The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -6.1) m/s. Its current heading (yaw) is -0.73

The most relevant actors are: A vehicle with ID 6 is 19.3 meters away at (-17.6, 7.8). A vehicle with ID 35 is 38.3 meters away at (-34.4, -16.9). A unknown object with ID 20 is 45.1 meters away at (43.2, -13.2). A vehicle with ID 44 is 46.0 meters away at (45.6, 6.0). A vehicle with ID 30 is 49.2 meters away at (-33.7, 35.9). A vehicle with ID 14 is 56.6 meters away at (-37.9, 42.0). A pedestrian with ID 3 is 58.7 meters away at (49.4, -31.6). A pedestrian with ID 8 is 62.2 meters away at (-61.9, 6.6).

The vehicle with ID 6 is traveling at a (x, y) velocity of [2.6799304 1.5483176] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-2.1743975  1.2480736] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 1.0445757 -0.5089784] m/s.

Instruction: Sharp left turn approaching


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

The most relevant actors are: A vehicle with ID 6 is 32.2 meters away at (-24.6, 20.8). A pedestrian with ID 3 is 34.7 meters away at (30.6, -16.3). A vehicle with ID 44 is 36.9 meters away at (31.7, 18.8). A vehicle with ID 35 is 48.8 meters away at (-48.6, -4.3). A vehicle with ID 30 is 68.3 meters away at (-48.1, 48.5). A vehicle with ID 1 is 74.1 meters away at (61.7, -41.1). A vehicle with ID 14 is 75.7 meters away at (-52.3, 54.6). A pedestrian with ID 8 is 76.6 meters away at (-74.2, 19.0). A pedestrian with ID 28 is 76.8 meters away at (-74.0, 20.3).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.5476665 -2.009964 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-2.20068    1.3890989] m/s.The vehicle with ID 44 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 30 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.835055   -0.22897781] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.75930905 -0.6442739 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -9.8) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A vehicle with ID 6 is 8.3 meters away at (0.2, 8.3). A vehicle with ID 43 is 11.3 meters away at (1.0, -11.2). A vehicle with ID 7 is 15.5 meters away at (-9.9, -12.0). A vehicle with ID 53 is 16.6 meters away at (-15.8, 5.2). A vehicle with ID 41 is 18.0 meters away at (-5.3, 17.2). A vehicle with ID 52 is 20.1 meters away at (-16.7, 11.1). A vehicle with ID 8 is 27.2 meters away at (-15.9, -22.1). A vehicle with ID 5 is 34.9 meters away at (11.0, 33.2). A vehicle with ID 17 is 39.4 meters away at (-33.7, -20.4). A unknown object with ID 44 is 41.3 meters away at (41.3, -0.3).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ -6.680627 -13.832245] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-0.80938953 -0.3680221 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -7.29348  -13.157554] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 7.215504 15.01988 ] m/s.The vehicle with ID 41 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 [ 6.562568 13.985287] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ -7.7266803 -13.121499 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -5.31619 -14.59505] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 8.519478 13.6985  ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-2.4029708  3.1513731]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -10.0) m/s. Its current heading (yaw) is -2.10

The most relevant actors are: A vehicle with ID 6 is 3.9 meters away at (-3.7, 1.1). A vehicle with ID 43 is 13.9 meters away at (11.1, 8.4). A vehicle with ID 7 is 23.1 meters away at (-14.9, -17.7). A vehicle with ID 5 is 26.3 meters away at (9.5, 24.6). A vehicle with ID 17 is 28.5 meters away at (-7.4, 27.5). A vehicle with ID 8 is 35.2 meters away at (-21.9, -27.6). A vehicle with ID 41 is 37.4 meters away at (5.3, 37.0). A vehicle with ID 20 is 39.9 meters away at (-35.7, -17.7). A unknown object with ID 13 is 42.0 meters away at (40.1, -12.6). A vehicle with ID 9 is 47.9 meters away at (20.7, 43.2).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ -7.856951 -13.324237] m/s.The vehicle with ID 43 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 [ -8.351086 -12.374106] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -6.9658785 -13.951216 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.138038 14.640168] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ -8.704112 -12.430261] m/s.The vehicle with ID 41 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 [10.959199 16.500149] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ -5.6481776 -12.970111 ] m/s.

There are active red lights at the following coordinates: [[-2.4029708  3.1513731]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, -9.8) m/s. Its current heading (yaw) is -2.16

The most relevant actors are: A vehicle with ID 6 is 9.9 meters away at (-8.3, -5.4). A vehicle with ID 5 is 18.9 meters away at (6.9, 17.6). A vehicle with ID 7 is 29.7 meters away at (-19.8, -22.2). A vehicle with ID 20 is 35.6 meters away at (-2.7, 35.5). A vehicle with ID 37 is 36.2 meters away at (-34.6, -10.7). A vehicle with ID 43 is 36.4 meters away at (23.2, 28.0). A vehicle with ID 8 is 41.9 meters away at (-26.9, -32.1). A vehicle with ID 9 is 42.6 meters away at (20.9, 37.2). A unknown object with ID 13 is 52.7 meters away at (52.2, 7.0). A vehicle with ID 14 is 55.5 meters away at (-46.4, -30.5).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ -9.137308 -13.305595] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -8.061628 -12.939114] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -8.946822 -12.050507] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 9.55347  17.480427] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 8.570382 12.509869] m/s.The vehicle with ID 43 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 [ -8.64969 -11.97866] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ -6.6447234 -12.925728 ] 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 [ 8.987718 11.958156] m/s.

There are active red lights at the following coordinates: [[-2.4029708  3.1513731]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, -9.2) m/s. Its current heading (yaw) is -2.22

The most relevant actors are: A vehicle with ID 5 is 12.1 meters away at (3.7, 11.5). A vehicle with ID 16 is 16.2 meters away at (-11.4, 11.5). A vehicle with ID 6 is 18.2 meters away at (-12.9, -12.8). A vehicle with ID 14 is 19.8 meters away at (-14.7, 13.3). A vehicle with ID 25 is 25.8 meters away at (-25.0, -6.3). A vehicle with ID 40 is 33.2 meters away at (-31.6, -10.0). A vehicle with ID 37 is 33.6 meters away at (-4.5, 33.3). A vehicle with ID 7 is 36.6 meters away at (-24.6, -27.1). A vehicle with ID 9 is 37.2 meters away at (20.4, 31.1). A vehicle with ID 8 is 47.4 meters away at (-30.4, -36.3).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ -8.9372  -12.45548] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [11.042134 15.415285] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ -8.98292  -13.325622] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 8.769666 12.382508] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [11.031827 15.154185] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 8.64128  11.470812] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 7.984945 12.593078] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -9.299196 -12.249844] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ -7.410334 -12.266739] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ -8.313953 -11.272634] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -0.0) m/s. Its current heading (yaw) is -0.01

The most relevant actors are: A unknown object with ID 100 is 7.6 meters away at (3.4, -6.8). A unknown object with ID 97 is 8.6 meters away at (1.6, -8.4). A unknown object with ID 95 is 8.7 meters away at (-2.1, -8.4). A unknown object with ID 105 is 9.8 meters away at (6.2, -7.6). A unknown object with ID 103 is 9.8 meters away at (5.1, -8.4). A pedestrian with ID 78 is 10.0 meters away at (-5.1, -8.6). A vehicle with ID 99 is 10.2 meters away at (1.8, 10.0). A unknown object with ID 107 is 10.2 meters away at (6.9, -7.5). A vehicle with ID 96 is 11.9 meters away at (-1.8, 11.7). A unknown object with ID 75 is 12.0 meters away at (8.6, -8.4).

