996] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 1.0726284  -0.38866368] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.092116   -0.45015585] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [ 0.9851816 -0.380058 ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.7) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A vehicle with ID 73 is 9.6 meters away at (8.7, -4.0). A vehicle with ID 77 is 10.9 meters away at (-2.4, -10.7). A pedestrian with ID 25 is 12.2 meters away at (-12.2, 0.2). A vehicle with ID 18 is 16.9 meters away at (-2.8, 16.7). A pedestrian with ID 36 is 19.4 meters away at (15.9, 11.2). A pedestrian with ID 79 is 20.0 meters away at (14.8, -13.4). A pedestrian with ID 49 is 20.1 meters away at (15.7, 12.5). A pedestrian with ID 80 is 20.2 meters away at (15.7, -12.7). A pedestrian with ID 83 is 20.7 meters away at (15.7, -13.5). A pedestrian with ID 81 is 21.0 meters away at (15.4, -14.3).

The vehicle with ID 73 is traveling at a (x, y) velocity of [ 4.343485   -0.08226871] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [2.4864712 4.003678 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.49125436 1.1929946 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.3495765  7.2686095] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.68608904 -0.9774439 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.90557426 -0.6464754 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.61533797 -0.98253024] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.92392385 -0.64510685] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.87393296 -0.6343776 ] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.91508794 -0.624379  ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 6.7) m/s. Its current heading (yaw) is 1.85

The most relevant actors are: A pedestrian with ID 104 is 13.6 meters away at (6.1, 12.1). A vehicle with ID 91 is 13.7 meters away at (-10.2, 9.0). A pedestrian with ID 25 is 14.8 meters away at (-11.8, -8.9). A pedestrian with ID 49 is 16.5 meters away at (16.5, -1.1). A vehicle with ID 77 is 16.6 meters away at (2.5, -16.4). A pedestrian with ID 36 is 16.7 meters away at (16.5, -2.4). A vehicle with ID 76 is 16.7 meters away at (-2.9, 16.5). A vehicle with ID 70 is 19.6 meters away at (-13.4, 14.3). A vehicle with ID 75 is 21.9 meters away at (-6.2, 21.0). A pedestrian with ID 90 is 24.2 meters away at (22.2, -9.6).

The pedestrian with ID 104 is traveling at a (x, y) velocity of [ 0.9314615 -1.0979728] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.39627004 1.2319521 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.6877791  -0.94280183] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [3.5100093 1.5626036] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.60982764 -0.89511746] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.6172711 -0.7894929] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 6.3) m/s. Its current heading (yaw) is 2.21

The most relevant actors are: A vehicle with ID 91 is 4.7 meters away at (-3.3, -3.3). A vehicle with ID 76 is 5.8 meters away at (4.1, 4.1). A vehicle with ID 70 is 6.7 meters away at (-6.4, 1.9). A vehicle with ID 75 is 8.6 meters away at (0.7, 8.6). A vehicle with ID 74 is 13.6 meters away at (-2.8, 13.3). A pedestrian with ID 104 is 15.4 meters away at (15.1, -2.5). A pedestrian with ID 25 is 19.2 meters away at (-4.6, -18.7). A unknown object with ID 50 is 19.2 meters away at (-5.7, 18.4). A vehicle with ID 7 is 20.6 meters away at (-9.3, 18.4). A pedestrian with ID 85 is 22.2 meters away at (-20.6, 8.0).

The vehicle with ID 91 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [ 1.0521383 -1.1091608] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.10298768  1.2559134 ] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.764036   -0.99306387] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -8.2) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A vehicle with ID 27 is 17.2 meters away at (0.7, -17.2). A vehicle with ID 28 is 23.2 meters away at (-1.5, -23.1). A vehicle with ID 33 is 23.3 meters away at (-16.4, -16.6). A vehicle with ID 34 is 24.3 meters away at (-18.7, -15.5). A vehicle with ID 5 is 24.8 meters away at (-11.4, -22.1). A vehicle with ID 8 is 25.7 meters away at (-21.1, -14.7). A vehicle with ID 13 is 27.6 meters away at (-23.8, -13.9). A vehicle with ID 25 is 29.2 meters away at (-26.2, -13.0). A vehicle with ID 30 is 30.0 meters away at (-3.7, -29.8). A vehicle with ID 18 is 31.3 meters away at (-28.8, -12.2).

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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.6) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 27 is 6.3 meters away at (5.8, -2.4). A vehicle with ID 28 is 9.1 meters away at (3.7, -8.3). A vehicle with ID 5 is 9.5 meters away at (-6.2, -7.3). A vehicle with ID 33 is 11.4 meters away at (-11.3, -1.8). A vehicle with ID 34 is 13.5 meters away at (-13.5, -0.7). A vehicle with ID 30 is 15.0 meters away at (1.6, -14.9). A vehicle with ID 8 is 15.9 meters away at (-15.9, 0.3). A vehicle with ID 13 is 18.6 meters away at (-18.6, 1.0). A vehicle with ID 25 is 21.2 meters away at (-21.1, 1.9). A vehicle with ID 18 is 23.8 meters away at (-23.6, 2.7).

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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -4.1) m/s. Its current heading (yaw) is -2.17

The most relevant actors are: A vehicle with ID 5 is 3.7 meters away at (-1.8, 3.2). A vehicle with ID 30 is 7.4 meters away at (6.0, -4.3). A vehicle with ID 28 is 8.4 meters away at (8.1, 2.3). A vehicle with ID 33 is 11.1 meters away at (-6.8, 8.7). A vehicle with ID 27 is 13.1 meters away at (10.2, 8.2). A vehicle with ID 34 is 13.2 meters away at (-9.2, 9.5). A pedestrian with ID 20 is 13.4 meters away at (5.6, -12.1). A pedestrian with ID 21 is 14.4 meters away at (6.7, -12.7). A vehicle with ID 8 is 15.6 meters away at (-11.5, 10.6). A pedestrian with ID 31 is 17.2 meters away at (-9.8, -14.1).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.31879586 1.1034566 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.5024157 1.2032657] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.4956205 1.5388047] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -3.7) m/s. Its current heading (yaw) is -2.02

The most relevant actors are: A pedestrian with ID 31 is 5.3 meters away at (-4.1, -3.4). A vehicle with ID 5 is 11.3 meters away at (3.1, 10.9). A vehicle with ID 30 is 11.4 meters away at (10.9, 3.3). A pedestrian with ID 20 is 11.6 meters away at (11.3, -2.3). A pedestrian with ID 21 is 12.7 meters away at (12.4, -2.8). A vehicle with ID 28 is 16.4 meters away at (13.0, 9.9). A vehicle with ID 33 is 16.6 meters away at (-1.8, 16.5). A vehicle with ID 32 is 20.9 meters away at (-7.6, -19.4). A vehicle with ID 27 is 21.9 meters away at (15.2, 15.8). A vehicle with ID 1 is 42.3 meters away at (-5.2, -42.0).

The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.30977944 1.3686364 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.52851844 0.9919321 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.48123375 1.1278324 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.7) m/s. Its current heading (yaw) is 2.76

The most relevant actors are: A pedestrian with ID 24 is 24.2 meters away at (-6.1, 23.4). A pedestrian with ID 25 is 24.4 meters away at (-5.4, 23.8). A pedestrian with ID 27 is 25.3 meters away at (-5.2, 24.7). A pedestrian with ID 28 is 25.4 meters away at (-4.5, 25.0). A pedestrian with ID 19 is 25.9 meters away at (-5.9, 25.3). A pedestrian with ID 29 is 26.3 meters away at (-4.9, 25.9). A vehicle with ID 20 is 26.6 meters away at (24.6, -10.2). A vehicle with ID 21 is 31.5 meters away at (-6.9, 30.7). A pedestrian with ID 37 is 37.3 meters away at (-20.9, 30.9). A unknown object with ID 40 is 39.7 meters away at (-38.8, -8.8).

