The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -1.9) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 67 is 6.4 meters away at (-6.4, -1.0). A vehicle with ID 71 is 6.5 meters away at (4.7, -4.5). A vehicle with ID 68 is 9.6 meters away at (-7.5, 6.1). A vehicle with ID 75 is 12.2 meters away at (10.2, -6.7). A unknown object with ID 62 is 12.9 meters away at (12.5, 3.1). A pedestrian with ID 55 is 15.3 meters away at (13.3, -7.6). A vehicle with ID 80 is 17.5 meters away at (15.4, -8.4). A vehicle with ID 81 is 19.0 meters away at (19.0, -0.6). A vehicle with ID 20 is 22.5 meters away at (-22.5, -0.0). A vehicle with ID 86 is 23.1 meters away at (20.6, -10.3).

The vehicle with ID 67 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 68 is traveling at a (x, y) velocity of [-2.6221254  0.9953523] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.01845894 0.00301007] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 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 [2.071366  1.9182615] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -2.1) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 75 is 3.1 meters away at (-1.5, -2.8). A pedestrian with ID 55 is 4.1 meters away at (1.6, -3.8). A vehicle with ID 80 is 5.8 meters away at (3.7, -4.5). A vehicle with ID 71 is 6.8 meters away at (-6.8, -0.6). A vehicle with ID 81 is 8.0 meters away at (7.2, 3.4). A vehicle with ID 86 is 11.0 meters away at (8.9, -6.4). A vehicle with ID 90 is 15.9 meters away at (13.7, -8.0). A vehicle with ID 67 is 18.3 meters away at (-18.1, 2.9). A vehicle with ID 94 is 21.3 meters away at (18.9, -9.7). A vehicle with ID 68 is 28.4 meters away at (-25.6, 12.2).

The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.04256966  0.05059   ] m/s.The vehicle with ID 80 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 81 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 90 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 94 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 [-4.4894238  1.5216081] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -2.0) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 90 is 3.8 meters away at (1.1, -3.7). A vehicle with ID 86 is 4.2 meters away at (-3.6, -2.1). A vehicle with ID 94 is 8.2 meters away at (6.3, -5.3). A vehicle with ID 80 is 8.8 meters away at (-8.8, -0.2). A vehicle with ID 81 is 9.3 meters away at (-5.3, 7.7). A pedestrian with ID 55 is 11.0 meters away at (-11.0, 0.7). A vehicle with ID 75 is 14.3 meters away at (-14.2, 1.6). A unknown object with ID 51 is 16.4 meters away at (-11.9, 11.3). A vehicle with ID 63 is 18.8 meters away at (6.3, 17.7). A vehicle with ID 71 is 19.9 meters away at (-19.6, 3.8).

The vehicle with ID 90 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 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.03961534 0.01777921] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 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 (6.2, -2.1) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 94 is 6.2 meters away at (-6.1, -1.0). A vehicle with ID 65 is 8.4 meters away at (7.6, 3.4). A vehicle with ID 39 is 8.8 meters away at (6.9, -5.5). A vehicle with ID 90 is 11.5 meters away at (-11.5, 0.7). A vehicle with ID 66 is 15.5 meters away at (15.5, 1.0). A vehicle with ID 86 is 16.4 meters away at (-16.3, 2.3). A vehicle with ID 81 is 21.6 meters away at (-17.9, 12.1). A vehicle with ID 80 is 21.9 meters away at (-21.4, 4.2). A unknown object with ID 47 is 21.9 meters away at (15.1, -15.8). A unknown object with ID 24 is 21.9 meters away at (15.8, -15.2).

The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 66 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 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 (-3.8, -5.1) m/s. Its current heading (yaw) is -2.20

The most relevant actors are: A vehicle with ID 73 is 3.9 meters away at (2.7, -2.8). A vehicle with ID 69 is 5.1 meters away at (-0.7, 5.1). A pedestrian with ID 68 is 8.1 meters away at (8.1, -0.5). A vehicle with ID 66 is 10.1 meters away at (2.4, 9.9). A vehicle with ID 53 is 11.6 meters away at (10.5, -4.9). A vehicle with ID 72 is 11.6 meters away at (9.3, -7.0). A vehicle with ID 39 is 12.9 meters away at (8.5, -9.7). A vehicle with ID 31 is 13.4 meters away at (6.9, -11.5). A vehicle with ID 67 is 15.4 meters away at (4.9, 14.6). A vehicle with ID 76 is 15.5 meters away at (-5.0, -14.7).