The unknown object with ID 100 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 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 3.3601542 -6.7814527], 7.568272113800049 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -0.1) m/s. Its current heading (yaw) is -0.01

The most relevant actors are: A unknown object with ID 112 is 8.3 meters away at (-4.3, -7.1). A unknown object with ID 59 is 8.4 meters away at (-0.2, -8.4). A unknown object with ID 44 is 8.5 meters away at (1.5, -8.4). A unknown object with ID 111 is 8.8 meters away at (-5.0, -7.2). A unknown object with ID 45 is 8.8 meters away at (-2.6, -8.4). A unknown object with ID 49 is 8.8 meters away at (-5.2, -7.1). A unknown object with ID 42 is 8.8 meters away at (-3.0, -8.3). A unknown object with ID 43 is 9.0 meters away at (3.3, -8.4). A unknown object with ID 110 is 9.3 meters away at (-5.7, -7.3). A unknown object with ID 109 is 9.5 meters away at (-6.0, -7.3).

The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 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 [-4.2697754 -7.1402125], 8.319472312927246 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.8, -0.2) m/s. Its current heading (yaw) is -0.02

The most relevant actors are: A unknown object with ID 70 is 8.8 meters away at (-3.6, -8.1). A unknown object with ID 120 is 9.6 meters away at (-6.0, -7.5). A vehicle with ID 87 is 10.1 meters away at (3.4, 9.5). A vehicle with ID 122 is 11.0 meters away at (-2.1, 10.8). A unknown object with ID 54 is 11.1 meters away at (-7.3, -8.4). A vehicle with ID 37 is 11.8 meters away at (5.8, 10.2). A vehicle with ID 125 is 12.0 meters away at (0.6, 12.0). A unknown object with ID 52 is 12.2 meters away at (-8.7, -8.5). A unknown object with ID 48 is 12.8 meters away at (-9.6, -8.4). A unknown object with ID 64 is 12.9 meters away at (2.4, 12.7).

The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-3.6229134 -8.058137 ], 8.835104942321777 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -0.1) m/s. Its current heading (yaw) is -0.01

The most relevant actors are: A unknown object with ID 88 is 10.7 meters away at (3.9, -9.9). A unknown object with ID 76 is 11.2 meters away at (-4.3, -10.4). A unknown object with ID 80 is 11.2 meters away at (9.2, -6.5). A vehicle with ID 37 is 14.2 meters away at (-9.7, 10.4). A unknown object with ID 83 is 15.4 meters away at (11.5, -10.2). A vehicle with ID 87 is 15.5 meters away at (-12.1, 9.7). A vehicle with ID 125 is 19.3 meters away at (-15.0, 12.1). A unknown object with ID 70 is 20.7 meters away at (-19.1, -7.9). A vehicle with ID 122 is 20.8 meters away at (-17.7, 11.0). A vehicle with ID 77 is 24.3 meters away at (-17.6, 16.7).

The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 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 unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 3.9323883 -9.911932 ], 10.663492202758789 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -5.7) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 8 is 30.9 meters away at (14.9, 27.1). A vehicle with ID 40 is 31.7 meters away at (-18.0, -26.1). A vehicle with ID 41 is 32.2 meters away at (-20.5, -24.8). A vehicle with ID 23 is 33.4 meters away at (-23.2, -24.0). A vehicle with ID 42 is 33.8 meters away at (-13.1, -31.2). A vehicle with ID 37 is 35.4 meters away at (-4.1, -35.1). A vehicle with ID 11 is 40.9 meters away at (-15.2, -38.0). A pedestrian with ID 39 is 49.9 meters away at (-5.3, -49.6). A pedestrian with ID 44 is 50.0 meters away at (-6.1, -49.7). A vehicle with ID 1 is 63.2 meters away at (-22.2, -59.2).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.8474402 -2.981262 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 37 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 pedestrian with ID 39 is traveling at a (x, y) velocity of [0.23973782 1.0772142 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.27267128 1.1424533 ] 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 (-2.2, -6.4) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A vehicle with ID 40 is 19.4 meters away at (-14.0, -13.4). A vehicle with ID 41 is 20.5 meters away at (-16.5, -12.1). A vehicle with ID 42 is 20.6 meters away at (-9.1, -18.5). A vehicle with ID 23 is 22.2 meters away at (-19.2, -11.2). A vehicle with ID 37 is 22.5 meters away at (-0.1, -22.5). A vehicle with ID 18 is 24.3 meters away at (-21.8, -10.9). A vehicle with ID 28 is 26.3 meters away at (-24.4, -9.9). A vehicle with ID 11 is 27.6 meters away at (-11.2, -25.3). A vehicle with ID 22 is 28.8 meters away at (-27.3, -9.2). A vehicle with ID 8 is 31.0 meters away at (9.4, 29.5).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.4865706 -6.7417154] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -6.0) m/s. Its current heading (yaw) is -1.88

The most relevant actors are: A vehicle with ID 42 is 7.9 meters away at (-5.2, -5.9). A vehicle with ID 40 is 10.2 meters away at (-10.2, -0.9). A vehicle with ID 37 is 10.6 meters away at (3.7, -10.0). A vehicle with ID 41 is 12.7 meters away at (-12.7, 0.4). A vehicle with ID 11 is 14.7 meters away at (-7.4, -12.6). A vehicle with ID 23 is 15.3 meters away at (-15.2, 1.1). A vehicle with ID 18 is 17.9 meters away at (-17.9, 1.6). A unknown object with ID 20 is 20.6 meters away at (12.6, 16.3). A vehicle with ID 28 is 20.6 meters away at (-20.5, 2.5). A pedestrian with ID 3 is 20.8 meters away at (3.8, -20.5).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.27020895 0.9850551 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -4.8) m/s. Its current heading (yaw) is -1.95

The most relevant actors are: A vehicle with ID 11 is 4.2 meters away at (-3.9, -1.7). A vehicle with ID 42 is 5.2 meters away at (-1.8, 4.9). A vehicle with ID 37 is 7.2 meters away at (7.2, 1.0). A pedestrian with ID 44 is 10.9 meters away at (7.0, -8.3). A pedestrian with ID 3 is 11.0 meters away at (7.9, -7.6). A pedestrian with ID 39 is 11.4 meters away at (7.6, -8.5). A vehicle with ID 40 is 12.1 meters away at (-6.7, 10.0). A vehicle with ID 41 is 14.5 meters away at (-9.2, 11.3). A vehicle with ID 23 is 17.0 meters away at (-11.9, 12.1). A vehicle with ID 18 is 19.1 meters away at (-14.3, 12.6).

The vehicle with ID 11 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.3334936 0.9406858] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.31782234 0.96423465] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.29655826 0.9628301 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 (7.8, -0.6) m/s. Its current heading (yaw) is -0.07

The most relevant actors are: A vehicle with ID 36 is 14.3 meters away at (-11.4, -8.6). A vehicle with ID 35 is 16.0 meters away at (-14.1, -7.4). A vehicle with ID 33 is 17.7 meters away at (-16.4, -6.6). A vehicle with ID 43 is 19.1 meters away at (12.7, -14.2). A vehicle with ID 34 is 20.3 meters away at (-19.3, -6.3). A vehicle with ID 46 is 25.0 meters away at (12.7, -21.6). A pedestrian with ID 37 is 28.1 meters away at (-24.8, 13.3). A vehicle with ID 42 is 30.1 meters away at (-6.6, -29.4). A vehicle with ID 45 is 30.3 meters away at (-3.6, -30.0). A unknown object with ID 38 is 37.7 meters away at (-37.7, 0.5).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.4568545  -0.32477105] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 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 (8.2, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A vehicle with ID 43 is 14.0 meters away at (-3.4, -13.6). A vehicle with ID 46 is 21.3 meters away at (-3.4, -21.0). A vehicle with ID 36 is 28.7 meters away at (-27.6, -7.9). A vehicle with ID 35 is 31.1 meters away at (-30.3, -6.9). A vehicle with ID 33 is 33.0 meters away at (-32.5, -6.0). A vehicle with ID 45 is 35.5 meters away at (-19.8, -29.5). A vehicle with ID 34 is 35.9 meters away at (-35.4, -5.7). A vehicle with ID 42 is 36.7 meters away at (-22.7, -28.8). A pedestrian with ID 37 is 40.3 meters away at (-38.1, 13.0). A vehicle with ID 27 is 41.6 meters away at (-15.9, -38.5).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.4761987  -0.30371347] m/s.The vehicle with ID 27 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 (8.6, 0.2) m/s. Its current heading (yaw) is 0.02