The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00487229  0.00125586] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.0101601   0.00413899] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.00322474 0.08631983] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.03201384 -0.01099851] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.0117494 0.0177079] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01353994 -0.01459975] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.6528862  1.5986453] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.8747767 -1.9697328] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.41958743 -0.11891118] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A vehicle with ID 20 is 20.9 meters away at (19.3, -7.9). A pedestrian with ID 24 is 23.4 meters away at (-4.5, 22.9). A pedestrian with ID 25 is 23.6 meters away at (-3.8, 23.3). A pedestrian with ID 28 is 24.6 meters away at (-2.8, 24.5). A pedestrian with ID 27 is 25.0 meters away at (-3.6, 24.8). A pedestrian with ID 19 is 25.1 meters away at (-4.3, 24.7). A pedestrian with ID 29 is 25.5 meters away at (-3.2, 25.3). A vehicle with ID 21 is 25.7 meters away at (-8.0, 24.4). A pedestrian with ID 37 is 36.0 meters away at (-19.1, 30.5). A unknown object with ID 40 is 38.4 meters away at (-37.3, -9.2).

The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.1616073  1.3716416] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00441779  0.00389792] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.00182214 0.00221852] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.00350449 0.00113994] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.01060073 0.01864328] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01006026 0.02206418] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.00597649 0.01031082] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.766373 -3.948611] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.0024224   0.02508214] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A vehicle with ID 20 is 15.3 meters away at (14.1, -5.8). A vehicle with ID 21 is 19.5 meters away at (-12.1, 15.3). A pedestrian with ID 24 is 23.3 meters away at (-4.4, 22.9). A pedestrian with ID 25 is 23.5 meters away at (-3.7, 23.2). A pedestrian with ID 28 is 24.6 meters away at (-2.7, 24.5). A pedestrian with ID 27 is 25.0 meters away at (-3.5, 24.8). A pedestrian with ID 19 is 25.1 meters away at (-4.2, 24.7). A pedestrian with ID 29 is 25.5 meters away at (-3.1, 25.3). A vehicle with ID 9 is 30.0 meters away at (3.7, 29.7). A pedestrian with ID 37 is 36.0 meters away at (-18.9, 30.6).

The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.9807345  0.8916249] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-2.2645252 -5.3605323] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.00565357 -0.00040591] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.00224555 -0.0039174 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.0069522  0.01913927] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.00577746 -0.00035818] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01753646 0.01152907] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00690055  0.00075508] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 0.07070059 -8.294828  ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.0501379  0.03581768] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A vehicle with ID 20 is 11.9 meters away at (11.0, -4.5). A vehicle with ID 21 is 17.2 meters away at (-16.8, 3.6). A vehicle with ID 9 is 17.2 meters away at (9.2, 14.5). A pedestrian with ID 24 is 23.3 meters away at (-4.4, 22.8). A pedestrian with ID 25 is 23.5 meters away at (-3.7, 23.2). A pedestrian with ID 28 is 24.6 meters away at (-2.9, 24.4). A pedestrian with ID 27 is 25.1 meters away at (-3.5, 24.9). A pedestrian with ID 29 is 25.5 meters away at (-3.1, 25.3). A pedestrian with ID 37 is 35.9 meters away at (-19.0, 30.5). A vehicle with ID 1 is 37.1 meters away at (35.5, -11.0).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-2.5744512 -6.271811 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 5.799904  -6.7991753] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00209887 -0.00251175] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.00128767 0.01100998] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.16821255 -0.08538623] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.02439115  0.00011413] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00701074 -0.00119546] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00135844 -0.000676  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.575006   3.3736541] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 8.6) m/s. Its current heading (yaw) is 2.28

The most relevant actors are: A vehicle with ID 19 is 16.5 meters away at (13.0, -10.1). A vehicle with ID 20 is 18.4 meters away at (6.7, -17.1). A pedestrian with ID 23 is 25.2 meters away at (-22.7, 10.9). A pedestrian with ID 21 is 30.9 meters away at (13.3, -27.9). A vehicle with ID 22 is 31.6 meters away at (15.8, -27.4). A vehicle with ID 24 is 38.7 meters away at (-29.4, 25.2). A pedestrian with ID 26 is 52.5 meters away at (-30.2, 43.0). A vehicle with ID 25 is 52.6 meters away at (-31.7, 42.0). A vehicle with ID 8 is 64.1 meters away at (-46.2, 44.4). A vehicle with ID 14 is 70.1 meters away at (-47.8, 51.3).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8741379  1.0861609] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.0000789 -0.913641 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.09246519 -0.13674699] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 8.158972 -9.713201] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 8.7) m/s. Its current heading (yaw) is 2.27

The most relevant actors are: A pedestrian with ID 23 is 10.3 meters away at (-9.6, -4.0). A vehicle with ID 24 is 16.7 meters away at (-14.8, 7.8). A vehicle with ID 14 is 22.5 meters away at (-16.9, 14.9). A vehicle with ID 25 is 29.8 meters away at (-17.0, 24.5). A pedestrian with ID 26 is 29.9 meters away at (-15.6, 25.6). A vehicle with ID 19 is 38.8 meters away at (27.4, -27.5). A vehicle with ID 20 is 40.6 meters away at (21.3, -34.5). A vehicle with ID 6 is 40.9 meters away at (-28.8, 29.1). A vehicle with ID 8 is 41.5 meters away at (-31.5, 27.0). A vehicle with ID 22 is 54.1 meters away at (30.5, -44.8).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.90728927  1.3718461 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 7.9039407 -9.346289 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.05747515  0.0375709 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 7.979739 -9.651905] m/s.The vehicle with ID 8 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 8.5) m/s. Its current heading (yaw) is 2.29

The most relevant actors are: A vehicle with ID 6 is 7.4 meters away at (1.9, -7.1). A vehicle with ID 25 is 7.8 meters away at (-2.4, 7.4). A pedestrian with ID 26 is 8.5 meters away at (-1.0, 8.4). A vehicle with ID 24 is 9.3 meters away at (-0.3, -9.3). A vehicle with ID 16 is 18.2 meters away at (-14.2, 11.3). A pedestrian with ID 23 is 18.8 meters away at (3.4, -18.5). A vehicle with ID 8 is 19.7 meters away at (-17.0, 9.8). A vehicle with ID 14 is 25.2 meters away at (14.0, -20.9). A vehicle with ID 17 is 38.8 meters away at (-27.5, 27.3). A unknown object with ID 12 is 53.4 meters away at (-30.1, 44.1).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 7.8720737 -9.308224 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.02643917 -0.01625234] m/s.The vehicle with ID 24 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 [ 7.8605256 -9.54827  ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.80909747  1.2109873 ] m/s.The vehicle with ID 8 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 [ 8.277655 -9.401761] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.6533213 -9.542692 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 8.8) m/s. Its current heading (yaw) is 2.27

The most relevant actors are: A vehicle with ID 8 is 7.9 meters away at (-2.2, -7.6). A vehicle with ID 17 is 8.8 meters away at (2.6, -8.4). A unknown object with ID 15 is 9.9 meters away at (2.3, 9.7). A vehicle with ID 25 is 15.4 meters away at (12.0, -9.7). A pedestrian with ID 26 is 16.4 meters away at (13.7, -9.0). A vehicle with ID 18 is 17.3 meters away at (-13.3, 11.1). A unknown object with ID 11 is 18.4 meters away at (13.4, -12.6). A vehicle with ID 16 is 30.2 meters away at (16.8, -25.1). A vehicle with ID 24 is 30.3 meters away at (14.5, -26.7). A pedestrian with ID 23 is 37.4 meters away at (16.7, -33.4).

