The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -3.6) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A unknown object with ID 10 is 40.5 meters away at (-21.7, 34.3). A unknown object with ID 8 is 43.5 meters away at (-22.5, 37.2). A unknown object with ID 2 is 58.0 meters away at (-26.8, 51.4). A unknown object with ID 9 is 60.9 meters away at (-27.6, 54.3).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 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 closest actor is a unknown object at [-21.668514  34.272488], 40.547847747802734 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, 1.4) m/s. Its current heading (yaw) is 0.26

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 1.0) m/s. Its current heading (yaw) is 0.19

The most relevant actors are: A unknown object with ID 47 is 6.4 meters away at (3.2, -5.6). A vehicle with ID 102 is 10.9 meters away at (8.3, -7.1). A vehicle with ID 103 is 13.2 meters away at (10.9, -7.5). A vehicle with ID 104 is 15.3 meters away at (13.4, -7.4). A unknown object with ID 101 is 22.5 meters away at (-20.6, -9.1). A vehicle with ID 109 is 29.1 meters away at (-21.7, 19.4). A vehicle with ID 105 is 31.2 meters away at (-27.0, -15.5). A vehicle with ID 98 is 31.9 meters away at (31.0, -7.7). A pedestrian with ID 108 is 32.0 meters away at (-30.4, 10.0). A vehicle with ID 106 is 32.3 meters away at (-21.3, -24.3).

The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 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 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 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.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [-0.02508283  0.01180026] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 3.188087  -5.5513206], 6.401644706726074 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -0.1) m/s. Its current heading (yaw) is -0.01

The most relevant actors are: A vehicle with ID 104 is 7.9 meters away at (1.3, -7.8). A vehicle with ID 103 is 7.9 meters away at (-1.3, -7.8). A vehicle with ID 102 is 8.2 meters away at (-3.8, -7.3). A vehicle with ID 98 is 20.4 meters away at (18.8, -8.1). A vehicle with ID 46 is 24.6 meters away at (23.5, -7.3). A vehicle with ID 45 is 27.8 meters away at (26.8, -7.5). A unknown object with ID 101 is 34.1 meters away at (-32.8, -9.2). A vehicle with ID 71 is 38.7 meters away at (14.5, -35.9). A vehicle with ID 109 is 38.8 meters away at (-33.7, 19.3). A vehicle with ID 106 is 41.5 meters away at (-33.7, -24.3).

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 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 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 [0. 0.] m/s.

Instruction: Continue straight.


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 98 is 8.8 meters away at (3.8, -7.9). A vehicle with ID 46 is 11.1 meters away at (8.4, -7.3). A vehicle with ID 45 is 14.0 meters away at (11.8, -7.5). A vehicle with ID 104 is 15.7 meters away at (-13.7, -7.7). A vehicle with ID 103 is 18.1 meters away at (-16.3, -7.7). A vehicle with ID 102 is 20.1 meters away at (-18.8, -6.9). A unknown object with ID 56 is 32.7 meters away at (28.2, 16.7). A unknown object with ID 87 is 35.8 meters away at (32.0, 16.0). A vehicle with ID 99 is 37.2 meters away at (29.9, -22.1). A vehicle with ID 97 is 39.3 meters away at (32.6, -21.8).

The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 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 vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.1, 0.2) m/s. Its current heading (yaw) is 0.02

The most relevant actors are: A vehicle with ID 45 is 9.3 meters away at (-5.2, -7.6). A vehicle with ID 46 is 11.4 meters away at (-8.7, -7.5). A vehicle with ID 98 is 15.5 meters away at (-13.3, -8.1). A unknown object with ID 56 is 19.9 meters away at (11.0, 16.6). A vehicle with ID 37 is 20.1 meters away at (15.2, -13.2). A unknown object with ID 87 is 21.8 meters away at (14.9, 15.9). A vehicle with ID 99 is 25.6 meters away at (12.8, -22.2). A vehicle with ID 97 is 26.8 meters away at (15.5, -21.9). A vehicle with ID 31 is 26.9 meters away at (25.1, -9.6). A vehicle with ID 38 is 28.9 meters away at (18.1, -22.5).

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 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.1887735  2.1892095] m/s.The unknown object with ID 87 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 vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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 2.83

The most relevant actors are: A vehicle with ID 21 is 5.8 meters away at (5.2, 2.6). A vehicle with ID 22 is 6.8 meters away at (-3.2, -6.0). A vehicle with ID 24 is 9.3 meters away at (4.4, -8.2). A vehicle with ID 23 is 9.3 meters away at (8.7, -3.2). A vehicle with ID 25 is 9.5 meters away at (-9.2, 2.7). A vehicle with ID 28 is 10.1 meters away at (-9.3, -3.9). A vehicle with ID 26 is 10.8 meters away at (-2.9, -10.3). A vehicle with ID 29 is 14.4 meters away at (10.6, -9.8). A vehicle with ID 33 is 16.0 meters away at (-13.5, 8.6). A vehicle with ID 30 is 16.3 meters away at (16.3, -0.7).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-1.8848832   0.59315926] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.30394235  0.10897321] m/s.The vehicle with ID 28 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 29 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 30 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 (-0.2, 0.1) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A vehicle with ID 21 is 6.5 meters away at (6.1, 2.3). A vehicle with ID 22 is 6.7 meters away at (-2.2, -6.3). A vehicle with ID 23 is 7.3 meters away at (6.8, -2.6). A vehicle with ID 25 is 9.1 meters away at (-8.7, 2.6). A vehicle with ID 28 is 9.2 meters away at (-8.2, -4.2). A vehicle with ID 24 is 10.0 meters away at (5.3, -8.5). A vehicle with ID 26 is 10.8 meters away at (-1.9, -10.7). A vehicle with ID 33 is 14.9 meters away at (-12.5, 8.2). A vehicle with ID 31 is 15.0 meters away at (14.3, -4.6). A vehicle with ID 29 is 15.4 meters away at (11.6, -10.2).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.74115     0.22101931] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 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 33 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 [-1.4451672   0.43480104] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A vehicle with ID 21 is 6.6 meters away at (6.3, 2.2). A vehicle with ID 23 is 6.7 meters away at (6.2, -2.5). A vehicle with ID 22 is 6.8 meters away at (-2.1, -6.4). A vehicle with ID 25 is 9.1 meters away at (-8.7, 2.5). A vehicle with ID 28 is 9.2 meters away at (-8.1, -4.3). A vehicle with ID 24 is 10.2 meters away at (5.5, -8.6). A vehicle with ID 26 is 10.9 meters away at (-1.8, -10.7). A vehicle with ID 31 is 13.3 meters away at (12.6, -4.2). A vehicle with ID 33 is 14.8 meters away at (-12.3, 8.2). A vehicle with ID 39 is 15.2 meters away at (-15.1, -1.7).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 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 31 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A vehicle with ID 21 is 6.6 meters away at (6.2, 2.2). A vehicle with ID 23 is 6.7 meters away at (6.2, -2.5). A vehicle with ID 22 is 6.8 meters away at (-2.1, -6.4). A vehicle with ID 25 is 9.1 meters away at (-8.7, 2.5). A vehicle with ID 28 is 9.2 meters away at (-8.1, -4.3). A vehicle with ID 24 is 10.2 meters away at (5.5, -8.6). A vehicle with ID 26 is 10.9 meters away at (-1.8, -10.8). A vehicle with ID 31 is 13.2 meters away at (12.5, -4.2). A vehicle with ID 33 is 14.8 meters away at (-12.3, 8.2). A vehicle with ID 39 is 15.2 meters away at (-15.1, -1.8).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 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 31 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -6.2) m/s. Its current heading (yaw) is -0.94

The most relevant actors are: A vehicle with ID 15 is 5.0 meters away at (4.7, -1.6). A vehicle with ID 13 is 7.6 meters away at (-1.3, 7.5). A unknown object with ID 12 is 14.9 meters away at (-10.0, 11.0). A vehicle with ID 14 is 23.5 meters away at (-11.6, 20.5). A vehicle with ID 16 is 23.8 meters away at (16.6, -17.0). A vehicle with ID 17 is 24.7 meters away at (-14.9, 19.7). A cyclist with ID 10 is 55.9 meters away at (38.3, -40.7). A vehicle with ID 3 is 58.9 meters away at (40.6, -42.7). A vehicle with ID 18 is 60.2 meters away at (-34.2, 49.5).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.312853  -3.1877234] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 1.605852  -2.2058713] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 1.7909358 -2.3498302] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 5.0218806 -6.887001 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.864565 -7.667162] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [-0.04243632 -0.04011848] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.15895642 -1.2437154 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 6.1934905 -7.603313 ] m/s.