The most relevant actors are: A vehicle with ID 43 is 24.4 meters away at (-20.2, -13.7). A unknown object with ID 29 is 44.6 meters away at (41.9, 15.4). A vehicle with ID 36 is 45.2 meters away at (-44.5, -7.9). A vehicle with ID 45 is 47.1 meters away at (-36.7, -29.5). A vehicle with ID 35 is 47.8 meters away at (-47.2, -7.0). A vehicle with ID 42 is 49.1 meters away at (-39.7, -28.9). A vehicle with ID 33 is 49.9 meters away at (-49.5, -6.2). A vehicle with ID 34 is 52.7 meters away at (-52.4, -5.8). A pedestrian with ID 37 is 53.5 meters away at (-52.1, 12.4). A unknown object with ID 38 is 70.9 meters away at (-70.9, 1.0).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle 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 [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 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 pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.4528083  -0.22479306] m/s.The unknown object with ID 38 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 (8.7, 0.5) m/s. Its current heading (yaw) is 0.05

The most relevant actors are: A unknown object with ID 29 is 28.5 meters away at (24.4, 14.7). A vehicle with ID 43 is 40.3 meters away at (-37.7, -14.3). A vehicle with ID 28 is 41.1 meters away at (-7.7, -40.4). A vehicle with ID 22 is 49.7 meters away at (-6.7, -49.2). A vehicle with ID 45 is 62.0 meters away at (-54.2, -30.1). A vehicle with ID 36 is 62.5 meters away at (-61.9, -8.5). A vehicle with ID 42 is 64.3 meters away at (-57.2, -29.4). A vehicle with ID 35 is 65.2 meters away at (-64.8, -7.6). A pedestrian with ID 37 is 67.5 meters away at (-66.5, 11.3).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.3778564  -0.20807251] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [24.426361 14.700675], 28.508892059326172 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -5.1) m/s. Its current heading (yaw) is -1.85

The most relevant actors are: A vehicle with ID 7 is 3.3 meters away at (-3.0, 1.2). A pedestrian with ID 44 is 18.0 meters away at (13.6, 11.7). A pedestrian with ID 8 is 18.7 meters away at (13.9, 12.6). A vehicle with ID 48 is 23.9 meters away at (23.9, -0.5). A vehicle with ID 12 is 28.9 meters away at (28.9, -1.4). A vehicle with ID 46 is 29.2 meters away at (5.5, 28.7). A vehicle with ID 47 is 29.7 meters away at (14.9, 25.7). A vehicle with ID 29 is 31.4 meters away at (31.3, -2.0). A vehicle with ID 24 is 34.0 meters away at (33.9, -2.9). A vehicle with ID 49 is 34.7 meters away at (7.4, 33.9).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.00686295 0.06870392] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.03404998 0.38021922] m/s.The vehicle with ID 48 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -5.2) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 7 is 11.7 meters away at (0.2, 11.7). A vehicle with ID 32 is 23.6 meters away at (0.4, -23.6). A pedestrian with ID 44 is 28.3 meters away at (17.0, 22.6). A vehicle with ID 48 is 29.1 meters away at (27.3, 10.0). A vehicle with ID 2 is 30.7 meters away at (-18.4, -24.6). A vehicle with ID 12 is 33.5 meters away at (32.3, 9.1). A unknown object with ID 33 is 37.2 meters away at (4.2, 36.9). A vehicle with ID 46 is 40.2 meters away at (8.8, 39.2). A vehicle with ID 47 is 40.6 meters away at (18.3, 36.2). A vehicle with ID 49 is 45.8 meters away at (10.7, 44.5).

The vehicle with ID 7 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 [-4.509473   1.5377034] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.1481936  0.75979006] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 (-0.9, -2.6) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A vehicle with ID 32 is 14.3 meters away at (-7.9, -11.9). A vehicle with ID 15 is 18.5 meters away at (-18.3, -2.3). A vehicle with ID 7 is 19.9 meters away at (2.9, 19.7). A vehicle with ID 4 is 22.3 meters away at (-22.3, -0.9). A vehicle with ID 2 is 22.9 meters away at (-15.7, -16.6). A vehicle with ID 3 is 25.0 meters away at (-19.6, -15.5). A vehicle with ID 17 is 27.6 meters away at (-22.9, -15.3). A vehicle with ID 18 is 29.8 meters away at (-26.9, -12.8). A vehicle with ID 23 is 31.7 meters away at (29.6, 11.3). A pedestrian with ID 44 is 38.8 meters away at (20.2, 33.2).

The vehicle with ID 32 is traveling at a (x, y) velocity of [-6.4855666  2.127805 ] m/s.The vehicle with ID 15 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.4242003 1.0933504] 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, -0.3) m/s. Its current heading (yaw) is -1.83

The most relevant actors are: A cyclist with ID 39 is 11.3 meters away at (-5.0, -10.2). A vehicle with ID 15 is 17.7 meters away at (-17.7, -0.1). A vehicle with ID 2 is 20.8 meters away at (-15.0, -14.4). A vehicle with ID 4 is 21.8 meters away at (-21.7, 1.3). A vehicle with ID 7 is 22.2 meters away at (3.6, 21.9). A vehicle with ID 3 is 23.1 meters away at (-18.8, -13.4). A vehicle with ID 17 is 25.8 meters away at (-22.2, -13.1). A vehicle with ID 18 is 28.4 meters away at (-26.3, -10.7). A vehicle with ID 23 is 33.1 meters away at (30.3, 13.5). A vehicle with ID 45 is 43.4 meters away at (-6.7, -42.8).

The cyclist with ID 39 is traveling at a (x, y) velocity of [-0.15144873  0.14169276] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 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 3 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 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 (0.7, 1.3) m/s. Its current heading (yaw) is 1.07

The most relevant actors are: A vehicle with ID 7 is 14.5 meters away at (-1.7, -14.4). A pedestrian with ID 9 is 18.4 meters away at (3.6, -18.0). A unknown object with ID 4 is 29.1 meters away at (5.1, -28.6). A vehicle with ID 10 is 38.5 meters away at (19.5, -33.2). A vehicle with ID 11 is 65.5 meters away at (-6.5, 65.2).

The vehicle with ID 7 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 [ 0.42136547 -0.8933869 ] m/s.The unknown object with ID 4 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 [0.3315148 3.4774535] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 2.0) m/s. Its current heading (yaw) is 1.43

The most relevant actors are: A vehicle with ID 7 is 17.8 meters away at (-2.8, -17.6). A pedestrian with ID 9 is 23.4 meters away at (3.4, -23.2). A vehicle with ID 10 is 40.8 meters away at (18.3, -36.4). A vehicle with ID 11 is 69.2 meters away at (-6.9, 68.8). A pedestrian with ID 5 is 70.9 meters away at (22.4, -67.3).

The vehicle with ID 7 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 [ 0.5366297 -1.1027157] 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 [0.30973524 3.4840991 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.01215325  0.01387407] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 2.5) m/s. Its current heading (yaw) is 1.75

The most relevant actors are: A vehicle with ID 7 is 22.2 meters away at (-2.8, -22.1). A pedestrian with ID 9 is 29.9 meters away at (4.3, -29.6). A vehicle with ID 10 is 44.9 meters away at (18.4, -41.0). A vehicle with ID 11 is 71.1 meters away at (-6.1, 70.9). A pedestrian with ID 5 is 75.9 meters away at (22.3, -72.5).