The vehicle with ID 8 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 [ 7.4192047 -8.743157 ] m/s.The unknown object with ID 15 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 pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00342165 -0.01523137] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [  8.101699 -10.171238] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 8.083717 -9.374881] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.86105394  1.0770371 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.5) m/s. Its current heading (yaw) is -0.62

The most relevant actors are: A vehicle with ID 14 is 16.6 meters away at (13.3, -10.0). A vehicle with ID 17 is 23.5 meters away at (19.0, 13.9). A vehicle with ID 16 is 28.6 meters away at (-25.8, 12.3). A unknown object with ID 13 is 31.6 meters away at (12.5, -29.0). A unknown object with ID 18 is 40.5 meters away at (14.1, -38.0). A unknown object with ID 5 is 65.0 meters away at (14.3, 63.4). A vehicle with ID 3 is 74.4 meters away at (-51.6, 53.5).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.61

The most relevant actors are: A vehicle with ID 14 is 16.1 meters away at (12.8, -9.6). A vehicle with ID 17 is 23.4 meters away at (18.6, 14.3). A vehicle with ID 16 is 29.1 meters away at (-26.3, 12.7). A unknown object with ID 13 is 31.1 meters away at (12.0, -28.7). A unknown object with ID 18 is 40.1 meters away at (13.6, -37.7).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 (2.5, -2.1) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 14 is 12.5 meters away at (10.1, -7.3). A vehicle with ID 17 is 22.9 meters away at (15.7, 16.6). A unknown object with ID 13 is 28.0 meters away at (9.3, -26.4). A vehicle with ID 16 is 32.6 meters away at (-29.0, 14.8). A unknown object with ID 18 is 37.0 meters away at (10.9, -35.4). A vehicle with ID 10 is 39.6 meters away at (12.3, 37.6). A unknown object with ID 4 is 67.1 meters away at (11.0, 66.2).

The vehicle with ID 14 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -4.4) m/s. Its current heading (yaw) is -1.19

The most relevant actors are: A vehicle with ID 14 is 5.5 meters away at (5.4, -0.8). A unknown object with ID 13 is 20.3 meters away at (4.7, -19.7). A vehicle with ID 17 is 25.7 meters away at (11.0, 23.2). A unknown object with ID 18 is 29.4 meters away at (6.4, -28.7). A vehicle with ID 16 is 40.1 meters away at (-33.9, 21.5). A vehicle with ID 10 is 44.9 meters away at (7.5, 44.3). A unknown object with ID 4 is 73.2 meters away at (6.0, 72.9).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 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 vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 4.8) m/s. Its current heading (yaw) is 0.91

The most relevant actors are: A unknown object with ID 51 is 5.4 meters away at (-3.8, 3.7). A vehicle with ID 53 is 10.6 meters away at (-0.8, 10.5). A vehicle with ID 58 is 14.5 meters away at (-14.4, -1.7). A vehicle with ID 56 is 15.6 meters away at (-14.3, 6.3). A vehicle with ID 54 is 16.6 meters away at (-6.9, 15.1). A vehicle with ID 64 is 20.5 meters away at (-20.2, 3.4). A vehicle with ID 65 is 22.9 meters away at (-22.4, 5.0). A vehicle with ID 67 is 24.0 meters away at (-20.3, -12.8). A vehicle with ID 69 is 24.7 meters away at (-22.3, -10.7). A vehicle with ID 41 is 25.1 meters away at (20.7, -14.1).

The unknown object 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 vehicle with ID 58 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 54 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-3.8367     3.7395468], 5.357656002044678 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 2.1) m/s. Its current heading (yaw) is 0.90

The most relevant actors are: A vehicle with ID 53 is 7.2 meters away at (-6.2, 3.7). A unknown object with ID 51 is 9.8 meters away at (-9.3, -3.2). A vehicle with ID 54 is 14.8 meters away at (-12.3, 8.2). A vehicle with ID 56 is 19.7 meters away at (-19.7, -0.6). A vehicle with ID 52 is 21.5 meters away at (-7.9, 20.0). A vehicle with ID 58 is 21.7 meters away at (-19.9, -8.6). A vehicle with ID 83 is 22.3 meters away at (0.1, 22.3). A vehicle with ID 79 is 24.0 meters away at (23.9, 1.3). A vehicle with ID 90 is 24.9 meters away at (13.4, 21.0). A vehicle with ID 64 is 26.0 meters away at (-25.7, -3.6).

The vehicle with ID 53 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 54 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-5.387917  2.880306] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [-4.7090116 -2.4944375] 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 (0.5, 0.6) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 53 is 8.2 meters away at (-8.1, 1.2). A unknown object with ID 51 is 12.5 meters away at (-11.2, -5.6). A vehicle with ID 54 is 15.3 meters away at (-14.2, 5.8). A unknown object with ID 34 is 17.4 meters away at (-5.2, -16.6). A vehicle with ID 90 is 17.9 meters away at (1.8, 17.8). A vehicle with ID 52 is 20.1 meters away at (-9.8, 17.5). A vehicle with ID 56 is 21.8 meters away at (-21.6, -3.0). A vehicle with ID 79 is 22.0 meters away at (22.0, -1.1). A pedestrian with ID 66 is 22.9 meters away at (16.7, 15.7). A vehicle with ID 58 is 24.5 meters away at (-21.8, -11.0).

The vehicle with ID 53 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 54 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 90 is traveling at a (x, y) velocity of [-5.2025886  1.811941 ] m/s.The vehicle with ID 52 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 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.85797447  0.80147344] 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 (0.5, 0.7) m/s. Its current heading (yaw) is 0.94

The most relevant actors are: A vehicle with ID 53 is 9.0 meters away at (-9.0, 0.2). A unknown object with ID 51 is 13.9 meters away at (-12.1, -6.7). A vehicle with ID 54 is 15.8 meters away at (-15.0, 4.8). A vehicle with ID 52 is 19.6 meters away at (-10.7, 16.5). A vehicle with ID 79 is 21.1 meters away at (21.0, -2.2). A vehicle with ID 3 is 22.6 meters away at (12.9, 18.5). A vehicle with ID 56 is 22.9 meters away at (-22.6, -4.0). A pedestrian with ID 66 is 23.0 meters away at (15.7, 16.9). A pedestrian with ID 15 is 25.4 meters away at (25.1, 3.6). A vehicle with ID 58 is 25.8 meters away at (-22.8, -12.1).