There are active red lights at the following coordinates: [[ 39.614403 -46.819626]
 [ 40.814987 -45.673733]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -6.1) m/s. Its current heading (yaw) is -1.03

The most relevant actors are: A vehicle with ID 15 is 3.6 meters away at (3.6, 0.4). A vehicle with ID 13 is 13.3 meters away at (-4.7, 12.4). A vehicle with ID 17 is 21.7 meters away at (-12.8, 17.6). A vehicle with ID 16 is 29.3 meters away at (20.1, -21.2). A vehicle with ID 14 is 32.8 meters away at (-17.0, 28.1). A vehicle with ID 18 is 57.9 meters away at (-32.0, 48.3).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 4.7643237 -6.4222856] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 3.716236 -5.125858] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.9643545 -6.877847 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 6.8455267 -9.206249 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 1.9683411 -2.740306 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 4.504392  -5.8239956] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -7.4) m/s. Its current heading (yaw) is -1.81

The most relevant actors are: A vehicle with ID 15 is 12.0 meters away at (11.9, -1.4). A vehicle with ID 13 is 13.5 meters away at (1.3, 13.5). A vehicle with ID 17 is 18.8 meters away at (-6.2, 17.7). A vehicle with ID 14 is 38.3 meters away at (-15.6, 35.0). A vehicle with ID 16 is 41.9 meters away at (31.7, -27.4). A vehicle with ID 18 is 58.2 meters away at (-27.8, 51.1).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 6.8093557 -9.131333 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 5.3639297 -7.338189 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.504285 -7.451559] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 3.1526518 -4.3353558] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [  7.6392016 -10.373932 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 3.6646008 -4.883966 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, -5.3) m/s. Its current heading (yaw) is -2.49

The most relevant actors are: A vehicle with ID 17 is 21.2 meters away at (16.2, 13.7). A vehicle with ID 13 is 25.1 meters away at (23.3, 9.4). A vehicle with ID 14 is 36.9 meters away at (2.7, 36.8). A vehicle with ID 15 is 37.9 meters away at (36.7, -9.2). A vehicle with ID 18 is 54.6 meters away at (-9.6, 53.7).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 6.842043  -9.1249695] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 6.942409 -9.474003] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 5.1999984 -6.789643 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [  8.009163 -11.01396 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 4.930505 -6.38242 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.2) m/s. Its current heading (yaw) is 2.78

The most relevant actors are: A vehicle with ID 19 is 4.7 meters away at (1.7, 4.4). A vehicle with ID 50 is 8.6 meters away at (-7.6, 4.0). A vehicle with ID 18 is 8.6 meters away at (5.4, 6.6). A cyclist with ID 35 is 16.2 meters away at (-12.2, 10.8). A vehicle with ID 24 is 17.1 meters away at (3.1, 16.8). A cyclist with ID 27 is 20.0 meters away at (-19.9, -1.0). A pedestrian with ID 30 is 20.6 meters away at (-10.4, 17.8). A vehicle with ID 33 is 20.9 meters away at (-14.4, 15.1). A pedestrian with ID 31 is 22.2 meters away at (-11.5, 19.0). A pedestrian with ID 39 is 24.3 meters away at (-13.0, 20.5).

The vehicle with ID 19 is traveling at a (x, y) velocity of [ 8.943752  -3.8758543] m/s.The vehicle with ID 50 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 [ 7.7346125 -3.4053435] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [ 9.931185  -4.0521383] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 0.3539109 -2.0746603] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-0.02870074 -7.2728205 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.2798778  -0.61939484] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 5.5462694 -2.4008684] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1317004  -0.64205915] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.2466514   0.67498136] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.78

The most relevant actors are: A vehicle with ID 50 is 8.4 meters away at (-7.4, 3.9). A cyclist with ID 35 is 10.0 meters away at (9.9, 1.8). A vehicle with ID 33 is 10.1 meters away at (-2.0, 9.9). A vehicle with ID 24 is 14.7 meters away at (4.0, 14.1). A pedestrian with ID 30 is 18.3 meters away at (-7.6, 16.6). A pedestrian with ID 31 is 19.9 meters away at (-9.0, 17.7). A vehicle with ID 19 is 22.0 meters away at (21.6, -4.2). A vehicle with ID 18 is 22.1 meters away at (22.1, -0.7). A pedestrian with ID 29 is 23.6 meters away at (-12.9, 19.8). A pedestrian with ID 39 is 26.4 meters away at (-15.1, 21.6).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [10.713548 -4.422024] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 6.775206  -2.7921646] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 0.29222998 -1.077329  ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.3609537  -0.47283262] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3050097 -0.5904207] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [10.547845  -4.4803033] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 8.194465  -3.5917497] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.97075087 -0.38841566] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.1781509  0.5589922] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.78

The most relevant actors are: A vehicle with ID 50 is 9.3 meters away at (-8.2, 4.4). A vehicle with ID 24 is 12.4 meters away at (5.0, 11.3). A vehicle with ID 33 is 13.0 meters away at (12.5, 3.7). A pedestrian with ID 30 is 16.3 meters away at (-4.8, 15.6). A pedestrian with ID 31 is 18.0 meters away at (-6.6, 16.7). A vehicle with ID 8 is 20.7 meters away at (15.7, -13.4). A pedestrian with ID 29 is 22.0 meters away at (-11.0, 19.0). A vehicle with ID 53 is 24.1 meters away at (3.1, 23.9). A vehicle with ID 44 is 26.4 meters away at (-24.0, 11.1). A vehicle with ID 36 is 27.4 meters away at (-25.7, -9.7).

The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.2470747   0.82583237] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 1.1505471 -2.3771455] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 7.538696 -3.116554] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.4434232  -0.45066428] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1388862  -0.51894486] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-12.02268     5.0322523] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.9757925 -0.425564 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-0.10288775 -1.5182316 ] m/s.The vehicle with ID 44 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.4) m/s. Its current heading (yaw) is 2.72