The vehicle with ID 7 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 [ 0.40049073 -0.94009906] 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 [0.32137018 3.2403078 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.1663124  -0.10456329] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 2.8) m/s. Its current heading (yaw) is 1.85

The most relevant actors are: A vehicle with ID 7 is 27.3 meters away at (-1.4, -27.2). A pedestrian with ID 3 is 27.6 meters away at (-3.9, -27.3). A pedestrian with ID 9 is 37.0 meters away at (6.6, -36.4). A vehicle with ID 10 is 50.2 meters away at (19.8, -46.1). A vehicle with ID 11 is 72.5 meters away at (-4.1, 72.4).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9058194   0.44743145] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.5833884  -0.85307497] 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 [0.46507576 3.5870948 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -1.5) m/s. Its current heading (yaw) is -1.78

The most relevant actors are: A pedestrian with ID 13 is 4.0 meters away at (3.8, 1.4). A pedestrian with ID 12 is 4.5 meters away at (4.0, 2.0). A pedestrian with ID 14 is 9.0 meters away at (5.6, 7.0). A cyclist with ID 24 is 30.8 meters away at (-10.4, -29.0). A vehicle with ID 25 is 61.4 meters away at (-5.0, -61.2). A vehicle with ID 26 is 72.8 meters away at (-4.4, -72.7).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00864557 0.0015355 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.0149481   0.01028152] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.01877576 -0.02426681] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.4809929 10.145058 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.00850116 -0.48558474] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.9) m/s. Its current heading (yaw) is -2.21

The most relevant actors are: A pedestrian with ID 13 is 5.7 meters away at (4.5, 3.5). A pedestrian with ID 12 is 6.3 meters away at (4.8, 4.0). A unknown object with ID 2 is 7.3 meters away at (7.0, 2.1). A pedestrian with ID 14 is 11.2 meters away at (6.4, 9.2). A cyclist with ID 24 is 12.6 meters away at (-10.2, -7.4). A vehicle with ID 25 is 62.6 meters away at (-4.8, -62.4). A vehicle with ID 26 is 70.7 meters away at (-3.8, -70.6).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00405608 -0.00093558] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.09138893 -0.07775532] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00454866 -0.00702063] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.33373517  9.544003  ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.6785033 -2.379697 ] m/s.The vehicle with ID 26 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, -0.4) m/s. Its current heading (yaw) is -2.40

The most relevant actors are: A pedestrian with ID 13 is 7.5 meters away at (5.7, 4.9). A pedestrian with ID 12 is 8.0 meters away at (5.9, 5.4). A unknown object with ID 2 is 8.9 meters away at (8.1, 3.5). A cyclist with ID 24 is 16.4 meters away at (-10.0, 13.0). A vehicle with ID 25 is 67.7 meters away at (-5.5, -67.5). A vehicle with ID 26 is 69.3 meters away at (-2.9, -69.3).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.02493649  0.00651166] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.02806189  0.02709376] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.5064258  9.838202 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.8675443 -4.211754 ] m/s.The vehicle with ID 26 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 (-0.9, -0.7) m/s. Its current heading (yaw) is -2.49

The most relevant actors are: A pedestrian with ID 13 is 8.7 meters away at (6.6, 5.7). A pedestrian with ID 12 is 9.3 meters away at (6.8, 6.2). A unknown object with ID 2 is 10.0 meters away at (9.0, 4.3). A pedestrian with ID 11 is 14.2 meters away at (8.6, 11.3). A cyclist with ID 24 is 34.5 meters away at (-9.6, 33.1). A unknown object with ID 1 is 44.0 meters away at (17.3, -40.4). A vehicle with ID 26 is 68.5 meters away at (-1.9, -68.5). A vehicle with ID 25 is 76.9 meters away at (-5.0, -76.7).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.02490349 0.02018401] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.02853562 -0.00112927] m/s.The unknown object with ID 2 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 [ 0.04812529 -0.00140986] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.267155  9.737664] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.02865727 -5.81723   ] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [6.6011133 5.702648 ], 8.723238945007324 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.2) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A vehicle with ID 11 is 7.0 meters away at (-0.2, -7.0). A vehicle with ID 17 is 11.5 meters away at (10.4, -5.0). A vehicle with ID 18 is 13.6 meters away at (8.0, -11.0). A pedestrian with ID 12 is 13.9 meters away at (10.4, 9.3). A cyclist with ID 21 is 14.2 meters away at (13.5, -4.5). A unknown object with ID 14 is 18.6 meters away at (-13.5, -12.8). A vehicle with ID 13 is 18.6 meters away at (-16.5, -8.7). A unknown object with ID 23 is 19.3 meters away at (-15.1, -12.1). A unknown object with ID 24 is 20.3 meters away at (-16.7, -11.4). A unknown object with ID 27 is 21.5 meters away at (-18.7, -10.5).

The vehicle with ID 11 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.1934208 -1.0068665] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.01812353 -0.03733704] m/s.The unknown object with ID 14 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 [-8.298517  3.814525] m/s.The unknown object with ID 23 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 27 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 -0.38

The most relevant actors are: A vehicle with ID 11 is 7.0 meters away at (-0.6, -6.9). A vehicle with ID 17 is 11.3 meters away at (10.2, -5.0). A vehicle with ID 18 is 13.3 meters away at (7.7, -10.9). A pedestrian with ID 12 is 13.9 meters away at (11.9, 7.2). A cyclist with ID 21 is 14.2 meters away at (13.5, -4.6). A unknown object with ID 23 is 19.5 meters away at (-15.3, -12.0). A unknown object with ID 24 is 20.6 meters away at (-17.2, -11.3). A unknown object with ID 27 is 21.7 meters away at (-19.0, -10.5). A unknown object with ID 31 is 23.3 meters away at (-21.3, -9.5). A unknown object with ID 32 is 25.4 meters away at (-24.0, -8.3).

The vehicle with ID 11 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.9618691 -1.1013893] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.04444488 -0.01390618] m/s.The unknown object with ID 23 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 27 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 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 (0.0, -0.0) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A vehicle with ID 11 is 7.0 meters away at (-0.6, -6.9). A vehicle with ID 17 is 11.2 meters away at (10.1, -5.0). A vehicle with ID 18 is 13.3 meters away at (7.6, -10.8). A cyclist with ID 21 is 14.3 meters away at (13.5, -4.6). A pedestrian with ID 12 is 14.6 meters away at (13.7, 5.0). A unknown object with ID 23 is 19.5 meters away at (-15.4, -12.0). A unknown object with ID 24 is 20.6 meters away at (-17.3, -11.3). A unknown object with ID 27 is 21.8 meters away at (-19.1, -10.5). A unknown object with ID 31 is 23.4 meters away at (-21.3, -9.5). A unknown object with ID 32 is 25.5 meters away at (-24.1, -8.3).

The vehicle with ID 11 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00227848  0.0113368 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.90882576 -1.0497974 ] m/s.The unknown object with ID 23 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 27 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 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 (0.0, -0.0) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A vehicle with ID 11 is 6.9 meters away at (-0.7, -6.9). A vehicle with ID 17 is 11.2 meters away at (10.0, -5.0). A vehicle with ID 18 is 13.2 meters away at (7.6, -10.8). A cyclist with ID 21 is 14.2 meters away at (13.5, -4.5). A pedestrian with ID 12 is 15.8 meters away at (15.6, 2.9). A unknown object with ID 23 is 19.5 meters away at (-15.4, -12.0). A unknown object with ID 24 is 20.6 meters away at (-17.3, -11.2). A unknown object with ID 27 is 21.8 meters away at (-19.1, -10.5). A unknown object with ID 31 is 23.4 meters away at (-21.4, -9.5). A unknown object with ID 32 is 25.5 meters away at (-24.1, -8.3).