The vehicle with ID 53 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 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 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.1377776 -2.3529432] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.10279888 1.341025  ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.03950034 -0.01965985] 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 (-0.8, 0.3) m/s. Its current heading (yaw) is 2.76

The most relevant actors are: A vehicle with ID 33 is 7.4 meters away at (1.8, -7.2). A unknown object with ID 36 is 10.5 meters away at (10.5, 1.0). A vehicle with ID 37 is 11.1 meters away at (6.7, -8.8). A pedestrian with ID 13 is 14.0 meters away at (-7.7, -11.7). A vehicle with ID 39 is 14.6 meters away at (14.5, -2.0). A vehicle with ID 44 is 16.1 meters away at (-16.1, 0.8). A vehicle with ID 42 is 16.2 meters away at (12.2, -10.6). A vehicle with ID 35 is 22.4 meters away at (-10.7, 19.7). A vehicle with ID 47 is 24.4 meters away at (-21.2, -12.2). A vehicle with ID 45 is 28.9 meters away at (-26.6, 11.2).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.03181687 -0.01032699] m/s.The vehicle with ID 39 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 [ 4.743371 -1.558417] 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 1.8) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A vehicle with ID 44 is 4.5 meters away at (-1.3, -4.3). A vehicle with ID 33 is 10.4 meters away at (5.4, -8.9). A unknown object with ID 36 is 14.0 meters away at (14.0, -0.7). A pedestrian with ID 13 is 14.1 meters away at (-4.0, -13.6). A vehicle with ID 37 is 14.7 meters away at (10.3, -10.5). A vehicle with ID 39 is 18.4 meters away at (18.0, -3.7). A vehicle with ID 35 is 19.3 meters away at (-7.3, 17.9). A vehicle with ID 42 is 20.0 meters away at (15.8, -12.3). A vehicle with ID 47 is 22.5 meters away at (-17.5, -14.1). A vehicle with ID 45 is 24.9 meters away at (-23.1, 9.3).

The vehicle with ID 44 is traveling at a (x, y) velocity of [ 6.6711574 -1.6797463] m/s.The vehicle with ID 33 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 13 is traveling at a (x, y) velocity of [ 0.02219174 -0.00018179] m/s.The vehicle with ID 37 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 35 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 3.4) m/s. Its current heading (yaw) is 1.56

The most relevant actors are: A vehicle with ID 35 is 13.0 meters away at (-4.2, 12.3). A vehicle with ID 33 is 16.7 meters away at (8.4, -14.5). A unknown object with ID 36 is 18.2 meters away at (17.1, -6.2). A pedestrian with ID 13 is 19.0 meters away at (-0.9, -19.0). A vehicle with ID 45 is 20.3 meters away at (-19.9, 3.9). A vehicle with ID 44 is 20.7 meters away at (15.6, -13.6). A vehicle with ID 37 is 20.9 meters away at (13.3, -16.0). A vehicle with ID 39 is 22.9 meters away at (21.0, -9.1). A vehicle with ID 1 is 23.5 meters away at (7.8, 22.2). A vehicle with ID 47 is 24.4 meters away at (-14.5, -19.6).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00624416 0.01491969] 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 [ 7.0086927 -2.0989416] m/s.The vehicle with ID 37 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 2.9) m/s. Its current heading (yaw) is 1.11

The most relevant actors are: A vehicle with ID 35 is 8.6 meters away at (-6.1, 6.2). A vehicle with ID 1 is 17.0 meters away at (6.0, 15.9). A vehicle with ID 41 is 18.7 meters away at (-2.0, 18.6). A vehicle with ID 33 is 21.7 meters away at (6.4, -20.7). A vehicle with ID 45 is 22.0 meters away at (-21.9, -2.2). A vehicle with ID 39 is 24.4 meters away at (19.0, -15.4). A vehicle with ID 3 is 24.7 meters away at (-0.0, 24.7). A vehicle with ID 37 is 25.0 meters away at (11.2, -22.4). A pedestrian with ID 13 is 25.4 meters away at (-3.1, -25.2). A vehicle with ID 42 is 29.4 meters away at (16.7, -24.2).

The vehicle with ID 35 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 41 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 45 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 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 pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.01698599  0.00038729] 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 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 -0.63

The most relevant actors are: A vehicle with ID 58 is 5.7 meters away at (4.7, 3.2). A pedestrian with ID 59 is 7.0 meters away at (-6.0, -3.6). A vehicle with ID 9 is 11.3 meters away at (-9.0, 6.8). A pedestrian with ID 54 is 13.2 meters away at (4.6, -12.4). A pedestrian with ID 68 is 20.2 meters away at (7.1, -18.9). A unknown object with ID 70 is 24.9 meters away at (22.1, 11.5). A vehicle with ID 61 is 29.2 meters away at (11.0, -27.0). A pedestrian with ID 56 is 30.4 meters away at (28.4, 10.9). A pedestrian with ID 65 is 30.8 meters away at (19.2, -24.0). A pedestrian with ID 55 is 30.9 meters away at (29.2, 10.3).

The vehicle with ID 58 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 [-1.2329186  1.061963 ] m/s.The vehicle with ID 9 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 [-0.00138393  0.00333431] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.31078625 -1.4729916 ] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 1.1335415 -0.9195269] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.16368261  0.18963575] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 1.0963248 -0.9113293] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.6) m/s. Its current heading (yaw) is -0.61

The most relevant actors are: A vehicle with ID 58 is 5.7 meters away at (4.7, 3.3). A pedestrian with ID 59 is 9.2 meters away at (-9.1, -1.0). A vehicle with ID 9 is 10.8 meters away at (-8.6, 6.5). A pedestrian with ID 43 is 11.9 meters away at (3.4, -11.4). A pedestrian with ID 54 is 12.5 meters away at (3.9, -11.9). A unknown object with ID 70 is 24.6 meters away at (21.4, 12.0). A pedestrian with ID 71 is 27.5 meters away at (15.9, -22.4). A pedestrian with ID 72 is 27.5 meters away at (15.2, -22.9). A vehicle with ID 61 is 28.5 meters away at (10.4, -26.5). A pedestrian with ID 66 is 29.5 meters away at (16.6, -24.4).

The vehicle with ID 58 is traveling at a (x, y) velocity of [ 1.0737728  -0.61483246] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.3365881   0.94425094] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 0.89565575 -0.6759965 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-2.3491435e-02  4.6998375e-05] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.0371497   0.01919117] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-1.3345371  0.8965021] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.3430121   0.89358556] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.80376023  0.8086453 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -1.8) m/s. Its current heading (yaw) is -0.61

The most relevant actors are: A vehicle with ID 58 is 6.0 meters away at (4.7, 3.7). A pedestrian with ID 43 is 9.2 meters away at (0.3, -9.1). A pedestrian with ID 54 is 9.7 meters away at (0.8, -9.6). A vehicle with ID 9 is 11.0 meters away at (-8.9, 6.5). A pedestrian with ID 59 is 15.2 meters away at (-14.9, 3.1). A pedestrian with ID 71 is 21.0 meters away at (10.3, -18.3). A pedestrian with ID 72 is 21.2 meters away at (9.7, -18.9). A unknown object with ID 70 is 23.2 meters away at (18.3, 14.3). A pedestrian with ID 66 is 23.5 meters away at (11.5, -20.5). A pedestrian with ID 65 is 24.4 meters away at (13.9, -20.1).