The most relevant actors are: A vehicle with ID 8 is 7.9 meters away at (-6.9, -3.8). A vehicle with ID 24 is 11.9 meters away at (11.0, 4.4). A pedestrian with ID 30 is 14.5 meters away at (-1.2, 14.4). A vehicle with ID 50 is 15.6 meters away at (-12.3, 9.7). A pedestrian with ID 31 is 16.1 meters away at (-3.4, 15.7). A pedestrian with ID 29 is 20.1 meters away at (-8.6, 18.2). A vehicle with ID 53 is 23.0 meters away at (3.6, 22.7). A vehicle with ID 44 is 25.6 meters away at (-23.2, 10.7). A vehicle with ID 36 is 26.9 meters away at (-25.0, -9.9). A vehicle with ID 33 is 28.6 meters away at (28.4, -3.2).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-11.288485   4.837721] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 5.0153246 -3.9128685] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.7366014 -0.5420055] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-2.1420796  4.8629284] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.5827662  -0.46684688] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.124712   -0.43109852] m/s.The vehicle with ID 53 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 [ 0.35973042 -0.24305756] m/s.The vehicle with ID 36 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 [ 7.6460333 -3.3001006] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 5.6) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 14 is 31.6 meters away at (24.0, -20.6). A unknown object with ID 38 is 46.9 meters away at (-43.2, -18.3). A vehicle with ID 50 is 47.2 meters away at (33.0, -33.8). A unknown object with ID 49 is 47.5 meters away at (-40.8, -24.3). A unknown object with ID 46 is 50.1 meters away at (-41.9, -27.5). A unknown object with ID 18 is 55.5 meters away at (-46.4, -30.4). A vehicle with ID 52 is 65.8 meters away at (45.7, -47.3). A unknown object with ID 24 is 75.1 meters away at (-18.4, -72.8). A unknown object with ID 43 is 77.2 meters away at (-45.7, -62.1).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-7.4958653  6.4049416] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [10.498904 -8.040587] 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 8.504469  -7.3525667] 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 43 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 (-6.4, 5.4) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 14 is 30.5 meters away at (23.2, -19.8). A unknown object with ID 49 is 44.9 meters away at (-27.6, -35.4). A unknown object with ID 45 is 46.7 meters away at (-27.9, -37.5). A unknown object with ID 32 is 56.5 meters away at (-52.1, 22.0). A vehicle with ID 4 is 57.5 meters away at (-53.3, 21.6). A vehicle with ID 2 is 70.7 meters away at (-51.9, 48.0). A vehicle with ID 3 is 73.3 meters away at (-55.8, 47.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.663066  5.641277] 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.0) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 14 is 29.6 meters away at (22.5, -19.3). A unknown object with ID 40 is 33.8 meters away at (9.9, -32.4). A vehicle with ID 4 is 42.6 meters away at (-41.1, 11.2). A vehicle with ID 34 is 43.5 meters away at (17.3, -39.9). A unknown object with ID 33 is 51.0 meters away at (-31.6, 40.1). A vehicle with ID 2 is 54.8 meters away at (-39.8, 37.7). A vehicle with ID 3 is 57.4 meters away at (-43.7, 37.2). A vehicle with ID 9 is 63.1 meters away at (-45.6, 43.6). A vehicle with ID 12 is 69.7 meters away at (-52.9, 45.5).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.9106984  4.9867263] m/s.The unknown object with ID 40 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 34 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 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.6) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 14 is 28.3 meters away at (21.4, -18.6). A vehicle with ID 4 is 30.0 meters away at (-30.0, 1.6). A vehicle with ID 2 is 40.3 meters away at (-28.8, 28.2). A vehicle with ID 3 is 42.7 meters away at (-32.6, 27.6). A unknown object with ID 19 is 46.7 meters away at (41.3, -21.6). A vehicle with ID 47 is 47.4 meters away at (22.8, -41.5). A vehicle with ID 9 is 48.5 meters away at (-34.6, 34.0). A unknown object with ID 31 is 51.6 meters away at (30.0, -42.0). A vehicle with ID 12 is 55.2 meters away at (-41.8, 36.0). A vehicle with ID 34 is 57.1 meters away at (28.6, -49.5).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.8606    5.009213] 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 unknown object with ID 19 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 9 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 vehicle with ID 12 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -3.0) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A unknown object with ID 78 is 8.6 meters away at (2.9, -8.1). A vehicle with ID 84 is 8.8 meters away at (8.8, -0.5). A pedestrian with ID 73 is 10.3 meters away at (-9.4, -4.3). A vehicle with ID 83 is 12.8 meters away at (12.8, -0.0). A vehicle with ID 77 is 13.3 meters away at (-8.4, -10.4). A vehicle with ID 82 is 13.7 meters away at (2.0, -13.6). A vehicle with ID 14 is 13.8 meters away at (-12.7, 5.3). A pedestrian with ID 75 is 14.3 meters away at (-2.2, 14.1). A vehicle with ID 85 is 15.8 meters away at (4.7, -15.1). A vehicle with ID 71 is 17.9 meters away at (17.5, -4.0).

The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-1.210343   0.9242316] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.11442578 -1.1273766 ] m/s.The vehicle with ID 83 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 82 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 [ 2.0433526  -0.82063353] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [1.0760273 0.7018233] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 2.9061394 -8.083343 ], 8.589881896972656 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -4.6) m/s. Its current heading (yaw) is -0.62

The most relevant actors are: A vehicle with ID 71 is 6.4 meters away at (5.2, 3.8). A vehicle with ID 83 is 7.6 meters away at (0.6, 7.6). A unknown object with ID 58 is 8.2 meters away at (8.0, 1.8). A vehicle with ID 85 is 10.5 meters away at (-7.4, -7.4). A vehicle with ID 84 is 11.0 meters away at (-6.1, 9.2). A vehicle with ID 82 is 11.7 meters away at (-10.1, -5.9). A vehicle with ID 68 is 11.9 meters away at (11.8, -1.5). A vehicle with ID 90 is 14.3 meters away at (-0.2, -14.3). A unknown object with ID 50 is 15.3 meters away at (3.7, -14.8). A vehicle with ID 41 is 15.7 meters away at (10.2, -11.9).

The vehicle with ID 71 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. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-2.7079854  1.7904344] m/s.The vehicle with ID 82 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 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -5.6) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A vehicle with ID 41 is 3.6 meters away at (-3.3, -1.6). A vehicle with ID 69 is 5.7 meters away at (2.6, 5.1). A vehicle with ID 70 is 7.0 meters away at (6.8, 1.6). A vehicle with ID 68 is 9.0 meters away at (-1.8, 8.8). A unknown object with ID 56 is 9.6 meters away at (3.3, -9.0). A vehicle with ID 66 is 10.7 meters away at (10.6, -1.7). A unknown object with ID 58 is 13.5 meters away at (-5.7, 12.2). A vehicle with ID 90 is 14.3 meters away at (-13.7, -4.0). A vehicle with ID 40 is 15.4 meters away at (9.3, -12.3). A vehicle with ID 71 is 16.3 meters away at (-8.3, 14.0).

The vehicle with ID 41 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 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 unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -5.3) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 40 is 3.9 meters away at (-3.6, -1.6). A unknown object with ID 43 is 4.9 meters away at (-2.1, -4.5). A pedestrian with ID 54 is 8.6 meters away at (-3.7, -7.8). A vehicle with ID 66 is 9.3 meters away at (-2.3, 9.0). A unknown object with ID 56 is 9.8 meters away at (-9.7, 1.8). A vehicle with ID 19 is 10.5 meters away at (5.4, -9.0). A vehicle with ID 70 is 13.9 meters away at (-6.2, 12.4). A vehicle with ID 67 is 15.0 meters away at (14.2, -4.9). A vehicle with ID 41 is 18.8 meters away at (-16.3, 9.3). A vehicle with ID 69 is 18.9 meters away at (-10.4, 15.8).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.02351261 0.01692955] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 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 67 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 69 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, -5.8) m/s. Its current heading (yaw) is -1.65

The most relevant actors are: A pedestrian with ID 32 is 13.3 meters away at (7.5, 11.0). A unknown object with ID 34 is 23.6 meters away at (-14.9, 18.3). A pedestrian with ID 35 is 29.8 meters away at (-21.1, -21.1). A vehicle with ID 36 is 36.1 meters away at (-1.5, 36.0). A unknown object with ID 38 is 43.6 meters away at (43.6, 0.8). A pedestrian with ID 33 is 68.0 meters away at (-29.7, -61.2).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.13564861 1.2641299 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.202374  1.3982996] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.9054071 -5.750854 ] m/s.The unknown object with ID 38 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 [-0.3639541   0.13071448] m/s.