The vehicle with ID 11 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.00406197 -0.00445266] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.9640787 -1.1508414] m/s.The unknown object with ID 23 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 27 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 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 (6.4, -1.9) m/s. Its current heading (yaw) is -0.29

The most relevant actors are: A unknown object with ID 14 is 15.8 meters away at (-0.7, -15.8). A vehicle with ID 17 is 24.5 meters away at (-19.3, 15.2). A vehicle with ID 18 is 45.8 meters away at (39.2, -23.7). A vehicle with ID 20 is 47.0 meters away at (37.4, -28.3). A vehicle with ID 19 is 68.6 meters away at (-64.9, 22.3).

The unknown object 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 18 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -2.3) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A unknown object with ID 14 is 18.0 meters away at (-13.9, -11.4). A vehicle with ID 18 is 32.3 meters away at (26.0, -19.2). A vehicle with ID 20 is 34.0 meters away at (24.1, -24.0). A vehicle with ID 11 is 37.0 meters away at (22.3, -29.5). A vehicle with ID 17 is 38.0 meters away at (-32.6, 19.6).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 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 (6.6, -2.2) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 18 is 19.3 meters away at (12.5, -14.7). A vehicle with ID 20 is 22.1 meters away at (10.8, -19.3). A vehicle with ID 12 is 25.8 meters away at (15.3, 20.7). A vehicle with ID 11 is 26.5 meters away at (8.8, -25.0). A unknown object with ID 14 is 28.1 meters away at (-27.3, -6.9). A vehicle with ID 15 is 32.7 meters away at (18.0, 27.3). A vehicle with ID 17 is 52.0 meters away at (-46.1, 24.1).

The vehicle with ID 18 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object 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 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 (6.5, -2.1) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 18 is 10.3 meters away at (-0.6, -10.3). A vehicle with ID 20 is 15.1 meters away at (-2.4, -14.9). A vehicle with ID 11 is 20.9 meters away at (-4.3, -20.5). A pedestrian with ID 9 is 23.5 meters away at (-9.9, -21.3). A vehicle with ID 12 is 25.2 meters away at (2.3, 25.1). A vehicle with ID 15 is 32.1 meters away at (4.8, 31.7). A vehicle with ID 17 is 65.9 meters away at (-59.3, 28.7). A pedestrian with ID 3 is 75.0 meters away at (74.2, -10.8). A pedestrian with ID 4 is 75.2 meters away at (74.3, -11.6). A cyclist with ID 16 is 76.2 meters away at (70.7, -28.5).

The vehicle with ID 18 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 11 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 [-0.00575066  0.00494605] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.9751666  0.37630776] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.92683464 0.42076382] m/s.The cyclist with ID 16 is traveling at a (x, y) velocity of [-0.00279372  0.03694043] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.7) m/s. Its current heading (yaw) is -1.75

The most relevant actors are: A vehicle with ID 42 is 3.5 meters away at (-3.4, -1.1). A vehicle with ID 3 is 6.9 meters away at (-1.8, -6.7). A pedestrian with ID 7 is 8.9 meters away at (-7.4, -5.0). A vehicle with ID 8 is 12.7 meters away at (4.5, 11.8). A vehicle with ID 43 is 15.2 meters away at (2.1, -15.0). A vehicle with ID 44 is 17.8 meters away at (-6.0, -16.8). A vehicle with ID 45 is 21.7 meters away at (4.3, 21.3). A vehicle with ID 46 is 27.0 meters away at (6.0, 26.3). A vehicle with ID 48 is 28.5 meters away at (-4.2, -28.1). A vehicle with ID 47 is 28.7 meters away at (27.5, 8.1).

The vehicle with ID 42 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 [-0.40210596 -1.0140202 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.39210978 -1.1703798 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.8331966 -2.2821543] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-1.5266205 -1.8560767] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 6.8967443 -2.6777775] 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 (-0.4, -1.2) m/s. Its current heading (yaw) is -1.86

The most relevant actors are: A vehicle with ID 42 is 3.1 meters away at (-3.0, 0.9). A vehicle with ID 3 is 7.9 meters away at (-2.6, -7.5). A pedestrian with ID 7 is 9.5 meters away at (-7.8, -5.5). A vehicle with ID 8 is 10.9 meters away at (3.6, 10.3). A vehicle with ID 43 is 13.2 meters away at (2.5, -13.0). A vehicle with ID 44 is 20.6 meters away at (-10.1, -18.0). A vehicle with ID 45 is 23.9 meters away at (4.6, 23.4). A vehicle with ID 46 is 29.1 meters away at (6.3, 28.4). A vehicle with ID 47 is 29.6 meters away at (27.8, 10.1). A vehicle with ID 25 is 30.4 meters away at (-19.0, -23.7).

The vehicle with ID 42 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 [-0.80064213 -2.1175978 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.40095922 -1.3028357 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.67327124 -1.7596191 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-2.8420138 -0.7450824] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (-0.5, -1.7) m/s. Its current heading (yaw) is -1.86

The most relevant actors are: A vehicle with ID 42 is 4.2 meters away at (-2.2, 3.6). A pedestrian with ID 7 is 9.3 meters away at (-7.8, -5.1). A vehicle with ID 8 is 9.6 meters away at (3.0, 9.2). A vehicle with ID 3 is 10.2 meters away at (-3.4, -9.6). A vehicle with ID 43 is 10.7 meters away at (3.3, -10.2). A vehicle with ID 34 is 21.7 meters away at (-14.9, -15.7). A vehicle with ID 44 is 22.2 meters away at (-15.9, -15.5). A vehicle with ID 45 is 26.7 meters away at (5.4, 26.2). A vehicle with ID 25 is 27.7 meters away at (-18.3, -20.9). A pedestrian with ID 4 is 31.0 meters away at (-14.8, -27.2).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.41470662 -1.1146656 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.647592  -1.8887031] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.0221926 -3.1503105] m/s.The vehicle with ID 43 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 [-3.8817322   0.82057756] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-3.9312718  0.8991766] m/s.The vehicle with ID 45 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 [0.35508037 1.0898635 ] 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, -2.2) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 42 is 7.6 meters away at (-0.9, 7.5). A vehicle with ID 43 is 7.8 meters away at (4.6, -6.3). A pedestrian with ID 7 is 8.1 meters away at (-7.2, -3.5). A vehicle with ID 8 is 9.8 meters away at (3.0, 9.3). A vehicle with ID 3 is 16.3 meters away at (-5.3, -15.4). A vehicle with ID 31 is 22.1 meters away at (-22.0, -2.0). A vehicle with ID 25 is 23.9 meters away at (-17.0, -16.8). A pedestrian with ID 4 is 24.8 meters away at (-12.9, -21.2). A vehicle with ID 44 is 26.1 meters away at (-25.0, -7.2). A vehicle with ID 45 is 30.9 meters away at (6.8, 30.1).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.39301902 -1.2723857 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.6332785 -1.9398603] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.183068  -6.5408044] m/s.The vehicle with ID 31 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 [0.23703107 1.035285  ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-5.452377   2.1781576] m/s.The vehicle with ID 45 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 -0.33

The most relevant actors are: A vehicle with ID 61 is 5.9 meters away at (1.9, 5.6). A vehicle with ID 64 is 8.1 meters away at (-7.8, 2.2). A vehicle with ID 62 is 8.1 meters away at (-3.4, 7.4). A vehicle with ID 65 is 14.2 meters away at (-14.1, 1.6). A vehicle with ID 67 is 17.4 meters away at (5.4, -16.5). A vehicle with ID 66 is 18.1 meters away at (-14.2, 11.1). A vehicle with ID 69 is 19.3 meters away at (-3.8, -18.9). A vehicle with ID 68 is 19.5 meters away at (-19.1, 3.6). A vehicle with ID 70 is 19.8 meters away at (-7.5, -18.4). A vehicle with ID 71 is 21.4 meters away at (15.8, 14.4).