The vehicle with ID 58 is traveling at a (x, y) velocity of [ 1.399421  -0.7583052] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.0018571   0.00951903] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00083421 0.00267945] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 1.8847387 -1.3741899] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.293136   0.9887139] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-1.3548217   0.92284065] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.3636535   0.87410045] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.90529895  0.76680607] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-1.3547224  1.0186918] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -2.7) m/s. Its current heading (yaw) is -0.60

The most relevant actors are: A vehicle with ID 58 is 7.4 meters away at (0.0, 7.4). A pedestrian with ID 54 is 7.6 meters away at (-5.6, -5.1). A pedestrian with ID 71 is 12.1 meters away at (1.5, -12.0). A pedestrian with ID 72 is 12.6 meters away at (0.9, -12.6). A vehicle with ID 9 is 13.5 meters away at (-11.0, 7.8). A vehicle with ID 85 is 14.3 meters away at (8.9, 11.3). A pedestrian with ID 65 is 14.7 meters away at (5.0, -13.8). A pedestrian with ID 66 is 15.1 meters away at (3.1, -14.7). A vehicle with ID 87 is 17.0 meters away at (16.8, 2.4). A vehicle with ID 61 is 19.8 meters away at (0.9, -19.7).

The vehicle with ID 58 is traveling at a (x, y) velocity of [ 0.50838566 -0.24933475] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01481117 -0.01398632] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-1.1507227  0.8488571] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.1526436  0.8743372] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 2.814251  -2.0444198] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-8.422448  5.522803] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-1.1668271   0.60509646] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.0048962   0.44631124] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [-6.7106566  4.264682 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.4) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A vehicle with ID 2 is 13.0 meters away at (4.5, 12.2). A vehicle with ID 16 is 21.7 meters away at (-19.3, -9.9). A pedestrian with ID 18 is 23.5 meters away at (-7.3, 22.4). A vehicle with ID 17 is 30.3 meters away at (-24.5, -17.8). A vehicle with ID 19 is 31.1 meters away at (14.1, 27.8). A vehicle with ID 21 is 45.7 meters away at (6.0, 45.3). A vehicle with ID 20 is 48.5 meters away at (15.5, 45.9). A unknown object with ID 10 is 62.4 meters away at (-37.4, -50.0). A unknown object with ID 15 is 62.7 meters away at (-38.4, -49.5). A vehicle with ID 23 is 73.7 meters away at (15.5, 72.1).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.3263357 -6.5562797] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.33566907 -1.3187883 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0.6670535 1.4796238] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.1354737 -3.6501458] 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 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 [-0.05765708 -0.7041869 ] m/s.

There are active red lights at the following coordinates: [[10.633942 46.501797]
 [ 7.535963 47.40783 ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -5.6) m/s. Its current heading (yaw) is -2.06

The most relevant actors are: A vehicle with ID 2 is 13.0 meters away at (5.4, 11.8). A vehicle with ID 16 is 13.7 meters away at (-13.5, 2.1). A vehicle with ID 17 is 19.6 meters away at (-18.7, -5.8). A pedestrian with ID 18 is 31.8 meters away at (-0.1, 31.8). A vehicle with ID 19 is 44.5 meters away at (19.9, 39.8). A unknown object with ID 6 is 45.8 meters away at (-28.5, -35.8). A unknown object with ID 9 is 48.4 meters away at (-30.4, -37.7). A unknown object with ID 11 is 49.2 meters away at (-33.0, -36.5). A unknown object with ID 10 is 49.4 meters away at (-31.5, -38.0). A vehicle with ID 20 is 53.6 meters away at (20.5, 49.5).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.6390502 -5.9091916] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.77637947 -1.1849225 ] m/s.The vehicle with ID 19 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 9 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.4460615 -4.1435456] 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, -4.9) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 2 is 12.4 meters away at (6.0, 10.8). A vehicle with ID 17 is 13.7 meters away at (-12.9, 4.6). A vehicle with ID 16 is 14.6 meters away at (-7.7, 12.4). A pedestrian with ID 18 is 41.0 meters away at (7.5, 40.3). A vehicle with ID 3 is 54.3 meters away at (-19.9, -50.5). A vehicle with ID 19 is 56.5 meters away at (25.7, 50.3). A vehicle with ID 20 is 57.2 meters away at (23.4, 52.2).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.7302136 -5.4416704] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.7668223 -0.8321533] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-6.2973285  3.3566072] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.2935233 -3.9700525] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -4.1) m/s. Its current heading (yaw) is -2.18

The most relevant actors are: A vehicle with ID 2 is 12.1 meters away at (6.5, 10.2). A vehicle with ID 17 is 15.4 meters away at (-7.1, 13.7). A vehicle with ID 16 is 21.6 meters away at (-1.9, 21.5). A vehicle with ID 3 is 40.8 meters away at (-23.9, -33.0). A pedestrian with ID 18 is 50.0 meters away at (15.2, 47.7). A vehicle with ID 20 is 60.7 meters away at (28.2, 53.8). A vehicle with ID 19 is 67.3 meters away at (31.5, 59.5).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.655774 -4.436703] m/s.The vehicle with ID 17 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 3 is traveling at a (x, y) velocity of [-3.2602577  5.149728 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.81030595 -0.9313142 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.2650294 -3.4635088] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 7.1) m/s. Its current heading (yaw) is 1.28

The most relevant actors are: A pedestrian with ID 9 is 8.7 meters away at (4.8, -7.2). A vehicle with ID 11 is 17.2 meters away at (-15.9, -6.6). A vehicle with ID 10 is 18.9 meters away at (-11.8, -14.8). A vehicle with ID 12 is 21.0 meters away at (-20.6, -4.2). A vehicle with ID 14 is 23.6 meters away at (-23.4, -3.3). A vehicle with ID 15 is 28.6 meters away at (-28.5, -2.0). A vehicle with ID 13 is 31.2 meters away at (-16.0, -26.8). A vehicle with ID 16 is 38.5 meters away at (-38.5, 1.3). A vehicle with ID 17 is 41.0 meters away at (-41.0, 1.9). A vehicle with ID 8 is 46.3 meters away at (-46.1, 3.9).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.43462378 1.1236037 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a pedestrian at [ 4.837437 -7.183157], 8.66016960144043 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.5) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A pedestrian with ID 9 is 19.9 meters away at (0.8, -19.9). A vehicle with ID 11 is 29.7 meters away at (-20.6, -21.5). A vehicle with ID 12 is 31.7 meters away at (-25.3, -19.1). A vehicle with ID 14 is 33.6 meters away at (-28.2, -18.4). A vehicle with ID 10 is 34.0 meters away at (-16.5, -29.8). A vehicle with ID 15 is 37.3 meters away at (-33.2, -16.9). A vehicle with ID 13 is 46.6 meters away at (-20.6, -41.7). A vehicle with ID 18 is 76.7 meters away at (-30.4, -70.4).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.37828836 1.2019154 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 7.0) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A pedestrian with ID 9 is 32.3 meters away at (-3.5, -32.1). A vehicle with ID 11 is 44.0 meters away at (-25.5, -35.9). A vehicle with ID 12 is 45.3 meters away at (-30.3, -33.7). A vehicle with ID 10 is 49.2 meters away at (-21.4, -44.3). A vehicle with ID 13 is 61.8 meters away at (-25.5, -56.2).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.43706143 1.093617  ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 4.1) m/s. Its current heading (yaw) is 0.73