There are active red lights at the following coordinates: [[-0.44238093 18.303827  ]
 [-0.5709787  18.282614  ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -6.0) m/s. Its current heading (yaw) is -1.69

The most relevant actors are: A pedestrian with ID 35 is 20.7 meters away at (-19.6, -6.7). A pedestrian with ID 32 is 26.8 meters away at (8.7, 25.4). A unknown object with ID 34 is 33.2 meters away at (-13.9, 30.1). A vehicle with ID 36 is 40.4 meters away at (1.7, 40.4). A pedestrian with ID 33 is 57.0 meters away at (-28.6, -49.3).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.19671768 1.2281367 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.07779696 1.2483625 ] m/s.The unknown object with ID 34 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 [ 0.66566175 -1.796879  ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.03038409  0.00173166] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -6.2) m/s. Its current heading (yaw) is -1.75

The most relevant actors are: A pedestrian with ID 35 is 19.2 meters away at (-17.4, 7.9). A unknown object with ID 3 is 38.7 meters away at (-25.2, -29.5). A pedestrian with ID 32 is 41.8 meters away at (10.4, 40.4). A unknown object with ID 14 is 42.6 meters away at (-28.9, -31.2). A unknown object with ID 34 is 44.0 meters away at (-12.2, 42.2). A unknown object with ID 4 is 45.6 meters away at (-30.1, -34.2). A pedestrian with ID 33 is 45.9 meters away at (-26.9, -37.2). A vehicle with ID 36 is 51.4 meters away at (3.9, 51.3).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.11226088 1.3410476 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.03186189  1.5149189 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.00472981 -0.0061617 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -5.9) m/s. Its current heading (yaw) is -1.82

The most relevant actors are: A pedestrian with ID 35 is 27.1 meters away at (-14.6, 22.8). A unknown object with ID 3 is 28.2 meters away at (-22.4, -17.1). A unknown object with ID 29 is 30.3 meters away at (-25.3, -16.6). A unknown object with ID 14 is 32.4 meters away at (-26.2, -18.9). A pedestrian with ID 33 is 34.6 meters away at (-24.2, -24.8). A unknown object with ID 4 is 35.1 meters away at (-27.3, -22.0). A unknown object with ID 9 is 40.7 meters away at (-29.9, -27.7). A unknown object with ID 2 is 45.6 meters away at (-29.0, -35.2). A unknown object with ID 34 is 55.5 meters away at (-9.7, 54.6). A pedestrian with ID 32 is 57.5 meters away at (12.9, 56.0).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.2223523 1.183388 ] m/s.The unknown object with ID 3 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 14 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 [-0.03223998 -0.02702023] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.01046898 1.4503245 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 2.5) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A vehicle with ID 25 is 34.4 meters away at (30.6, 15.9). A vehicle with ID 27 is 59.0 meters away at (-57.5, -13.0). A vehicle with ID 3 is 59.8 meters away at (-48.4, 35.1). A vehicle with ID 26 is 69.9 meters away at (-52.4, 46.3). A vehicle with ID 4 is 75.9 meters away at (-57.1, 50.0).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 4.144015  -3.2098503] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 2.8) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A vehicle with ID 25 is 39.1 meters away at (37.7, 10.4). A vehicle with ID 3 is 43.4 meters away at (-35.5, 25.0). A unknown object with ID 19 is 48.3 meters away at (-48.2, -2.2). A vehicle with ID 27 is 56.0 meters away at (-52.2, -20.2). A vehicle with ID 26 is 60.9 meters away at (-45.1, 40.8). A vehicle with ID 4 is 66.8 meters away at (-49.9, 44.4).

The vehicle with ID 25 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 [ 1.5711  -1.15166] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.45675614 -0.16080597] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 2.1) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 3 is 34.0 meters away at (-28.0, 19.2). A unknown object with ID 19 is 42.6 meters away at (-42.0, -7.1). A vehicle with ID 25 is 44.3 meters away at (44.0, 5.6). A vehicle with ID 26 is 52.9 meters away at (-38.8, 35.9). A vehicle with ID 27 is 53.9 meters away at (-46.8, -26.6). A vehicle with ID 14 is 56.4 meters away at (-56.3, 4.3). A vehicle with ID 4 is 58.8 meters away at (-43.6, 39.4).

The vehicle with ID 3 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.5) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A vehicle with ID 3 is 28.5 meters away at (-23.8, 15.7). A vehicle with ID 25 is 47.5 meters away at (47.4, 3.2). A vehicle with ID 26 is 48.7 meters away at (-35.6, 33.3). A unknown object with ID 20 is 51.6 meters away at (43.2, -28.2). A vehicle with ID 27 is 53.0 meters away at (-43.9, -29.7). A vehicle with ID 14 is 53.0 meters away at (-53.0, 1.7). A vehicle with ID 4 is 54.6 meters away at (-40.3, 36.9). A vehicle with ID 5 is 65.8 meters away at (-55.8, -35.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 1.6640451 -1.3326361] 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 unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.0) m/s. Its current heading (yaw) is -0.01

The most relevant actors are: A vehicle with ID 30 is 9.6 meters away at (0.3, -9.6). A vehicle with ID 29 is 10.3 meters away at (3.0, -9.9). A vehicle with ID 33 is 10.7 meters away at (-5.0, -9.5). A vehicle with ID 35 is 13.9 meters away at (12.1, -6.8). A vehicle with ID 41 is 22.6 meters away at (2.5, -22.4). A vehicle with ID 45 is 23.4 meters away at (-5.5, -22.7). A vehicle with ID 47 is 23.9 meters away at (-8.1, -22.5). A pedestrian with ID 40 is 24.1 meters away at (-14.6, -19.2). A pedestrian with ID 39 is 24.2 meters away at (-15.4, -18.7). A vehicle with ID 36 is 24.4 meters away at (8.2, -23.0).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0.06016224 0.6575961 ] m/s.The vehicle with ID 41 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 pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.04475268 -0.01238595] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.0297266  0.00598588] m/s.The vehicle with ID 36 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 -0.06

The most relevant actors are: A vehicle with ID 30 is 9.6 meters away at (-0.3, -9.6). A vehicle with ID 29 is 10.2 meters away at (2.4, -9.9). A vehicle with ID 33 is 11.1 meters away at (-5.6, -9.5). A vehicle with ID 35 is 12.3 meters away at (11.6, -4.2). A vehicle with ID 41 is 22.5 meters away at (1.9, -22.4). A vehicle with ID 45 is 23.5 meters away at (-6.1, -22.7). A vehicle with ID 47 is 24.1 meters away at (-8.7, -22.5). A vehicle with ID 36 is 24.2 meters away at (7.5, -23.0). A pedestrian with ID 39 is 24.6 meters away at (-16.0, -18.7). A pedestrian with ID 40 is 24.9 meters away at (-15.4, -19.6).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.33344805  2.3885527 ] m/s.The vehicle with ID 41 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.02292977 -0.01165717] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.01909732 -0.00187015] 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 -0.06

The most relevant actors are: A vehicle with ID 35 is 8.5 meters away at (8.4, 1.2). A vehicle with ID 30 is 9.6 meters away at (-0.4, -9.6). A vehicle with ID 29 is 10.2 meters away at (2.4, -9.9). A vehicle with ID 33 is 11.1 meters away at (-5.7, -9.5). A vehicle with ID 41 is 22.5 meters away at (1.8, -22.4). A vehicle with ID 45 is 23.5 meters away at (-6.1, -22.6). A vehicle with ID 47 is 24.1 meters away at (-8.7, -22.4). A vehicle with ID 36 is 24.2 meters away at (7.4, -23.0). A pedestrian with ID 39 is 24.7 meters away at (-16.2, -18.6). A pedestrian with ID 40 is 24.9 meters away at (-15.4, -19.6).