The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 1.0853262 -0.4012495] m/s.The vehicle with ID 62 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 66 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 68 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 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -0.9) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 61 is 6.3 meters away at (-0.2, 6.3). A vehicle with ID 64 is 9.3 meters away at (-8.9, 2.6). A vehicle with ID 62 is 9.8 meters away at (-5.5, 8.2). A vehicle with ID 67 is 16.1 meters away at (3.2, -15.8). A vehicle with ID 65 is 16.4 meters away at (-16.3, 2.4). A vehicle with ID 69 is 19.2 meters away at (-5.9, -18.3). A pedestrian with ID 73 is 19.8 meters away at (19.5, -3.8). A vehicle with ID 70 is 20.1 meters away at (-9.6, -17.7). A vehicle with ID 66 is 20.2 meters away at (-16.3, 11.8). A vehicle with ID 72 is 20.4 meters away at (1.7, -20.3).

The vehicle with ID 61 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 [ 0.48257956 -0.16283534] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.4600305 1.1922172] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -2.0) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A pedestrian with ID 73 is 11.8 meters away at (11.7, 1.2). A vehicle with ID 61 is 12.7 meters away at (-8.7, 9.3). A pedestrian with ID 43 is 12.7 meters away at (6.1, -11.1). A vehicle with ID 67 is 13.9 meters away at (-5.3, -12.8). A vehicle with ID 83 is 13.9 meters away at (0.7, -13.9). A vehicle with ID 64 is 14.5 meters away at (-13.9, 4.4). A pedestrian with ID 54 is 15.3 meters away at (7.8, -13.1). A vehicle with ID 62 is 18.0 meters away at (-14.1, 11.2). A vehicle with ID 77 is 18.6 meters away at (9.0, -16.2). A vehicle with ID 72 is 18.6 meters away at (-6.7, -17.4).

The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.30982652 1.0207757 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0.23017064 0.7115355 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 2.487621  -0.8503052] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.00676461 -0.01028119] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 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, -2.6) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 20 is 3.8 meters away at (2.7, 2.7). A pedestrian with ID 73 is 8.2 meters away at (-1.3, 8.0). A pedestrian with ID 43 is 9.7 meters away at (-7.2, -6.6). A pedestrian with ID 54 is 10.2 meters away at (-5.5, -8.6). A vehicle with ID 58 is 11.4 meters away at (9.3, -6.5). A vehicle with ID 83 is 12.2 meters away at (-11.2, -4.8). A vehicle with ID 77 is 12.5 meters away at (-4.3, -11.8). A vehicle with ID 59 is 16.3 meters away at (16.3, 0.5). A unknown object with ID 60 is 19.4 meters away at (14.5, -12.9). A vehicle with ID 67 is 20.3 meters away at (-18.6, -8.2).

The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.44198823  0.15495446] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.32938784 1.0895466 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.01682548 -0.00749965] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.03424307 0.0075912 ] 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 [1.4341464 4.6259384] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -8.3) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A pedestrian with ID 113 is 5.8 meters away at (-5.8, 0.6). A vehicle with ID 109 is 6.3 meters away at (6.2, -1.3). A vehicle with ID 111 is 6.6 meters away at (3.6, -5.5). A vehicle with ID 104 is 8.9 meters away at (8.5, 2.7). A vehicle with ID 103 is 12.8 meters away at (11.0, 6.6). A vehicle with ID 101 is 17.3 meters away at (13.6, 10.7). A vehicle with ID 100 is 22.4 meters away at (16.4, 15.3). A vehicle with ID 106 is 22.5 meters away at (14.2, 17.5). A vehicle with ID 102 is 27.7 meters away at (19.2, 20.0). A vehicle with ID 105 is 33.0 meters away at (21.9, 24.6).

The pedestrian with ID 113 is traveling at a (x, y) velocity of [1.0268387 1.4102175] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [4.8959475 7.9806232] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -8.4) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 111 is 17.7 meters away at (13.8, 11.1). A pedestrian with ID 113 is 21.1 meters away at (6.1, 20.2). A vehicle with ID 109 is 22.4 meters away at (16.3, 15.4). A vehicle with ID 123 is 25.9 meters away at (-8.3, -24.6). A vehicle with ID 104 is 26.9 meters away at (18.6, 19.4). A vehicle with ID 103 is 31.5 meters away at (21.1, 23.3). A vehicle with ID 126 is 31.5 meters away at (-11.4, -29.4). A vehicle with ID 101 is 36.2 meters away at (23.7, 27.4). A vehicle with ID 127 is 36.9 meters away at (-14.2, -34.1). A vehicle with ID 100 is 41.6 meters away at (26.5, 32.0).

The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [0.88154495 1.4537238 ] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -8.5) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A pedestrian with ID 72 is 6.5 meters away at (-6.0, 2.3). A vehicle with ID 123 is 7.9 meters away at (2.2, -7.6). A vehicle with ID 126 is 12.4 meters away at (-0.9, -12.4). A vehicle with ID 127 is 17.4 meters away at (-3.6, -17.1). A vehicle with ID 66 is 22.6 meters away at (-6.4, -21.7). A vehicle with ID 45 is 28.1 meters away at (-9.4, -26.5). A vehicle with ID 47 is 32.9 meters away at (-12.2, -30.5). A vehicle with ID 111 is 37.1 meters away at (24.2, 28.1). A vehicle with ID 60 is 39.2 meters away at (-15.3, -36.1). A pedestrian with ID 43 is 41.7 meters away at (-24.8, -33.6).

The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.6742773  -0.98321265] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 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 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.01394602 -0.01395334] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [-6.0166454  2.326477 ], 6.45077657699585 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -8.2) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 66 is 6.4 meters away at (3.8, -5.1). A vehicle with ID 127 is 6.6 meters away at (6.6, -0.5). A vehicle with ID 45 is 10.0 meters away at (0.9, -9.9). A vehicle with ID 126 is 10.1 meters away at (9.2, 4.1). A vehicle with ID 47 is 14.1 meters away at (-1.9, -13.9). A vehicle with ID 123 is 15.2 meters away at (12.3, 8.9). A vehicle with ID 60 is 20.1 meters away at (-5.1, -19.4). A pedestrian with ID 43 is 22.4 meters away at (-14.6, -16.9). A vehicle with ID 70 is 34.2 meters away at (-29.6, -17.0). A vehicle with ID 68 is 41.1 meters away at (-39.6, -10.8).

The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 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 126 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 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.01689168 -0.00586905] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, -4.7) m/s. Its current heading (yaw) is -2.46

The most relevant actors are: A vehicle with ID 28 is 9.4 meters away at (9.4, -0.6). A vehicle with ID 33 is 22.8 meters away at (-11.9, -19.5). A vehicle with ID 31 is 28.5 meters away at (1.4, -28.4). A cyclist with ID 32 is 31.6 meters away at (4.4, -31.3). A vehicle with ID 30 is 43.8 meters away at (-30.2, -31.7). A pedestrian with ID 29 is 44.0 meters away at (-33.3, -28.7). A pedestrian with ID 35 is 45.8 meters away at (-34.8, -29.7). A vehicle with ID 22 is 46.5 meters away at (-28.1, -37.1). A vehicle with ID 16 is 65.0 meters away at (-40.0, -51.2).