The most relevant actors are: A pedestrian with ID 9 is 42.6 meters away at (-8.8, -41.7). A vehicle with ID 5 is 57.5 meters away at (-31.9, -47.8). A vehicle with ID 10 is 62.7 meters away at (-27.9, -56.1). A vehicle with ID 13 is 75.1 meters away at (-31.9, -68.0).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.881912  1.1445343] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -0.6) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 13 is 10.0 meters away at (9.7, -2.5). A pedestrian with ID 18 is 27.2 meters away at (-27.2, 0.7). A pedestrian with ID 19 is 27.7 meters away at (-27.6, 2.3). A pedestrian with ID 20 is 28.2 meters away at (-27.9, 4.2). A pedestrian with ID 21 is 28.7 meters away at (-28.5, 2.6). A pedestrian with ID 22 is 29.2 meters away at (-29.0, 3.5). A unknown object with ID 1 is 32.3 meters away at (31.7, 6.4). A unknown object with ID 15 is 33.4 meters away at (32.4, 8.1). A unknown object with ID 4 is 39.5 meters away at (-34.7, 18.9). A vehicle with ID 29 is 58.9 meters away at (31.2, -50.0).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.01483938 0.00959802] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.00561718 0.0003553 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.00760838 -0.00054737] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.02388944 0.02109994] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.01058054 0.00176605] m/s.The unknown object with ID 1 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 4 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 [-0.26421276 -1.0642797 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.1) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 13 is 8.4 meters away at (8.2, -1.9). A pedestrian with ID 11 is 23.6 meters away at (14.9, -18.3). A pedestrian with ID 18 is 28.9 meters away at (-28.9, 1.3). A pedestrian with ID 19 is 29.4 meters away at (-29.3, 3.0). A pedestrian with ID 20 is 29.9 meters away at (-29.5, 4.8). A pedestrian with ID 21 is 30.4 meters away at (-30.2, 3.2). A unknown object with ID 1 is 30.8 meters away at (30.0, 7.0). A pedestrian with ID 22 is 30.9 meters away at (-30.7, 4.1). A unknown object with ID 15 is 31.9 meters away at (30.7, 8.7). A unknown object with ID 7 is 41.7 meters away at (-41.4, 4.7).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.01713525 -0.00836073] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.01517218 -0.00641551] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.200673e-02  7.519034e-05] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.0026976 -0.0078953] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.01028552 -0.02573143] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.0042499  -0.00746228] 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 13 is 8.2 meters away at (8.0, -1.8). A pedestrian with ID 18 is 29.1 meters away at (-29.1, 1.4). A pedestrian with ID 19 is 29.6 meters away at (-29.5, 3.1). A pedestrian with ID 20 is 30.1 meters away at (-29.7, 4.9). A pedestrian with ID 21 is 30.6 meters away at (-30.4, 3.2). A unknown object with ID 1 is 30.6 meters away at (29.8, 7.1). A pedestrian with ID 22 is 31.1 meters away at (-30.8, 4.2). A unknown object with ID 15 is 31.8 meters away at (30.6, 8.7). A unknown object with ID 7 is 42.2 meters away at (-42.0, 4.9). A unknown object with ID 10 is 55.6 meters away at (-54.3, 11.7).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00863892  0.002919  ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00201425  0.0046164 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.01357305  0.00088883] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.00427611 -0.00639917] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.00869266 0.01279203] 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 7 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: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 13 is 9.0 meters away at (8.8, -1.8). A pedestrian with ID 18 is 29.2 meters away at (-29.1, 1.4). A pedestrian with ID 19 is 29.7 meters away at (-29.5, 3.0). A pedestrian with ID 20 is 30.2 meters away at (-29.8, 5.0). A unknown object with ID 1 is 30.6 meters away at (29.8, 7.1). A pedestrian with ID 21 is 30.7 meters away at (-30.6, 3.1). A pedestrian with ID 22 is 31.1 meters away at (-30.8, 4.3). A unknown object with ID 15 is 31.8 meters away at (30.5, 8.8). A pedestrian with ID 9 is 53.9 meters away at (-53.8, 2.4). A vehicle with ID 29 is 58.5 meters away at (28.7, -50.9).

The vehicle with ID 13 is traveling at a (x, y) velocity of [1.0895616  0.00773407] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00210549  0.00087925] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00137399 -0.00011938] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00260319 0.00457132] m/s.The unknown object with ID 1 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 [-0.05914066  0.01124008] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.02213583 -0.01031352] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.23729241 1.0654541 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 0.1) m/s. Its current heading (yaw) is 3.07

The most relevant actors are: A vehicle with ID 8 is 9.4 meters away at (8.9, 2.9). A vehicle with ID 10 is 14.7 meters away at (14.4, 2.7). A vehicle with ID 11 is 20.2 meters away at (20.0, 2.4). A vehicle with ID 7 is 20.3 meters away at (-9.1, 18.2). A vehicle with ID 6 is 26.2 meters away at (-9.2, 24.5). A vehicle with ID 12 is 27.0 meters away at (26.9, 1.9). A unknown object with ID 13 is 38.7 meters away at (37.1, -11.0). A vehicle with ID 14 is 44.2 meters away at (-23.0, -37.8). A vehicle with ID 15 is 49.2 meters away at (-23.3, -43.3). A vehicle with ID 16 is 54.2 meters away at (-24.0, -48.6).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 0.2) m/s. Its current heading (yaw) is 3.06

The most relevant actors are: A vehicle with ID 8 is 12.8 meters away at (12.5, 2.6). A vehicle with ID 10 is 18.3 meters away at (18.1, 2.5). A vehicle with ID 7 is 18.8 meters away at (-5.6, 17.9). A vehicle with ID 11 is 23.8 meters away at (23.7, 2.2). A vehicle with ID 6 is 25.0 meters away at (-5.7, 24.3). A vehicle with ID 12 is 30.5 meters away at (30.5, 1.7). A vehicle with ID 14 is 42.7 meters away at (-19.4, -38.0). A vehicle with ID 15 is 47.8 meters away at (-19.7, -43.6). A vehicle with ID 16 is 52.9 meters away at (-20.4, -48.8). A vehicle with ID 17 is 58.5 meters away at (-21.0, -54.6).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 0.9) m/s. Its current heading (yaw) is 2.80

The most relevant actors are: A vehicle with ID 8 is 16.8 meters away at (16.7, 2.1). A vehicle with ID 7 is 17.4 meters away at (-1.6, 17.3). A vehicle with ID 10 is 22.3 meters away at (22.2, 1.9). A vehicle with ID 6 is 23.6 meters away at (-1.9, 23.6). A vehicle with ID 11 is 27.8 meters away at (27.8, 1.6). A vehicle with ID 12 is 34.7 meters away at (34.7, 1.2). A vehicle with ID 14 is 41.5 meters away at (-15.1, -38.7). A vehicle with ID 15 is 46.9 meters away at (-15.3, -44.3). A vehicle with ID 16 is 52.1 meters away at (-16.1, -49.6). A vehicle with ID 17 is 57.7 meters away at (-16.6, -55.3).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 4.0) m/s. Its current heading (yaw) is 1.87

The most relevant actors are: A vehicle with ID 7 is 13.0 meters away at (3.1, 12.6). A vehicle with ID 6 is 19.1 meters away at (2.7, 18.9). A vehicle with ID 8 is 21.5 meters away at (21.3, -2.5). A vehicle with ID 10 is 27.1 meters away at (27.0, -2.6). A vehicle with ID 11 is 32.6 meters away at (32.5, -2.9). A vehicle with ID 12 is 39.4 meters away at (39.3, -3.2). A vehicle with ID 14 is 44.7 meters away at (-10.4, -43.4). A vehicle with ID 15 is 50.2 meters away at (-10.7, -49.0). A vehicle with ID 16 is 55.4 meters away at (-11.5, -54.2). A vehicle with ID 17 is 61.2 meters away at (-12.0, -60.0).