The vehicle with ID 35 is traveling at a (x, y) velocity of [-3.4206743  2.363071 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.01402522 -0.00925939] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.00989278 -0.00012716] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 0.0) m/s. Its current heading (yaw) is 0.02

The most relevant actors are: A vehicle with ID 35 is 4.2 meters away at (-2.4, 3.4). A vehicle with ID 30 is 9.7 meters away at (-1.2, -9.6). A vehicle with ID 29 is 10.0 meters away at (1.5, -9.9). A vehicle with ID 33 is 11.6 meters away at (-6.6, -9.5). A vehicle with ID 41 is 22.4 meters away at (1.0, -22.4). A vehicle with ID 45 is 23.8 meters away at (-7.0, -22.7). A vehicle with ID 36 is 23.9 meters away at (6.5, -23.0). A vehicle with ID 47 is 24.5 meters away at (-9.7, -22.5). A vehicle with ID 34 is 25.2 meters away at (17.1, 18.5). A pedestrian with ID 39 is 25.3 meters away at (-17.1, -18.6).

The vehicle with ID 35 is traveling at a (x, y) velocity of [-6.5094266   0.17123765] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 47 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 39 is traveling at a (x, y) velocity of [-0.044822   -0.03444765] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.4) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A pedestrian with ID 11 is 14.2 meters away at (10.1, -10.0). A unknown object with ID 18 is 26.8 meters away at (25.4, 8.7). A unknown object with ID 19 is 28.1 meters away at (26.1, 10.5). A pedestrian with ID 23 is 36.6 meters away at (36.4, -4.0). A vehicle with ID 25 is 38.3 meters away at (33.7, 18.1). A vehicle with ID 13 is 45.6 meters away at (42.6, -16.3). A pedestrian with ID 15 is 45.6 meters away at (39.9, -22.1). A pedestrian with ID 16 is 46.1 meters away at (40.1, -22.9). A pedestrian with ID 17 is 46.3 meters away at (40.6, -22.2). A unknown object with ID 26 is 46.3 meters away at (-41.0, 21.4).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.1851079 -1.2655022] 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.00369755 -0.00304205] m/s.The vehicle with ID 25 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 [ 3.6154792 -1.6592216] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.06061992 -1.3991871 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.05540541 -1.3847051 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.08883503 -1.379079  ] m/s.The unknown object 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 (0.0, -0.0) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A pedestrian with ID 11 is 15.0 meters away at (9.0, -12.0). A unknown object with ID 18 is 26.2 meters away at (24.7, 8.8). A unknown object with ID 19 is 27.6 meters away at (25.5, 10.7). A pedestrian with ID 23 is 35.9 meters away at (35.7, -3.8). A pedestrian with ID 12 is 37.0 meters away at (33.9, 14.7). A vehicle with ID 25 is 37.8 meters away at (33.1, 18.4). A pedestrian with ID 27 is 46.2 meters away at (35.3, -29.8). A pedestrian with ID 15 is 46.8 meters away at (39.6, -25.0). A unknown object with ID 26 is 47.0 meters away at (-41.7, 21.7). A pedestrian with ID 17 is 47.5 meters away at (40.4, -25.0).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.316817  -1.0455824] 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01698847  0.00148755] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.28175944 -0.24279901] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.0105388 -0.7855702] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.25292802 -1.2688442 ] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.32023284 -1.2910086 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A pedestrian with ID 11 is 16.6 meters away at (8.9, -14.0). A unknown object with ID 18 is 26.2 meters away at (24.6, 8.9). A unknown object with ID 19 is 27.6 meters away at (25.4, 10.7). A pedestrian with ID 12 is 35.7 meters away at (32.3, 15.4). A pedestrian with ID 23 is 35.8 meters away at (35.6, -3.8). A vehicle with ID 25 is 37.7 meters away at (33.0, 18.3). A pedestrian with ID 27 is 46.3 meters away at (34.0, -31.4). A unknown object with ID 26 is 47.1 meters away at (-41.7, 21.7). A pedestrian with ID 15 is 49.1 meters away at (40.6, -27.8). A pedestrian with ID 17 is 49.8 meters away at (41.4, -27.7).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.1885918 -0.8329565] 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 19 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 [-1.207616   0.4297464] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.00245305  0.0001864 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.7590884 -0.7961937] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.6576739 -1.1628883] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.6685358 -1.2391785] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A pedestrian with ID 11 is 17.5 meters away at (9.2, -14.8). A unknown object with ID 18 is 26.2 meters away at (24.6, 8.9). A unknown object with ID 19 is 27.5 meters away at (25.4, 10.7). A pedestrian with ID 12 is 35.6 meters away at (31.5, 16.7). A pedestrian with ID 23 is 35.8 meters away at (35.6, -3.7). A vehicle with ID 25 is 37.8 meters away at (33.0, 18.4). A pedestrian with ID 27 is 46.3 meters away at (32.9, -32.5). A unknown object with ID 26 is 47.1 meters away at (-41.8, 21.7). A unknown object with ID 5 is 51.2 meters away at (-45.7, 23.2). A pedestrian with ID 15 is 51.9 meters away at (42.0, -30.4).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.16068497 -0.07328395] 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 19 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 [-0.03420962  0.12309723] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.00069452 -0.00042669] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.46956667 -0.48072994] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.8684872 -1.0154321] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.6) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 19 is 6.6 meters away at (-0.7, 6.5). A unknown object with ID 21 is 9.3 meters away at (-9.1, 2.1). A unknown object with ID 26 is 13.8 meters away at (-13.6, -1.7). A unknown object with ID 23 is 15.1 meters away at (14.4, 4.7). A unknown object with ID 29 is 17.0 meters away at (4.8, -16.3). A unknown object with ID 27 is 19.7 meters away at (4.1, 19.3). A vehicle with ID 31 is 27.0 meters away at (-24.7, -10.8). A unknown object with ID 39 is 28.4 meters away at (11.4, -26.1). A unknown object with ID 41 is 30.7 meters away at (15.9, -26.2). A vehicle with ID 20 is 30.9 meters away at (20.6, 23.0).

The vehicle with ID 19 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 26 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 0.44295517 -0.3243107 ] 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 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 [6.0354385 9.209053 ] 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 -2.08

The most relevant actors are: A vehicle with ID 19 is 6.8 meters away at (-0.5, 6.8). A unknown object with ID 21 is 9.2 meters away at (-8.9, 2.3). A unknown object with ID 26 is 13.5 meters away at (-13.5, -1.4). A unknown object with ID 23 is 15.4 meters away at (14.6, 5.0). A unknown object with ID 29 is 16.7 meters away at (5.0, -16.0). A unknown object with ID 27 is 20.1 meters away at (4.3, 19.6). A unknown object with ID 39 is 28.3 meters away at (11.6, -25.8). A unknown object with ID 41 is 30.5 meters away at (16.1, -25.9). A vehicle with ID 36 is 32.1 meters away at (-31.5, -5.8). A unknown object with ID 43 is 32.5 meters away at (19.7, -25.9).

The vehicle with ID 19 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 26 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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.

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 -2.08

The most relevant actors are: A vehicle with ID 19 is 6.9 meters away at (-0.5, 6.9). A unknown object with ID 21 is 9.2 meters away at (-8.8, 2.4). A unknown object with ID 26 is 13.5 meters away at (-13.4, -1.3). A unknown object with ID 23 is 15.5 meters away at (14.6, 5.1). A unknown object with ID 29 is 16.7 meters away at (5.1, -15.9). A unknown object with ID 27 is 20.1 meters away at (4.3, 19.7). A vehicle with ID 18 is 26.0 meters away at (-23.6, -11.0). A vehicle with ID 40 is 26.5 meters away at (-12.5, -23.4). A unknown object with ID 39 is 28.2 meters away at (11.6, -25.7). A unknown object with ID 41 is 30.5 meters away at (16.1, -25.9).