The vehicle with ID 73 is traveling at a (x, y) velocity of [3.545049  5.4555616] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.6980816 -1.1721461] m/s.The vehicle with ID 66 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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 76 is traveling at a (x, y) velocity of [4.3816814 5.909743 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -5.7) m/s. Its current heading (yaw) is -2.19

The most relevant actors are: A unknown object with ID 29 is 11.2 meters away at (-7.9, 8.0). A unknown object with ID 34 is 11.6 meters away at (-7.3, 9.0). A vehicle with ID 40 is 12.7 meters away at (11.4, -5.6). A vehicle with ID 76 is 13.4 meters away at (10.8, 7.9). A vehicle with ID 59 is 16.0 meters away at (-15.2, 5.0). A pedestrian with ID 68 is 16.6 meters away at (14.6, 7.9). A vehicle with ID 13 is 16.6 meters away at (9.7, 13.5). A vehicle with ID 69 is 17.3 meters away at (7.1, 15.8). A unknown object with ID 37 is 17.5 meters away at (-15.8, 7.5). A vehicle with ID 72 is 17.5 meters away at (17.1, 3.8).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [3.6940153 5.919817 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.68453175 -1.0944502 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-3.9495108 -5.7955775] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-7.9189005  7.9775896], 11.240592956542969 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -6.2) m/s. Its current heading (yaw) is -2.13

The most relevant actors are: A vehicle with ID 51 is 5.0 meters away at (1.7, -4.7). A vehicle with ID 79 is 8.9 meters away at (2.3, -8.6). A pedestrian with ID 83 is 13.5 meters away at (2.8, -13.2). A unknown object with ID 32 is 13.8 meters away at (-10.4, 9.0). A vehicle with ID 81 is 14.3 meters away at (-1.3, -14.2). A unknown object with ID 82 is 14.6 meters away at (-12.9, -6.8). A unknown object with ID 42 is 14.7 meters away at (-11.2, 9.5). A vehicle with ID 13 is 17.5 meters away at (10.2, 14.2). A vehicle with ID 59 is 18.1 meters away at (-7.2, 16.7). A unknown object with ID 60 is 18.4 meters away at (-14.5, 11.3).

The vehicle with ID 51 is traveling at a (x, y) velocity of [3.9226928 5.6135516] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [0.76566356 1.1235613 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 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 [-3.8391337 -5.628421 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, -7.1) m/s. Its current heading (yaw) is -2.05

The most relevant actors are: A vehicle with ID 81 is 6.5 meters away at (6.4, -1.2). A vehicle with ID 65 is 7.0 meters away at (3.5, -6.0). A unknown object with ID 82 is 8.1 meters away at (-5.0, 6.3). A pedestrian with ID 41 is 8.2 meters away at (-8.0, -1.5). A vehicle with ID 43 is 8.8 meters away at (7.2, 5.1). A vehicle with ID 79 is 10.9 meters away at (10.0, 4.3). A unknown object with ID 19 is 11.0 meters away at (-8.2, -7.3). A vehicle with ID 20 is 11.1 meters away at (0.5, -11.0). A pedestrian with ID 83 is 12.3 meters away at (12.1, 2.2). A pedestrian with ID 25 is 13.2 meters away at (-10.6, -7.8).