The vehicle with ID 7 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.1) m/s. Its current heading (yaw) is -0.17

The most relevant actors are: A vehicle with ID 15 is 34.6 meters away at (-9.9, -33.2). A unknown object with ID 3 is 37.6 meters away at (37.0, 7.1).

The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.7626041  7.1345406] m/s.The unknown object with ID 3 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 -0.17

The most relevant actors are: A vehicle with ID 15 is 24.3 meters away at (-10.5, -21.9). A unknown object with ID 9 is 42.0 meters away at (-24.8, -33.8). A unknown object with ID 10 is 47.1 meters away at (2.5, -47.0). A vehicle with ID 1 is 58.7 meters away at (56.8, -14.5). A vehicle with ID 7 is 79.7 meters away at (-76.8, -21.4).

The vehicle with ID 15 is traveling at a (x, y) velocity of [1.7856883 3.7952814] 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 10 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 [-0.72086376  7.9598103 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.2307796 -8.641309 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.17

The most relevant actors are: A vehicle with ID 15 is 20.9 meters away at (-4.4, -20.4). A unknown object with ID 8 is 30.8 meters away at (30.3, 5.8). A vehicle with ID 1 is 56.0 meters away at (55.9, 2.7).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 3.2400484 -2.463497 ] m/s.The unknown object with ID 8 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 [-0.40847835  9.19168   ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.17

The most relevant actors are: A vehicle with ID 15 is 29.8 meters away at (-1.3, -29.8).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.81770647 -6.269639  ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -2.7) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A pedestrian with ID 29 is 9.5 meters away at (-5.8, -7.5). A cyclist with ID 27 is 13.3 meters away at (-11.8, 6.2). A cyclist with ID 26 is 17.0 meters away at (-16.7, -3.2). A unknown object with ID 28 is 24.7 meters away at (-19.5, 15.2). A unknown object with ID 31 is 27.7 meters away at (-19.0, -20.2). A unknown object with ID 35 is 28.9 meters away at (-18.0, -22.6). A unknown object with ID 37 is 30.8 meters away at (-18.4, -24.7). A unknown object with ID 38 is 32.8 meters away at (-19.2, -26.6). A pedestrian with ID 36 is 38.0 meters away at (-6.8, 37.4). A vehicle with ID 32 is 39.0 meters away at (-7.8, 38.2).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.28215146 1.1609457 ] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-2.713306  -6.9101324] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [-4.0014534 -8.929739 ] 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.61571646 -1.1165767 ] m/s.The vehicle with ID 32 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 (6.0, -2.5) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A pedestrian with ID 29 is 16.1 meters away at (-16.1, -0.5). A unknown object with ID 17 is 28.6 meters away at (24.9, -14.0). A unknown object with ID 11 is 28.6 meters away at (25.4, -13.1). A unknown object with ID 10 is 28.7 meters away at (25.1, -14.0). A cyclist with ID 27 is 29.7 meters away at (-29.3, -4.9). A unknown object with ID 31 is 33.5 meters away at (-29.8, -15.3). A unknown object with ID 35 is 33.7 meters away at (-28.7, -17.6). A unknown object with ID 37 is 35.1 meters away at (-29.1, -19.6). A unknown object with ID 28 is 36.5 meters away at (-30.4, 20.1). A unknown object with ID 24 is 37.5 meters away at (-32.5, -18.8).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.2479382 1.1526525] 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 11 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 cyclist with ID 27 is traveling at a (x, y) velocity of [-3.549659 -8.619747] 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.7) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A unknown object with ID 11 is 14.8 meters away at (12.6, -7.7). A unknown object with ID 10 is 15.0 meters away at (12.2, -8.7). A pedestrian with ID 29 is 29.0 meters away at (-28.2, 6.7). A vehicle with ID 25 is 38.1 meters away at (35.4, -14.3). A vehicle with ID 50 is 41.2 meters away at (-31.8, 26.3). A unknown object with ID 31 is 43.8 meters away at (-42.6, -10.1). A pedestrian with ID 4 is 46.3 meters away at (42.2, -19.1). A vehicle with ID 3 is 46.5 meters away at (42.8, -18.1). A unknown object with ID 28 is 50.2 meters away at (-43.4, 25.3). A vehicle with ID 2 is 61.0 meters away at (55.2, -26.1).

The unknown object with ID 11 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 29 is traveling at a (x, y) velocity of [0.39969143 0.84636444] m/s.The vehicle with ID 25 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 [-4.059041 -9.646341] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.00045527 -0.01540773] m/s.The vehicle with ID 3 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [12.585533 -7.73337 ], 14.77161693572998 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -2.9) m/s. Its current heading (yaw) is -0.44

The most relevant actors are: A unknown object with ID 11 is 2.3 meters away at (0.1, -2.2). A unknown object with ID 10 is 3.2 meters away at (-0.3, -3.2). A vehicle with ID 25 is 24.5 meters away at (22.9, -8.7). A pedestrian with ID 4 is 31.9 meters away at (29.1, -13.2). A vehicle with ID 3 is 32.8 meters away at (30.3, -12.4). A pedestrian with ID 29 is 42.5 meters away at (-40.1, 14.1). A vehicle with ID 2 is 47.4 meters away at (42.7, -20.5). A vehicle with ID 50 is 54.0 meters away at (-52.8, 11.7). A unknown object with ID 28 is 63.8 meters away at (-56.0, 30.6).

The unknown object with ID 11 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.34371784  0.2585255 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.54500437 0.98770297] m/s.The vehicle with ID 2 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 [ -4.2936   -10.316042] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -4.0) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 30 is 6.2 meters away at (6.2, 0.3). A vehicle with ID 1 is 13.8 meters away at (-10.5, 8.9). A vehicle with ID 3 is 17.0 meters away at (14.0, -9.6). A vehicle with ID 29 is 25.4 meters away at (-16.8, 19.1). A vehicle with ID 8 is 26.4 meters away at (24.4, -10.2). A vehicle with ID 28 is 30.4 meters away at (30.4, -1.7). A vehicle with ID 4 is 33.5 meters away at (-25.6, 21.7). A vehicle with ID 27 is 34.7 meters away at (34.6, -2.8). A unknown object with ID 16 is 36.1 meters away at (-32.5, 15.8). A vehicle with ID 32 is 42.7 meters away at (36.3, -22.6).

The vehicle with ID 30 is traveling at a (x, y) velocity of [-5.5756016  4.0490046] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.1771793 -4.720607 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 4.977025  -1.6222079] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-8.481922  7.308086] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [4.898844  1.5929865] m/s.The vehicle with ID 28 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 [ 3.4860618 -2.9066038] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [4.7202806 5.457842 ] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -3.3) m/s. Its current heading (yaw) is -0.55

The most relevant actors are: A vehicle with ID 1 is 11.4 meters away at (-9.1, 6.9). A vehicle with ID 3 is 15.0 meters away at (14.8, -2.4). A vehicle with ID 28 is 22.0 meters away at (21.3, 5.6). A vehicle with ID 30 is 23.4 meters away at (-15.2, 17.9). A vehicle with ID 8 is 24.5 meters away at (24.2, 3.6). A vehicle with ID 32 is 31.1 meters away at (27.1, -15.3). A vehicle with ID 4 is 33.9 meters away at (-25.9, 21.8). A vehicle with ID 27 is 39.5 meters away at (35.6, 17.0). A vehicle with ID 2 is 46.1 meters away at (-35.0, 30.0). A unknown object with ID 16 is 47.5 meters away at (-41.5, 23.2).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.1896234 -4.4977617] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [4.71506   1.5361927] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-6.692769   5.6942225] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [4.2830687 4.7656107] m/s.The vehicle with ID 32 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 [ 5.274064  -4.3834915] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [5.01072  6.139756] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 5.535371 -4.571431] m/s.The unknown object with ID 16 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, 0.3) m/s. Its current heading (yaw) is 0.06