The vehicle with ID 19 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 26 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 0.60051864 -0.42218304] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0.584754  5.5150332] 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 19 is 6.9 meters away at (-0.5, 6.9). A unknown object with ID 21 is 9.2 meters away at (-8.8, 2.5). A unknown object with ID 26 is 13.4 meters away at (-13.4, -1.3). A unknown object with ID 23 is 15.5 meters away at (14.7, 5.2). A unknown object with ID 29 is 16.6 meters away at (5.1, -15.8). A vehicle with ID 40 is 19.9 meters away at (-15.5, -12.5). A unknown object with ID 27 is 20.2 meters away at (4.3, 19.7). A vehicle with ID 18 is 25.0 meters away at (-21.8, -12.2). A unknown object with ID 39 is 28.2 meters away at (11.7, -25.6). A vehicle with ID 36 is 29.7 meters away at (-28.8, -7.6).

The vehicle with ID 19 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 26 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 29 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 [-3.5417871  4.913422 ] m/s.The unknown object with ID 27 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 [ 1.8474194 -1.1651306] m/s.The unknown object with ID 39 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 [ 2.0512495 -1.3041425] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 5.9) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A vehicle with ID 23 is 3.4 meters away at (2.8, -2.1). A vehicle with ID 28 is 6.5 meters away at (-5.8, 2.9). A vehicle with ID 29 is 8.0 meters away at (-7.6, -2.4). A vehicle with ID 31 is 10.1 meters away at (0.4, -10.1). A vehicle with ID 30 is 15.6 meters away at (-1.5, -15.5). A vehicle with ID 27 is 16.1 meters away at (-1.6, 16.1). A vehicle with ID 34 is 19.1 meters away at (-8.7, -17.0). A vehicle with ID 15 is 19.7 meters away at (19.7, 0.1). A vehicle with ID 32 is 20.3 meters away at (-2.7, -20.1). A vehicle with ID 26 is 22.1 meters away at (0.5, 22.0).

The vehicle with ID 23 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 5.6) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A vehicle with ID 27 is 6.9 meters away at (-5.3, 4.4). A vehicle with ID 26 is 10.9 meters away at (-3.3, 10.4). A vehicle with ID 28 is 12.9 meters away at (-9.5, -8.7). A vehicle with ID 23 is 13.7 meters away at (-1.0, -13.7). A vehicle with ID 29 is 18.1 meters away at (-11.3, -14.1). A vehicle with ID 24 is 19.4 meters away at (9.3, 17.0). A vehicle with ID 15 is 19.6 meters away at (15.9, -11.5). A vehicle with ID 31 is 22.2 meters away at (-3.5, -21.9). A vehicle with ID 30 is 27.8 meters away at (-5.2, -27.3). A vehicle with ID 34 is 31.3 meters away at (-12.4, -28.8).

The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.4) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A vehicle with ID 26 is 6.8 meters away at (-6.8, -0.6). A vehicle with ID 24 is 8.3 meters away at (5.8, 6.0). A vehicle with ID 27 is 10.9 meters away at (-8.8, -6.5). A vehicle with ID 28 is 23.7 meters away at (-13.0, -19.8). A vehicle with ID 23 is 25.1 meters away at (-4.5, -24.7). A vehicle with ID 29 is 29.2 meters away at (-14.8, -25.2). A pedestrian with ID 39 is 32.3 meters away at (16.0, 28.0). A pedestrian with ID 42 is 32.3 meters away at (15.3, 28.5). A vehicle with ID 31 is 33.6 meters away at (-7.1, -32.9). A vehicle with ID 30 is 39.3 meters away at (-8.7, -38.3).

The vehicle with ID 26 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.41955116 1.4201337 ] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.36219084 1.3848475 ] m/s.The vehicle with ID 31 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.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 4.8) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A vehicle with ID 24 is 4.8 meters away at (2.6, -4.0). A vehicle with ID 26 is 14.6 meters away at (-10.0, -10.7). A vehicle with ID 27 is 20.6 meters away at (-12.0, -16.7). A pedestrian with ID 42 is 24.7 meters away at (12.7, 21.2). A pedestrian with ID 39 is 24.7 meters away at (13.5, 20.7). A vehicle with ID 3 is 27.8 meters away at (-5.8, 27.2). A vehicle with ID 28 is 34.0 meters away at (-16.3, -29.9). A vehicle with ID 23 is 35.7 meters away at (-7.7, -34.8). A vehicle with ID 29 is 39.7 meters away at (-18.0, -35.3). A vehicle with ID 7 is 43.6 meters away at (-11.4, 42.1).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.40113991 1.3854488 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.43886513 1.3623625 ] m/s.The vehicle with ID 3 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 23 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -9.124116 -17.244884]
 [ -9.321105 -17.203362]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -2.9) m/s. Its current heading (yaw) is -2.20

The most relevant actors are: A vehicle with ID 64 is 4.9 meters away at (-4.9, -0.6). A vehicle with ID 13 is 9.7 meters away at (-6.3, -7.4). A vehicle with ID 70 is 10.7 meters away at (-9.1, -5.6). A unknown object with ID 53 is 11.4 meters away at (5.7, -9.8). A vehicle with ID 10 is 11.9 meters away at (7.4, 9.3). A unknown object with ID 65 is 14.1 meters away at (12.6, 6.3). A vehicle with ID 66 is 14.2 meters away at (-3.3, 13.8). A vehicle with ID 68 is 17.3 meters away at (15.3, 8.0). A unknown object with ID 71 is 20.0 meters away at (16.7, 11.1). A vehicle with ID 19 is 20.1 meters away at (-14.0, -14.4).

The vehicle with ID 64 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 [-2.5861077 -3.0392473] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.4265542 -1.664232 ] m/s.The unknown object with ID 65 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.8251195 -1.61338  ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -3.3) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 70 is 4.2 meters away at (-4.1, 0.6). A vehicle with ID 64 is 5.5 meters away at (0.0, 5.5). A vehicle with ID 13 is 10.6 meters away at (-7.5, -7.5). A unknown object with ID 53 is 11.3 meters away at (10.8, -3.6). A vehicle with ID 10 is 12.5 meters away at (7.8, 9.8). A vehicle with ID 19 is 19.8 meters away at (-17.7, -8.9). A vehicle with ID 66 is 20.2 meters away at (1.8, 20.1). A unknown object with ID 65 is 21.5 meters away at (17.6, 12.4). A vehicle with ID 68 is 25.0 meters away at (20.4, 14.4). A unknown object with ID 71 is 27.7 meters away at (21.7, 17.3).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-3.7782714 -2.6640246] m/s.The unknown object with ID 53 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 [-2.62396   -3.3223782] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.7973666  0.9755253] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -3.1) m/s. Its current heading (yaw) is -2.37

The most relevant actors are: A vehicle with ID 70 is 6.9 meters away at (1.5, 6.7). A pedestrian with ID 54 is 8.8 meters away at (-7.4, 4.7). A vehicle with ID 13 is 11.3 meters away at (-10.7, -3.7). A vehicle with ID 10 is 13.2 meters away at (8.6, 9.9). A vehicle with ID 64 is 13.2 meters away at (5.8, 11.9). A vehicle with ID 19 is 21.6 meters away at (-21.6, 1.6). A vehicle with ID 86 is 22.7 meters away at (6.4, -21.8). A vehicle with ID 12 is 23.1 meters away at (14.7, 17.8). A vehicle with ID 48 is 25.7 meters away at (-3.3, -25.5). A vehicle with ID 11 is 26.2 meters away at (-24.9, -7.9).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01583855 -0.00279451] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-5.1419115  0.5266256] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.7267141 -3.0460553] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.5640035  2.956103 ] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-2.5943093 -3.1589246] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 5.710013  -4.3573675] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -0.8) m/s. Its current heading (yaw) is -2.96

The most relevant actors are: A vehicle with ID 44 is 9.3 meters away at (1.6, -9.2). A vehicle with ID 10 is 13.4 meters away at (10.6, 8.2). A vehicle with ID 13 is 13.7 meters away at (-12.9, 4.6). A vehicle with ID 70 is 14.6 meters away at (9.1, 11.4). A vehicle with ID 11 is 17.5 meters away at (-17.2, -3.4). A vehicle with ID 64 is 21.4 meters away at (13.4, 16.6). A vehicle with ID 86 is 22.2 meters away at (14.1, -17.1). A vehicle with ID 12 is 23.3 meters away at (17.0, 15.9). A vehicle with ID 7 is 24.8 meters away at (-19.2, 15.8). A pedestrian with ID 24 is 25.7 meters away at (22.0, -13.2).