The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.44713864 -0.7144787 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [4.0498075 6.1796875] m/s.The vehicle with ID 79 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [0.7910184 1.0787816] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.78354394 -1.306448  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.2) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 27 is 11.6 meters away at (0.7, 11.6). A vehicle with ID 35 is 16.1 meters away at (4.7, -15.3). A vehicle with ID 30 is 17.7 meters away at (-17.7, -0.6). A vehicle with ID 25 is 19.5 meters away at (-17.3, -9.0). A vehicle with ID 10 is 21.2 meters away at (-21.2, 0.4). A vehicle with ID 38 is 21.6 meters away at (6.7, -20.5). A vehicle with ID 23 is 24.6 meters away at (-24.5, 1.7). A vehicle with ID 1 is 26.2 meters away at (-22.9, -12.8). A vehicle with ID 5 is 26.5 meters away at (19.5, -18.0). A vehicle with ID 32 is 28.6 meters away at (12.2, -25.8).

The vehicle with ID 27 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 [-2.199901  1.189012] m/s.The vehicle with ID 30 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 [ 3.4605467 -1.1665373] m/s.The vehicle with ID 10 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 [ 5.282573  -2.1511252] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 -1.89

The most relevant actors are: A vehicle with ID 35 is 11.4 meters away at (-1.6, -11.3). A vehicle with ID 27 is 12.3 meters away at (0.9, 12.2). A vehicle with ID 25 is 16.1 meters away at (-12.8, -9.7). A vehicle with ID 30 is 17.5 meters away at (-17.5, 0.1). A vehicle with ID 10 is 21.0 meters away at (-20.9, 1.1). A vehicle with ID 23 is 24.4 meters away at (-24.3, 2.3). A vehicle with ID 1 is 25.6 meters away at (-22.6, -12.2). A vehicle with ID 5 is 26.2 meters away at (19.6, -17.3). A vehicle with ID 32 is 28.0 meters away at (12.3, -25.1). A vehicle with ID 2 is 28.5 meters away at (-26.5, -10.5).

The vehicle with ID 35 is traveling at a (x, y) velocity of [-4.731842   2.3422728] m/s.The vehicle with ID 27 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 [ 0.9964683  -0.36689594] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 27 is 12.4 meters away at (0.9, 12.3). A vehicle with ID 25 is 15.1 meters away at (-11.0, -10.4). A vehicle with ID 35 is 15.4 meters away at (-14.1, -6.1). A vehicle with ID 30 is 17.5 meters away at (-17.5, 0.1). A vehicle with ID 9 is 20.8 meters away at (-20.7, 1.0). A vehicle with ID 10 is 21.0 meters away at (-20.9, 1.2). A vehicle with ID 23 is 24.3 meters away at (-24.2, 2.3). A vehicle with ID 1 is 25.6 meters away at (-22.5, -12.1). A vehicle with ID 5 is 26.1 meters away at (19.6, -17.2). A vehicle with ID 32 is 27.9 meters away at (12.3, -25.1).

The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.9888186 -0.9863024] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-7.469132   2.4764428] m/s.The vehicle with ID 30 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 10 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 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 (-0.2, -0.5) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A vehicle with ID 27 is 12.7 meters away at (1.0, 12.7). A vehicle with ID 25 is 16.8 meters away at (-6.4, -15.6). A vehicle with ID 30 is 17.4 meters away at (-17.4, 0.5). A vehicle with ID 10 is 20.9 meters away at (-20.8, 1.4). A vehicle with ID 9 is 20.9 meters away at (-20.9, 1.2). A vehicle with ID 23 is 24.3 meters away at (-24.1, 2.7). A vehicle with ID 1 is 25.3 meters away at (-22.4, -11.7). A vehicle with ID 5 is 26.0 meters away at (19.8, -16.8). A vehicle with ID 32 is 27.7 meters away at (12.5, -24.7). A vehicle with ID 2 is 28.1 meters away at (-26.2, -10.1).