The vehicle with ID 28 is traveling at a (x, y) velocity of [9.734052 8.112157] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [7.057095 7.163551] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-0.01260365 -0.01140098] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-7.2019176 -7.752205 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.03607666  0.02635966] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.02866017 -0.00026682] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [4.1440215 4.799869 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [2.5736103 2.9348893] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -3.6) m/s. Its current heading (yaw) is -2.45

The most relevant actors are: A vehicle with ID 33 is 16.1 meters away at (15.3, 5.1). A unknown object with ID 13 is 17.9 meters away at (8.8, 15.6). A vehicle with ID 22 is 18.7 meters away at (-7.7, -17.1). A unknown object with ID 19 is 21.6 meters away at (14.8, 15.8). A vehicle with ID 31 is 22.8 meters away at (11.6, -19.7). A cyclist with ID 32 is 26.9 meters away at (14.8, -22.5). A vehicle with ID 6 is 29.2 meters away at (-29.1, 2.4). A pedestrian with ID 29 is 30.8 meters away at (-23.6, -19.8). A pedestrian with ID 35 is 32.3 meters away at (-24.4, -21.2). A vehicle with ID 16 is 41.5 meters away at (-22.8, -34.7).

The vehicle with ID 33 is traveling at a (x, y) velocity of [9.816608 8.585709] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [5.994139 6.428642] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [0.02379231 0.01762759] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.068854  -2.8011992] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.49706858 -0.1780895 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.01305206 0.03989734] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [4.5910926 5.148329 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -0.1) m/s. Its current heading (yaw) is -3.12

The most relevant actors are: A vehicle with ID 22 is 14.8 meters away at (14.8, 1.1). A vehicle with ID 6 is 15.3 meters away at (-15.1, 2.6). A vehicle with ID 16 is 18.6 meters away at (-3.4, -18.3). A pedestrian with ID 26 is 21.8 meters away at (-14.1, -16.6). A pedestrian with ID 29 is 22.2 meters away at (-15.5, -15.9). A pedestrian with ID 35 is 23.3 meters away at (-15.8, -17.2). A vehicle with ID 31 is 25.4 meters away at (20.1, -15.5). A unknown object with ID 13 is 26.3 meters away at (17.2, 19.8). A unknown object with ID 19 is 30.7 meters away at (23.1, 20.2). A vehicle with ID 33 is 52.9 meters away at (45.4, 27.1).

The vehicle with ID 22 is traveling at a (x, y) velocity of [7.9740334 7.305416 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 1.3650625 -0.9016799] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [6.3932076 7.1608562] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.01684633 -0.00106759] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01715422 -0.14068864] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.0166264  -0.00591628] m/s.The vehicle with ID 31 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 19 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 [11.545962  9.354418] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 2.9) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A vehicle with ID 6 is 5.5 meters away at (-5.3, -1.1). A pedestrian with ID 29 is 19.9 meters away at (-6.4, -18.8). A vehicle with ID 16 is 20.8 meters away at (19.7, -6.8). A pedestrian with ID 35 is 21.4 meters away at (-7.0, -20.2). A vehicle with ID 31 is 34.6 meters away at (29.0, -18.9). A unknown object with ID 19 is 36.2 meters away at (32.0, 17.0). A vehicle with ID 7 is 42.1 meters away at (38.6, 17.0). A vehicle with ID 22 is 42.9 meters away at (41.0, 12.5). A vehicle with ID 4 is 56.0 meters away at (-53.7, -16.0). A vehicle with ID 11 is 60.6 meters away at (54.0, 27.4).

The vehicle with ID 6 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 [0.1424007  0.01662572] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [7.9137526 7.6538653] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.01360283 0.06172764] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-8.650464  -6.0195026] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [9.191415 7.553999] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.970194 -7.410177] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 0.5) m/s. Its current heading (yaw) is 2.76

The most relevant actors are: A vehicle with ID 36 is 10.0 meters away at (-7.5, -6.6). A unknown object with ID 51 is 20.7 meters away at (-11.7, -17.0). A unknown object with ID 12 is 26.1 meters away at (-11.8, -23.3). A unknown object with ID 9 is 26.3 meters away at (-14.9, -21.6). A unknown object with ID 17 is 27.5 meters away at (-14.0, -23.6). A unknown object with ID 41 is 27.7 meters away at (21.9, -17.0). A pedestrian with ID 40 is 28.2 meters away at (28.1, -2.1). A unknown object with ID 42 is 28.3 meters away at (22.5, -17.1). A unknown object with ID 44 is 28.9 meters away at (23.8, -16.4). A unknown object with ID 46 is 31.0 meters away at (25.8, -17.1).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.9149668 -1.7213359] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.2398396 -0.4591447] 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 1.3) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A vehicle with ID 36 is 16.4 meters away at (-9.4, -13.5). A unknown object with ID 51 is 20.4 meters away at (-8.1, -18.7). A unknown object with ID 39 is 21.8 meters away at (-9.7, -19.5). A unknown object with ID 23 is 22.1 meters away at (-6.8, -21.0). A unknown object with ID 21 is 23.9 meters away at (-10.6, -21.4). A unknown object with ID 9 is 26.1 meters away at (-11.4, -23.5). A unknown object with ID 17 is 27.4 meters away at (-10.3, -25.4). A unknown object with ID 41 is 31.5 meters away at (25.5, -18.6). A unknown object with ID 42 is 31.9 meters away at (26.0, -18.4). A unknown object with ID 44 is 32.8 meters away at (27.4, -18.0).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.6108575 -3.7063801] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 3.0) m/s. Its current heading (yaw) is 2.05

The most relevant actors are: A pedestrian with ID 20 is 21.2 meters away at (-0.5, -21.2). A unknown object with ID 51 is 23.5 meters away at (-3.9, -23.2). A unknown object with ID 39 is 24.7 meters away at (-5.6, -24.0). A unknown object with ID 23 is 25.5 meters away at (-2.7, -25.4). A unknown object with ID 21 is 26.7 meters away at (-6.5, -25.9). A unknown object with ID 29 is 27.6 meters away at (-3.3, -27.4). A unknown object with ID 9 is 28.7 meters away at (-7.2, -27.7). A vehicle with ID 36 is 28.9 meters away at (-9.7, -27.3). A vehicle with ID 58 is 29.3 meters away at (25.9, -13.8). A unknown object with ID 14 is 29.5 meters away at (-4.0, -29.2).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.243018  -5.4575157] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-6.6678157  2.8315299] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 5.4) m/s. Its current heading (yaw) is 1.44

The most relevant actors are: A vehicle with ID 58 is 23.8 meters away at (16.1, -17.5). A pedestrian with ID 20 is 29.5 meters away at (0.9, -29.5). A unknown object with ID 18 is 30.2 meters away at (21.4, 21.4). A unknown object with ID 51 is 31.6 meters away at (-2.5, -31.5). A pedestrian with ID 3 is 32.6 meters away at (8.9, 31.3). A unknown object with ID 39 is 32.7 meters away at (-4.3, -32.4). A unknown object with ID 23 is 33.8 meters away at (-1.4, -33.8). A unknown object with ID 21 is 34.7 meters away at (-5.1, -34.3). A unknown object with ID 29 is 35.8 meters away at (-1.9, -35.7). A unknown object with ID 9 is 36.9 meters away at (-6.0, -36.4).

The vehicle with ID 58 is traveling at a (x, y) velocity of [-4.2675705  1.8354424] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00379706 0.01766285] 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 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.39217055 1.0569948 ] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 1.0) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A vehicle with ID 22 is 5.2 meters away at (-4.8, 2.1). A pedestrian with ID 33 is 5.5 meters away at (4.2, -3.6). A pedestrian with ID 34 is 5.7 meters away at (3.9, -4.2). A vehicle with ID 21 is 6.9 meters away at (-1.1, 6.8). A pedestrian with ID 13 is 9.1 meters away at (7.3, -5.4). A pedestrian with ID 28 is 10.8 meters away at (-3.7, -10.1). A pedestrian with ID 29 is 12.6 meters away at (-7.8, 9.9). A pedestrian with ID 36 is 14.2 meters away at (14.2, 1.1). A vehicle with ID 26 is 15.9 meters away at (-14.3, -6.9). A pedestrian with ID 47 is 17.9 meters away at (17.4, 4.3).