The vehicle with ID 44 is traveling at a (x, y) velocity of [4.9425654 6.1331744] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.0152466 -3.10342  ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-4.584475   2.8409445] m/s.The vehicle with ID 70 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 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-2.8615556 -3.3952298] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-2.373467   1.8920652] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -3.5) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A unknown object with ID 67 is 3.5 meters away at (-2.7, 2.3). A unknown object with ID 70 is 5.4 meters away at (-5.4, -0.7). A pedestrian with ID 65 is 7.3 meters away at (-6.8, 2.7). A pedestrian with ID 64 is 8.1 meters away at (-7.2, 3.8). A unknown object with ID 52 is 9.2 meters away at (-7.7, -5.0). A unknown object with ID 77 is 9.6 meters away at (-8.5, -4.3). A unknown object with ID 73 is 10.0 meters away at (3.2, -9.4). A vehicle with ID 60 is 10.3 meters away at (3.5, 9.6). A vehicle with ID 62 is 12.0 meters away at (11.3, 3.8). A pedestrian with ID 63 is 12.5 meters away at (12.2, 2.7).

The unknown object with ID 67 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 pedestrian with ID 65 is traveling at a (x, y) velocity of [0.7326268  0.67977005] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.86390567 0.75434136] 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.05171854 -0.00878308] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.709906  2.286942], 3.545940637588501 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.2) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A unknown object with ID 52 is 2.8 meters away at (-1.2, 2.5). A unknown object with ID 77 is 3.7 meters away at (-2.0, 3.2). A vehicle with ID 53 is 4.4 meters away at (-4.4, -0.0). A vehicle with ID 58 is 6.4 meters away at (3.8, -5.2). A unknown object with ID 40 is 6.5 meters away at (1.9, 6.3). A unknown object with ID 70 is 7.0 meters away at (1.1, 6.9). A unknown object with ID 50 is 8.5 meters away at (8.2, -2.2). A vehicle with ID 55 is 8.6 meters away at (-7.8, -3.6). A unknown object with ID 73 is 10.0 meters away at (9.8, -1.8). A vehicle with ID 57 is 10.5 meters away at (-0.5, -10.5).

The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-1.2082596  2.545971 ], 2.8181304931640625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.3) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A vehicle with ID 56 is 3.8 meters away at (-3.7, 1.1). A vehicle with ID 55 is 4.8 meters away at (-0.5, 4.8). A unknown object with ID 85 is 5.6 meters away at (3.6, -4.3). A vehicle with ID 57 is 7.2 meters away at (6.9, -2.0). A vehicle with ID 54 is 8.0 meters away at (-7.2, -3.4). A vehicle with ID 53 is 8.8 meters away at (2.8, 8.3). A vehicle with ID 58 is 11.6 meters away at (11.1, 3.2). A unknown object with ID 52 is 12.7 meters away at (6.1, 11.1). A unknown object with ID 40 is 17.5 meters away at (9.3, 14.8). A unknown object with ID 70 is 17.7 meters away at (8.5, 15.5).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -3.8) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 54 is 4.6 meters away at (-0.3, 4.6). A unknown object with ID 39 is 5.8 meters away at (5.3, -2.5). A vehicle with ID 56 is 9.8 meters away at (3.3, 9.2). A unknown object with ID 85 is 11.3 meters away at (10.6, 3.9). A vehicle with ID 55 is 14.6 meters away at (6.6, 13.0). A pedestrian with ID 81 is 15.1 meters away at (-14.6, -3.7). A vehicle with ID 57 is 15.2 meters away at (13.9, 6.1). A vehicle with ID 53 is 19.3 meters away at (9.9, 16.5). A vehicle with ID 4 is 19.9 meters away at (13.3, 14.8). A vehicle with ID 58 is 21.5 meters away at (18.2, 11.5).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.9593635 0.6611565] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.2426314 -3.7459066] m/s.The vehicle with ID 58 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 (-2.4, -4.6) m/s. Its current heading (yaw) is -2.05

The most relevant actors are: A vehicle with ID 55 is 9.9 meters away at (-1.5, -9.8). A vehicle with ID 32 is 10.3 meters away at (9.9, 2.7). A pedestrian with ID 37 is 16.2 meters away at (3.9, -15.8). A pedestrian with ID 34 is 17.7 meters away at (0.7, 17.7). A pedestrian with ID 35 is 18.2 meters away at (1.4, 18.2). A vehicle with ID 38 is 21.4 meters away at (-3.0, -21.2). A vehicle with ID 31 is 21.9 meters away at (-10.3, -19.4). A unknown object with ID 50 is 23.6 meters away at (-18.6, -14.5). A pedestrian with ID 48 is 25.5 meters away at (-19.2, -16.9). A vehicle with ID 47 is 35.5 meters away at (-16.1, -31.6).

The vehicle with ID 55 is traveling at a (x, y) velocity of [3.5833042 6.780728 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.7344564 -1.3160292] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00644527 -0.0023868 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.01235819 0.00371428] m/s.The vehicle with ID 38 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 [-1.5792419 -2.962244 ] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.6088239 -1.0509518] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -3.3) m/s. Its current heading (yaw) is -2.05

The most relevant actors are: A pedestrian with ID 37 is 12.7 meters away at (6.4, -11.0). A vehicle with ID 38 is 13.5 meters away at (1.1, -13.4). A vehicle with ID 55 is 15.0 meters away at (9.9, 11.2). A vehicle with ID 32 is 17.4 meters away at (14.0, 10.4). A vehicle with ID 31 is 17.6 meters away at (-8.4, -15.5). A pedestrian with ID 48 is 19.9 meters away at (-16.6, -11.0). A pedestrian with ID 34 is 26.0 meters away at (4.7, 25.5). A pedestrian with ID 35 is 26.5 meters away at (5.5, 25.9). A vehicle with ID 47 is 26.8 meters away at (-12.1, -23.9). A pedestrian with ID 39 is 31.0 meters away at (-2.6, -30.9).