The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.0155365 -4.639824 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 11 is 18.8 meters away at (-0.5, -18.8). A vehicle with ID 10 is 23.7 meters away at (-4.3, -23.3). A vehicle with ID 50 is 24.0 meters away at (9.2, -22.2). A pedestrian with ID 55 is 24.6 meters away at (13.9, -20.4). A pedestrian with ID 57 is 28.0 meters away at (15.1, -23.5). A pedestrian with ID 56 is 30.0 meters away at (10.8, 28.0). A vehicle with ID 53 is 30.8 meters away at (29.2, 9.8). A unknown object with ID 58 is 34.3 meters away at (28.6, -19.0). A unknown object with ID 59 is 34.3 meters away at (29.5, -17.4). A unknown object with ID 36 is 34.3 meters away at (28.0, -19.9).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.6919016 -0.7721644] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.04199463 0.00070399] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.59064054 -0.4905138 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-4.495674  -2.6165247] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.3) m/s. Its current heading (yaw) is -0.62

The most relevant actors are: A vehicle with ID 11 is 18.4 meters away at (-1.2, -18.4). A vehicle with ID 53 is 22.8 meters away at (22.3, 4.7). A vehicle with ID 50 is 23.4 meters away at (8.5, -21.7). A vehicle with ID 10 is 23.4 meters away at (-5.0, -22.9). A pedestrian with ID 55 is 25.2 meters away at (12.1, -22.1). A vehicle with ID 9 is 28.6 meters away at (-9.0, -27.1). A unknown object with ID 58 is 33.5 meters away at (27.9, -18.5). A unknown object with ID 59 is 33.5 meters away at (28.9, -17.0). A vehicle with ID 6 is 40.3 meters away at (-6.7, -39.7). A vehicle with ID 60 is 41.4 meters away at (14.7, 38.7).

The vehicle with ID 11 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 [-1.5890465 -1.6784501] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.55787915 -0.8800542 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -2.6) m/s. Its current heading (yaw) is -0.75

The most relevant actors are: A unknown object with ID 34 is 7.3 meters away at (-1.4, -7.2). A vehicle with ID 11 is 16.3 meters away at (-5.0, -15.5). A vehicle with ID 53 is 18.5 meters away at (17.4, 6.5). A vehicle with ID 50 is 19.4 meters away at (4.8, -18.8). A vehicle with ID 10 is 21.9 meters away at (-8.8, -20.0). A pedestrian with ID 18 is 22.7 meters away at (10.7, -20.0). A vehicle with ID 9 is 27.4 meters away at (-12.7, -24.2). A unknown object with ID 42 is 28.4 meters away at (20.7, -19.5). A unknown object with ID 58 is 28.6 meters away at (24.1, -15.4). A unknown object with ID 21 is 28.7 meters away at (23.5, -16.4).

The unknown object with ID 34 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00056719  0.00413185] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 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.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-1.4258194 -7.1642423], 7.304747104644775 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -4.1) m/s. Its current heading (yaw) is -1.60

The most relevant actors are: A vehicle with ID 11 is 11.8 meters away at (-8.3, -8.5). A vehicle with ID 50 is 11.9 meters away at (1.4, -11.8). A vehicle with ID 10 is 17.8 meters away at (-12.0, -13.2). A vehicle with ID 53 is 18.5 meters away at (13.4, 12.8). A unknown object with ID 21 is 22.3 meters away at (20.2, -9.3). A unknown object with ID 58 is 22.4 meters away at (20.8, -8.3). A unknown object with ID 59 is 22.8 meters away at (21.8, -6.8). A vehicle with ID 9 is 23.7 meters away at (-16.0, -17.5). A vehicle with ID 6 is 32.9 meters away at (-13.7, -29.9). A vehicle with ID 5 is 34.4 meters away at (-22.8, -25.8).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 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 [-0.9712988 -1.2002728] 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 3.0) m/s. Its current heading (yaw) is 2.63

The most relevant actors are: A vehicle with ID 24 is 8.5 meters away at (8.0, 3.0). A unknown object with ID 32 is 12.8 meters away at (12.4, -3.0). A unknown object with ID 31 is 14.4 meters away at (13.7, -4.4). A vehicle with ID 34 is 22.5 meters away at (21.3, -7.1). A vehicle with ID 38 is 43.2 meters away at (-12.6, -41.4). A vehicle with ID 35 is 43.9 meters away at (-25.6, -35.7). A vehicle with ID 37 is 46.9 meters away at (-26.3, -38.8).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -0.6) m/s. Its current heading (yaw) is -3.01