The most relevant actors are: A vehicle with ID 1 is 9.8 meters away at (-9.5, 2.1). A vehicle with ID 28 is 13.8 meters away at (10.8, 8.6). A vehicle with ID 3 is 14.1 meters away at (12.5, 6.4). A unknown object with ID 24 is 17.6 meters away at (17.4, -2.9). A vehicle with ID 32 is 20.5 meters away at (16.5, -12.2). A vehicle with ID 8 is 28.6 meters away at (22.8, 17.3). A vehicle with ID 4 is 29.8 meters away at (-25.3, 15.7). A vehicle with ID 2 is 41.4 meters away at (-34.0, 23.6). A vehicle with ID 27 is 45.4 meters away at (33.8, 30.4). A vehicle with ID 30 is 51.8 meters away at (-39.8, 33.1).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.1967773 -2.9860425] m/s.The vehicle with ID 28 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 [3.474459 3.833361] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [4.4355054 5.3879843] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 5.542145 -4.567348] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 5.8167257 -4.95953  ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [3.3862588 3.9660447] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-7.0439057  6.2776465] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 3.4) m/s. Its current heading (yaw) is 0.67

The most relevant actors are: A vehicle with ID 28 is 4.8 meters away at (0.5, 4.8). A vehicle with ID 1 is 9.6 meters away at (-8.4, -4.6). A vehicle with ID 3 is 13.8 meters away at (9.0, 10.4). A vehicle with ID 32 is 17.1 meters away at (6.3, -15.9). A vehicle with ID 4 is 24.6 meters away at (-24.5, 2.8). A vehicle with ID 8 is 30.5 meters away at (20.3, 22.7). A vehicle with ID 2 is 34.2 meters away at (-32.9, 9.6). A vehicle with ID 27 is 43.4 meters away at (28.6, 32.7). A vehicle with ID 25 is 54.4 meters away at (15.6, -52.1). A vehicle with ID 10 is 56.4 meters away at (13.1, -54.8).

The vehicle with ID 28 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 [5.827269  0.6404669] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [3.377793  3.9306386] m/s.The vehicle with ID 32 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 [ 5.7399    -3.9903932] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [3.2473648 3.8703203] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 5.6299033 -4.861963 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.159318 2.740476] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, -4.8) m/s. Its current heading (yaw) is -2.40

The most relevant actors are: A unknown object with ID 41 is 13.2 meters away at (-1.5, -13.1). A unknown object with ID 42 is 13.2 meters away at (-2.3, -13.0). A unknown object with ID 37 is 14.5 meters away at (-11.0, 9.5). A unknown object with ID 38 is 14.6 meters away at (-10.4, 10.3). A unknown object with ID 36 is 14.7 meters away at (-3.8, -14.2). A unknown object with ID 17 is 15.5 meters away at (-11.6, 10.2). A unknown object with ID 27 is 15.5 meters away at (-11.6, 10.4). A unknown object with ID 24 is 15.6 meters away at (-11.3, 10.7). A unknown object with ID 12 is 16.7 meters away at (-4.7, -16.0). A vehicle with ID 8 is 21.7 meters away at (12.5, 17.8).

The unknown object 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, -4.1) m/s. Its current heading (yaw) is -2.42

The most relevant actors are: A unknown object with ID 36 is 8.2 meters away at (6.1, -5.5). A unknown object with ID 42 is 8.7 meters away at (7.6, -4.2). A unknown object with ID 12 is 8.9 meters away at (5.3, -7.2). A unknown object with ID 10 is 10.0 meters away at (3.9, -9.2). A vehicle with ID 45 is 14.0 meters away at (-12.9, -5.5). A unknown object with ID 37 is 18.3 meters away at (-1.1, 18.3). A unknown object with ID 17 is 18.9 meters away at (-1.7, 18.8). A unknown object with ID 38 is 19.1 meters away at (-0.5, 19.1). A unknown object with ID 27 is 19.1 meters away at (-1.6, 19.0). A unknown object with ID 24 is 19.7 meters away at (-1.4, 19.6).

The unknown object with ID 36 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 12 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 45 is traveling at a (x, y) velocity of [5.1848226 6.1647263] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [ 6.149109  -5.4621162], 8.22473430633545 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -3.3) m/s. Its current heading (yaw) is -2.31

The most relevant actors are: A unknown object with ID 10 is 11.6 meters away at (11.4, -1.7). A unknown object with ID 12 is 12.8 meters away at (12.8, 0.2). A unknown object with ID 36 is 13.8 meters away at (13.7, 2.0). A vehicle with ID 45 is 14.4 meters away at (4.6, 13.6). A unknown object with ID 42 is 15.6 meters away at (15.2, 3.2). A vehicle with ID 18 is 16.4 meters away at (14.6, 7.6). A vehicle with ID 39 is 21.7 meters away at (-13.7, -16.8). A unknown object with ID 37 is 26.6 meters away at (6.6, 25.8). A unknown object with ID 17 is 27.1 meters away at (6.0, 26.4). A unknown object with ID 27 is 27.2 meters away at (6.1, 26.6).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 [4.5467024 5.4249463] m/s.The unknown object with ID 42 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 [-5.3934703 -7.0941315] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 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.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [11.443594  -1.7268925], 11.573159217834473 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -2.3) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A vehicle with ID 18 is 10.2 meters away at (10.2, -0.4). A vehicle with ID 39 is 15.0 meters away at (-9.4, -11.7). A unknown object with ID 10 is 16.9 meters away at (16.4, 3.8). A unknown object with ID 12 is 18.6 meters away at (17.7, 5.8). A unknown object with ID 36 is 20.1 meters away at (18.6, 7.7). A unknown object with ID 42 is 22.0 meters away at (20.1, 8.8). A cyclist with ID 43 is 31.7 meters away at (-30.6, -8.3). A unknown object with ID 37 is 33.5 meters away at (11.5, 31.4). A unknown object with ID 17 is 33.8 meters away at (11.0, 32.0). A unknown object with ID 27 is 33.9 meters away at (10.8, 32.1).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.6006691 -6.7702694] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.8448985 -0.9932572] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 cyclist with ID 43 is traveling at a (x, y) velocity of [0.00132093 0.02144909] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 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.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -2.9) m/s. Its current heading (yaw) is -0.43

The most relevant actors are: A unknown object with ID 92 is 3.5 meters away at (1.5, 3.2). A unknown object with ID 91 is 3.8 meters away at (-0.6, 3.8). A unknown object with ID 94 is 4.0 meters away at (3.3, 2.3). A unknown object with ID 87 is 5.2 meters away at (-2.2, 4.7). A unknown object with ID 95 is 5.3 meters away at (5.2, 1.3). A unknown object with ID 96 is 6.8 meters away at (6.8, 0.6). A unknown object with ID 86 is 7.0 meters away at (-2.4, 6.6). A unknown object with ID 97 is 8.7 meters away at (8.7, -0.3). A unknown object with ID 52 is 8.8 meters away at (8.7, 1.4). A unknown object with ID 98 is 10.6 meters away at (10.5, -1.4).

The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [1.4618578 3.1508615], 3.4734647274017334 meters away.)