The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.65656   -1.4825667] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [3.4301083 6.121555 ] m/s.The vehicle with ID 32 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 [-0.49522778 -1.0067993 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.814477   -0.91814697] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00045582  0.00577371] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00273027 -0.00654778] m/s.The vehicle with ID 47 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 [-0.4952791 -1.2635733] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -2.1) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A vehicle with ID 38 is 8.3 meters away at (4.5, -7.0). A pedestrian with ID 37 is 11.4 meters away at (7.7, -8.4). A vehicle with ID 31 is 11.9 meters away at (-5.7, -10.4). A pedestrian with ID 48 is 16.8 meters away at (-15.1, -7.4). A vehicle with ID 47 is 20.5 meters away at (-9.2, -18.3). A vehicle with ID 32 is 23.2 meters away at (16.9, 15.9). A pedestrian with ID 39 is 28.3 meters away at (-1.1, -28.3). A unknown object with ID 53 is 30.1 meters away at (-23.9, -18.3). A unknown object with ID 15 is 31.4 meters away at (-26.5, -16.7). A pedestrian with ID 34 is 31.9 meters away at (7.6, 31.0).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0.5044829 0.906351 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.7129192 -1.3068676] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.62021786 -0.98626393] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.6957717 -1.4657909] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 [ 0.00420452 -0.00546209] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.6) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A vehicle with ID 38 is 7.7 meters away at (7.6, -1.1). A vehicle with ID 31 is 8.6 meters away at (-4.2, -7.5). A pedestrian with ID 37 is 11.4 meters away at (7.7, -8.5). A pedestrian with ID 48 is 17.1 meters away at (-16.2, -5.4). A vehicle with ID 47 is 17.2 meters away at (-7.6, -15.4). A pedestrian with ID 17 is 19.0 meters away at (6.2, -17.9). A vehicle with ID 32 is 26.4 meters away at (18.4, 18.9). A vehicle with ID 3 is 26.5 meters away at (18.5, 19.0). A unknown object with ID 53 is 27.2 meters away at (-22.4, -15.5). A pedestrian with ID 39 is 28.3 meters away at (-0.6, -28.3).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0.9250492 1.7020757] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.8004677 -1.4059513] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.2321576 -0.5745226] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00168078 -0.00540118] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.42127576 -1.4548362 ] m/s.

Instruction: Slight left turn approaching.


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

The most relevant actors are: A vehicle with ID 15 is 8.9 meters away at (7.4, 4.9). A vehicle with ID 12 is 12.8 meters away at (-12.4, -3.4). A vehicle with ID 19 is 30.5 meters away at (30.0, 5.7). A vehicle with ID 6 is 31.5 meters away at (14.1, 28.2). A vehicle with ID 17 is 35.4 meters away at (35.3, -1.8). A vehicle with ID 3 is 39.3 meters away at (6.8, 38.7). A vehicle with ID 9 is 39.8 meters away at (39.8, 2.1). A vehicle with ID 16 is 40.3 meters away at (38.8, -10.8). A vehicle with ID 31 is 45.9 meters away at (-2.1, 45.8). A vehicle with ID 23 is 50.5 meters away at (47.3, -17.7).

The vehicle with ID 15 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 [-8.663647 -6.207052] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.4199123 -7.732391 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.3747716 -7.7810173] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.541614  -7.7888336] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.668052 -7.915469] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-11.482913  16.032385] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.544793 -9.904596] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 6.6420765 -8.984697 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 5.8492646 -7.808629 ] m/s.

There are active red lights at the following coordinates: [[10.133367 25.197575]
 [14.580866 12.12383 ]]

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 0.61

The most relevant actors are: A vehicle with ID 15 is 8.9 meters away at (7.4, 4.9). A vehicle with ID 6 is 27.9 meters away at (24.9, 12.8). A vehicle with ID 3 is 29.2 meters away at (17.7, 23.2). A vehicle with ID 31 is 30.0 meters away at (8.9, 28.6). A vehicle with ID 12 is 34.2 meters away at (-29.3, -17.8). A vehicle with ID 9 is 38.1 meters away at (17.3, 33.9). A vehicle with ID 30 is 39.2 meters away at (7.0, 38.6). A vehicle with ID 19 is 42.0 meters away at (40.9, -9.6). A vehicle with ID 4 is 42.4 meters away at (42.4, -2.2). A vehicle with ID 17 is 49.9 meters away at (46.7, -17.7).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.4484057 -7.7109337] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.459563  -7.7350035] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 2.9216192 -8.338858 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-7.421294 -8.452749] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-11.321415  15.927778] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 4.934995  -7.0130787] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.4663057 -7.6483045] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-10.641922  14.688765] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.8000693 -7.9671874] m/s.

There are active red lights at the following coordinates: [[14.580866 12.12383 ]]

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 0.61

The most relevant actors are: A vehicle with ID 15 is 8.9 meters away at (7.4, 4.9). A vehicle with ID 31 is 15.1 meters away at (7.6, 13.1). A vehicle with ID 30 is 29.6 meters away at (16.9, 24.3). A vehicle with ID 3 is 29.7 meters away at (28.6, 7.9). A vehicle with ID 4 is 34.7 meters away at (21.5, 27.2). A vehicle with ID 6 is 35.8 meters away at (35.7, -2.4). A vehicle with ID 29 is 39.0 meters away at (6.9, 38.4). A vehicle with ID 12 is 54.9 meters away at (-39.6, -38.1). A vehicle with ID 19 is 57.3 meters away at (51.8, -24.6).

The vehicle with ID 15 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 [-4.0394645 -6.7905645] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 5.1474724 -7.326755 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.3204885 -7.582414 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-10.341     14.652998] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.490744 -7.492552] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 5.1759305 -7.422901 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ -3.018429 -11.519637] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.61575   -7.5037794] m/s.

There are active red lights at the following coordinates: [[14.580866 12.12383 ]]

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 0.61

The most relevant actors are: A vehicle with ID 31 is 4.8 meters away at (-4.5, 1.8). A vehicle with ID 15 is 8.9 meters away at (7.4, 4.9). A vehicle with ID 29 is 29.1 meters away at (17.4, 23.3). A vehicle with ID 30 is 29.2 meters away at (27.8, 9.0). A vehicle with ID 3 is 39.6 meters away at (39.0, -6.6). A vehicle with ID 26 is 41.0 meters away at (5.2, 40.6). A vehicle with ID 13 is 46.0 meters away at (-2.4, 45.9). A vehicle with ID 6 is 50.0 meters away at (46.8, -17.6). A vehicle with ID 11 is 53.1 meters away at (51.2, -13.9). A vehicle with ID 12 is 75.6 meters away at (-42.3, -62.7).

The vehicle with ID 31 is traveling at a (x, y) velocity of [-7.670119 -5.618839] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 5.385108  -7.7111473] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 5.674629 -7.891625] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.2750344 -7.1904736] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 5.4150553 -7.500373 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 6.221704 -8.600914] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.8966236 -7.846436 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.963912 12.877959] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [  0.12681292 -13.007842  ] m/s.

There are active red lights at the following coordinates: [[10.133367 25.197575]
 [14.580866 12.12383 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -6.4) m/s. Its current heading (yaw) is -1.71

The most relevant actors are: A vehicle with ID 46 is 15.2 meters away at (-3.0, 14.9). A pedestrian with ID 45 is 25.3 meters away at (-9.3, 23.6). A unknown object with ID 31 is 31.8 meters away at (-2.6, 31.6). A vehicle with ID 21 is 31.9 meters away at (15.9, -27.7). A vehicle with ID 44 is 32.0 meters away at (1.2, 32.0). A vehicle with ID 19 is 36.0 meters away at (-1.0, -36.0). A pedestrian with ID 50 is 37.3 meters away at (-2.0, 37.2). A pedestrian with ID 47 is 37.4 meters away at (-4.5, 37.2). A pedestrian with ID 27 is 37.5 meters away at (-5.5, 37.1). A pedestrian with ID 48 is 38.5 meters away at (-4.1, 38.2).

The vehicle with ID 46 is traveling at a (x, y) velocity of [2.2666702 8.3286915] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.3062604 1.5268635] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [3.0472562 8.4077215] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 0.7080859 -6.208244 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.00390635 -0.01736232] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.42696202 1.0615045 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.36768442 1.085622  ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.37644956 1.010289  ] m/s.

Instruction: Slight left turn approaching.