The most relevant actors are: A vehicle with ID 24 is 17.7 meters away at (17.7, -0.0). A unknown object with ID 31 is 24.5 meters away at (23.4, -7.3). A vehicle with ID 35 is 41.9 meters away at (-16.3, -38.6). A vehicle with ID 38 is 44.3 meters away at (-3.2, -44.2). A unknown object with ID 26 is 44.6 meters away at (40.3, -19.1). A vehicle with ID 37 is 45.0 meters away at (-17.0, -41.7). A pedestrian with ID 17 is 50.2 meters away at (25.2, -43.4). A vehicle with ID 36 is 53.1 meters away at (47.7, -23.5). A vehicle with ID 19 is 63.6 meters away at (-20.2, -60.4). A vehicle with ID 28 is 64.4 meters away at (57.4, -29.1).

The vehicle with ID 24 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.06050939  0.028658  ] m/s.The vehicle with ID 36 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.0) m/s. Its current heading (yaw) is -2.31

The most relevant actors are: A unknown object with ID 1 is 26.2 meters away at (-8.2, 24.9). A vehicle with ID 24 is 26.8 meters away at (26.4, 5.0). A vehicle with ID 8 is 31.6 meters away at (-13.2, 28.8). A vehicle with ID 35 is 34.6 meters away at (-7.2, -33.8). A vehicle with ID 37 is 37.8 meters away at (-8.2, -36.9). A vehicle with ID 38 is 39.8 meters away at (5.9, -39.4). A unknown object with ID 26 is 51.0 meters away at (49.0, -14.3). A vehicle with ID 19 is 56.6 meters away at (-11.3, -55.5). A vehicle with ID 36 is 59.3 meters away at (56.4, -18.2). A vehicle with ID 39 is 64.6 meters away at (61.1, -21.0).

The unknown object with ID 1 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 36 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 closest actor is a unknown object at [-8.196648 24.8917  ], 26.20652198791504 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -2.4) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 35 is 26.9 meters away at (-2.4, -26.7). A vehicle with ID 37 is 30.0 meters away at (-3.4, -29.8). A unknown object with ID 1 is 32.2 meters away at (-3.3, 32.0). A vehicle with ID 24 is 33.5 meters away at (31.3, 12.0). A vehicle with ID 38 is 34.1 meters away at (10.6, -32.4). A unknown object with ID 5 is 36.2 meters away at (35.7, 6.1). A vehicle with ID 8 is 36.9 meters away at (-8.3, 35.9). A vehicle with ID 36 is 62.3 meters away at (61.2, -11.2). A vehicle with ID 39 is 67.4 meters away at (65.9, -14.0). A unknown object with ID 22 is 78.4 meters away at (72.9, -28.9).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.8) m/s. Its current heading (yaw) is -0.45

The most relevant actors are: A vehicle with ID 60 is 32.4 meters away at (5.1, -32.0). A pedestrian with ID 66 is 38.4 meters away at (8.6, -37.4). A unknown object with ID 59 is 46.2 meters away at (-37.9, 26.5). A unknown object with ID 68 is 58.6 meters away at (55.2, -19.8). A unknown object with ID 69 is 58.7 meters away at (55.4, -19.4). A unknown object with ID 67 is 59.3 meters away at (54.7, -22.9). A unknown object with ID 31 is 60.3 meters away at (54.9, -24.9). A unknown object with ID 27 is 62.0 meters away at (55.9, -26.8). A vehicle with ID 80 is 70.1 meters away at (63.9, -28.8). A unknown object with ID 5 is 74.6 meters away at (65.3, -36.2).