The vehicle with ID 22 is traveling at a (x, y) velocity of [4.462854  1.5145053] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.6993219 -0.5901805] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.9403239 -0.5180983] m/s.The vehicle with ID 21 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 [0.00428395 0.05496815] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.02038747 0.03517288] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.3680912 0.6232759] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.04005742 0.02212555] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [4.500696 3.452108] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [1.4147335 0.8562318] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.1) m/s. Its current heading (yaw) is 0.57

The most relevant actors are: A vehicle with ID 22 is 4.4 meters away at (0.8, 4.3). A pedestrian with ID 33 is 5.3 meters away at (0.6, -5.3). A pedestrian with ID 34 is 6.0 meters away at (0.6, -5.9). A vehicle with ID 21 is 6.4 meters away at (-2.4, 6.0). A pedestrian with ID 11 is 8.5 meters away at (-0.8, -8.5). A vehicle with ID 26 is 8.6 meters away at (-8.4, -2.0). A pedestrian with ID 29 is 11.8 meters away at (-6.4, 10.0). A pedestrian with ID 28 is 12.0 meters away at (-5.0, -10.9). A vehicle with ID 31 is 13.2 meters away at (-13.2, -0.5). A pedestrian with ID 42 is 17.8 meters away at (16.8, 5.8).

The vehicle with ID 22 is traveling at a (x, y) velocity of [1.9860535 1.0722617] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.1704673  -0.50042135] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.1175951 -0.567098 ] m/s.The vehicle with ID 21 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 [ 0.00798093 -0.00723868] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [2.7883885 2.1575856] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.1977967 0.6581266] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.00190558  0.00156198] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [2.5630968 1.576642 ] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.4002396 -1.0771129] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.57

The most relevant actors are: A vehicle with ID 26 is 4.6 meters away at (-4.5, 0.7). A vehicle with ID 22 is 5.4 meters away at (2.0, 5.0). A vehicle with ID 21 is 6.4 meters away at (-2.6, 5.8). A pedestrian with ID 33 is 6.7 meters away at (-1.8, -6.4). A pedestrian with ID 34 is 7.4 meters away at (-1.7, -7.2). A pedestrian with ID 9 is 8.6 meters away at (5.8, -6.3). A vehicle with ID 31 is 9.8 meters away at (-9.6, 1.7). A pedestrian with ID 29 is 11.3 meters away at (-3.7, 10.7). A pedestrian with ID 28 is 12.2 meters away at (-5.2, -11.1). A vehicle with ID 45 is 14.0 meters away at (-13.4, -4.0).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0.8860937 0.6202538] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.1122975 -0.6520273] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.0985048  -0.67511904] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00810958 -0.01076997] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0.99438125 0.6390839 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.2495838  0.61745805] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.03232946  0.00561291] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [1.871887   0.93689245] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.57

The most relevant actors are: A vehicle with ID 26 is 3.9 meters away at (-3.7, 1.2). A vehicle with ID 22 is 5.4 meters away at (2.0, 5.0). A vehicle with ID 21 is 6.4 meters away at (-2.6, 5.8). A pedestrian with ID 33 is 8.5 meters away at (-3.9, -7.6). A vehicle with ID 31 is 9.0 meters away at (-8.7, 2.2). A pedestrian with ID 34 is 9.2 meters away at (-3.7, -8.4). A pedestrian with ID 42 is 11.2 meters away at (11.1, 1.3). A vehicle with ID 45 is 11.6 meters away at (-11.3, -2.8). A pedestrian with ID 28 is 12.3 meters away at (-5.3, -11.0). A pedestrian with ID 29 is 12.5 meters away at (-1.5, 12.4).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.98276705 -0.6216055 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.96354336 -0.5974401 ] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.2929338 -1.0396433] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.5021247  0.28648084] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.01334117 -0.01128804] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.7627417 1.2067571] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.3) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 16 is 9.3 meters away at (8.8, -3.0). A vehicle with ID 14 is 12.2 meters away at (2.4, 12.0). A vehicle with ID 17 is 19.1 meters away at (-17.1, 8.6). A vehicle with ID 20 is 20.9 meters away at (11.8, 17.2). A vehicle with ID 24 is 21.7 meters away at (20.7, -6.7). A vehicle with ID 25 is 22.3 meters away at (22.2, 2.2). A vehicle with ID 26 is 25.8 meters away at (12.8, 22.4). A vehicle with ID 35 is 27.7 meters away at (26.4, -8.4). A vehicle with ID 30 is 27.9 meters away at (1.5, 27.9). A vehicle with ID 29 is 29.6 meters away at (-28.2, 9.0).

The vehicle with ID 16 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 17 is traveling at a (x, y) velocity of [ 8.89305  -2.632877] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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 -0.30

The most relevant actors are: A vehicle with ID 17 is 3.3 meters away at (0.5, 3.3). A vehicle with ID 16 is 8.6 meters away at (8.1, -2.8). A vehicle with ID 14 is 12.2 meters away at (1.8, 12.1). A vehicle with ID 20 is 20.8 meters away at (11.3, 17.5). A vehicle with ID 24 is 21.2 meters away at (20.1, -6.5). A vehicle with ID 25 is 21.8 meters away at (21.6, 2.4). A vehicle with ID 26 is 25.7 meters away at (12.3, 22.6). A vehicle with ID 35 is 27.2 meters away at (25.9, -8.2). A vehicle with ID 30 is 28.1 meters away at (1.1, 28.1). A vehicle with ID 29 is 30.2 meters away at (-28.8, 9.3).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 8.859696  -2.8223128] m/s.The vehicle with ID 16 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.30

The most relevant actors are: A vehicle with ID 16 is 8.5 meters away at (8.1, -2.7). A vehicle with ID 14 is 12.2 meters away at (1.7, 12.1). A vehicle with ID 17 is 18.5 meters away at (18.4, -2.6). A vehicle with ID 20 is 20.8 meters away at (11.2, 17.5). A vehicle with ID 24 is 21.1 meters away at (20.0, -6.5). A vehicle with ID 25 is 21.7 meters away at (21.6, 2.4). A vehicle with ID 45 is 24.7 meters away at (24.6, -1.6). A vehicle with ID 44 is 25.0 meters away at (-22.5, 10.8). A vehicle with ID 26 is 25.7 meters away at (12.1, 22.6). A vehicle with ID 35 is 27.0 meters away at (25.8, -8.2).

The vehicle with ID 16 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 17 is traveling at a (x, y) velocity of [ 8.611817  -2.9068258] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-9.618472   2.9657135] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 9.474773 -2.899316] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.30

The most relevant actors are: A vehicle with ID 44 is 6.7 meters away at (-4.5, 5.0). A vehicle with ID 45 is 7.0 meters away at (5.0, 4.8). A vehicle with ID 16 is 8.5 meters away at (8.1, -2.7). A vehicle with ID 14 is 12.1 meters away at (1.6, 12.0). A vehicle with ID 20 is 20.8 meters away at (11.2, 17.5). A vehicle with ID 24 is 21.0 meters away at (20.0, -6.5). A vehicle with ID 25 is 21.7 meters away at (21.5, 2.4). A vehicle with ID 26 is 25.7 meters away at (12.1, 22.7). A vehicle with ID 35 is 27.0 meters away at (25.8, -8.2). A vehicle with ID 30 is 28.2 meters away at (1.1, 28.1).

The vehicle with ID 44 is traveling at a (x, y) velocity of [ 8.531378  -2.8058863] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-9.702418   3.3332627] m/s.The vehicle with ID 16 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.