The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.9407609  -0.62957776] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 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.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.8) m/s. Its current heading (yaw) is -0.42

The most relevant actors are: A pedestrian with ID 57 is 25.0 meters away at (-9.3, -23.2). A vehicle with ID 60 is 27.1 meters away at (-6.4, -26.3). A pedestrian with ID 66 is 32.7 meters away at (-0.6, -32.7). A unknown object with ID 68 is 45.5 meters away at (43.5, -13.5). A unknown object with ID 69 is 45.7 meters away at (43.7, -13.3). A unknown object with ID 67 is 46.3 meters away at (43.1, -16.9). A unknown object with ID 31 is 47.3 meters away at (43.4, -19.0). A unknown object with ID 27 is 49.1 meters away at (44.4, -20.9). A vehicle with ID 80 is 57.2 meters away at (52.3, -23.1). A unknown object with ID 63 is 59.7 meters away at (51.1, -30.9).

The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.02272121 0.001045  ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 1.33231    -0.32256752] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -2.9) m/s. Its current heading (yaw) is -0.45

The most relevant actors are: A pedestrian with ID 57 is 27.6 meters away at (-21.4, -17.4). A vehicle with ID 60 is 27.7 meters away at (-18.5, -20.6). A pedestrian with ID 66 is 29.7 meters away at (-10.3, -27.8). A unknown object with ID 69 is 32.2 meters away at (31.3, -7.7). A unknown object with ID 68 is 32.3 meters away at (31.5, -7.3). A unknown object with ID 67 is 32.7 meters away at (30.9, -10.9). A unknown object with ID 31 is 33.8 meters away at (31.2, -13.0). A unknown object with ID 27 is 35.4 meters away at (32.2, -14.8). A unknown object with ID 83 is 40.0 meters away at (34.0, -21.1). A vehicle with ID 80 is 43.8 meters away at (40.3, -17.3).

The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.02011807 -0.00106956] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 1.2201084  -0.51978767] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -2.7) m/s. Its current heading (yaw) is -0.48

The most relevant actors are: A unknown object with ID 68 is 19.9 meters away at (19.8, -1.9). A unknown object with ID 67 is 20.1 meters away at (19.4, -5.1). A unknown object with ID 69 is 20.1 meters away at (20.1, -1.5). A unknown object with ID 31 is 21.0 meters away at (19.7, -7.2). A unknown object with ID 27 is 22.6 meters away at (20.7, -9.0). A unknown object with ID 18 is 25.6 meters away at (23.2, -10.8). A unknown object with ID 13 is 27.8 meters away at (25.1, -11.8). A pedestrian with ID 74 is 28.5 meters away at (28.1, -4.5). A unknown object with ID 6 is 30.2 meters away at (27.5, -12.6). A vehicle with ID 80 is 30.8 meters away at (28.5, -11.5).

The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.02299097 0.01274714] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [19.77502  -1.944416], 19.870386123657227 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, 3.9) m/s. Its current heading (yaw) is 0.51

The most relevant actors are: A vehicle with ID 29 is 6.8 meters away at (-6.2, 2.7). A vehicle with ID 44 is 13.0 meters away at (10.6, -7.5). A vehicle with ID 42 is 32.8 meters away at (20.3, 25.8). A vehicle with ID 45 is 32.9 meters away at (23.0, 23.6). A cyclist with ID 43 is 35.3 meters away at (26.5, 23.4). A vehicle with ID 41 is 51.5 meters away at (-47.1, -20.7).

The vehicle with ID 29 is traveling at a (x, y) velocity of [6.42277  4.266952] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-10.081977  -7.267534] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [2.4433703 2.0591667] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [8.507836  5.4141746] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, 3.7) m/s. Its current heading (yaw) is 0.60

The most relevant actors are: A vehicle with ID 29 is 7.9 meters away at (-7.5, 2.7). A vehicle with ID 45 is 19.4 meters away at (10.8, 16.1). A vehicle with ID 42 is 20.3 meters away at (8.4, 18.5). A cyclist with ID 43 is 24.5 meters away at (16.7, 17.9). A vehicle with ID 44 is 37.6 meters away at (-23.4, -29.4). A vehicle with ID 41 is 45.8 meters away at (-42.5, -17.3). A vehicle with ID 12 is 67.1 meters away at (51.6, 42.9). A vehicle with ID 36 is 72.6 meters away at (57.3, 44.5). A vehicle with ID 23 is 72.9 meters away at (59.7, 41.8).

The vehicle with ID 29 is traveling at a (x, y) velocity of [4.5293007 3.1079955] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [0.5009937  0.44013366] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-11.737189   -7.3152256] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [7.9554167 5.1993246] m/s.The vehicle with ID 12 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 23 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 (4.1, 3.3) m/s. Its current heading (yaw) is 0.68

The most relevant actors are: A vehicle with ID 45 is 9.4 meters away at (1.3, 9.3). A vehicle with ID 29 is 10.5 meters away at (-10.5, 0.4). A vehicle with ID 42 is 12.1 meters away at (-0.6, 12.1). A cyclist with ID 43 is 13.2 meters away at (7.2, 11.1). A vehicle with ID 41 is 40.6 meters away at (-37.7, -14.9). A pedestrian with ID 9 is 45.2 meters away at (21.3, 39.9). A vehicle with ID 12 is 55.4 meters away at (42.0, 36.1). A vehicle with ID 36 is 60.6 meters away at (47.6, 37.5). A vehicle with ID 23 is 61.0 meters away at (50.1, 34.9). A vehicle with ID 19 is 62.6 meters away at (47.0, 41.4).

The vehicle with ID 45 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 [2.1005204 1.5752746] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-0.03473783  0.02326185] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [5.9725714 3.9925988] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.01321449  0.00802269] m/s.The vehicle with ID 12 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 1.9) m/s. Its current heading (yaw) is 0.73

The most relevant actors are: A cyclist with ID 43 is 6.0 meters away at (0.7, 6.0). A vehicle with ID 45 is 6.5 meters away at (-4.7, 4.5). A vehicle with ID 42 is 9.8 meters away at (-6.0, 7.8). A vehicle with ID 29 is 14.3 meters away at (-14.1, -2.7). A vehicle with ID 41 is 37.0 meters away at (-34.4, -13.6). A pedestrian with ID 9 is 37.8 meters away at (14.7, 34.8). A vehicle with ID 12 is 47.1 meters away at (35.5, 31.0). A vehicle with ID 36 is 52.1 meters away at (41.0, 32.2). A vehicle with ID 23 is 52.1 meters away at (43.1, 29.3). A vehicle with ID 19 is 54.3 meters away at (40.4, 36.2).

The cyclist with ID 43 is traveling at a (x, y) velocity of [ 0.01224809 -0.01287757] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.39141196 0.30300406] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0.9342846 0.7447116] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [1.2188426  0.91342115] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [4.106061  2.8946013] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.0054172 0.0155961] m/s.The vehicle with ID 12 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 23 is traveling at a (x, y) velocity of [-0.43207592 -0.42667684] m/s.The vehicle with ID 19 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 (1.0, 3.3) m/s. Its current heading (yaw) is 1.27

The most relevant actors are: A pedestrian with ID 15 is 5.9 meters away at (-4.4, 3.8). A vehicle with ID 22 is 13.7 meters away at (13.4, 2.7). A vehicle with ID 17 is 21.7 meters away at (-8.2, -20.1). A vehicle with ID 23 is 28.7 meters away at (23.1, 17.0). A vehicle with ID 20 is 40.8 meters away at (-40.1, -7.4). A vehicle with ID 19 is 46.2 meters away at (20.6, 41.3).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.0268863   0.01552442] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ -5.0451903 -11.866136 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.6578074 6.5872617] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.3307915   0.76133645] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [4.818663 9.47923 ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 2.6) m/s. Its current heading (yaw) is 1.80

The most relevant actors are: A pedestrian with ID 15 is 5.5 meters away at (-5.1, -2.1). A vehicle with ID 17 is 15.0 meters away at (-3.9, -14.5). A vehicle with ID 23 is 24.9 meters away at (22.4, 10.8). A vehicle with ID 22 is 27.7 meters away at (2.5, -27.5). A vehicle with ID 20 is 43.3 meters away at (-41.5, -12.2). A vehicle with ID 19 is 59.2 meters away at (28.6, 51.8).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00264535  0.01486039] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.2529743 5.166815 ] 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 [ -4.9869566 -11.83307  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.17230815  0.37109393] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.4363034 7.1126366] m/s.

There are active red lights at the following coordinates: [[35.476257 72.212814]
 [35.187996 72.36006 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 1.6) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A pedestrian with ID 15 is 4.8 meters away at (-1.6, -4.5). A vehicle with ID 17 is 10.3 meters away at (2.6, -9.9). A pedestrian with ID 11 is 19.1 meters away at (5.2, -18.4). A vehicle with ID 23 is 26.1 meters away at (25.3, 6.5). A pedestrian with ID 4 is 28.0 meters away at (26.6, 8.6). A vehicle with ID 20 is 42.0 meters away at (-38.6, -16.6). A vehicle with ID 22 is 54.5 meters away at (-3.9, -54.4). A vehicle with ID 19 is 69.4 meters away at (34.5, 60.3).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.5766016 1.6480213] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [1.047002  3.7021732] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00183283 -0.03215924] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.08849433 0.00278458] m/s.The vehicle with ID 20 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 [ -4.223729 -10.561554] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.8213572  6.022745 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -0.0) m/s. Its current heading (yaw) is -3.13

The most relevant actors are: A pedestrian with ID 15 is 5.3 meters away at (4.3, -3.1). A unknown object with ID 3 is 6.2 meters away at (1.4, -6.0). A vehicle with ID 17 is 10.0 meters away at (8.6, -5.2). A vehicle with ID 23 is 31.2 meters away at (30.8, 4.9). A pedestrian with ID 12 is 32.6 meters away at (-32.1, -5.6). A pedestrian with ID 4 is 33.0 meters away at (32.2, 7.2). A vehicle with ID 20 is 37.7 meters away at (-33.0, -18.3).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.846162   1.1731656] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.52714646  2.518235  ] m/s.The vehicle with ID 23 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 [0.01053647 0.01714311] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.00958524 0.00904971] m/s.The vehicle with ID 20 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 (-3.6, 8.1) m/s. Its current heading (yaw) is 1.99

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 8.0) m/s. Its current heading (yaw) is 1.92

The most relevant actors are: A unknown object with ID 19 is 49.8 meters away at (-10.1, 48.8).

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

Instruction: Continue straight.

(The closest actor is a unknown object at [-10.111877  48.766228], 49.803565979003906 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 7.8) m/s. Its current heading (yaw) is 1.88

The most relevant actors are: A pedestrian with ID 15 is 3.8 meters away at (3.7, -0.8). A vehicle with ID 17 is 69.2 meters away at (-14.6, 67.6).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.01076632 -0.02571114] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 8.8) m/s. Its current heading (yaw) is 1.87

The most relevant actors are: A vehicle with ID 17 is 51.3 meters away at (-9.3, 50.4). A vehicle with ID 12 is 58.2 meters away at (-11.1, 57.1). A vehicle with ID 6 is 73.2 meters away at (-14.5, 71.8).

The vehicle with ID 17 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.59

The most relevant actors are: A vehicle with ID 5 is 18.7 meters away at (14.5, 11.9). A vehicle with ID 4 is 35.9 meters away at (34.3, -10.7). A vehicle with ID 7 is 69.6 meters away at (57.0, -39.9).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 7.6470785 -9.841777 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [  8.221051 -10.615198] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 6.845977 -9.158145] m/s.

There are active red lights at the following coordinates: [[8.457263 7.851772]]

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 0.59

The most relevant actors are: A vehicle with ID 5 is 29.9 meters away at (29.0, -7.0). A vehicle with ID 4 is 57.7 meters away at (49.1, -30.3).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 7.075576 -9.076768] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 7.001446 -9.402248] m/s.

There are active red lights at the following coordinates: [[8.457263 7.851772]]

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 0.59

The most relevant actors are: A vehicle with ID 5 is 49.5 meters away at (42.8, -24.8).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 6.857331 -8.80038 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.59

The most relevant actors are: A vehicle with ID 1 is 23.2 meters away at (9.6, 21.2). A vehicle with ID 2 is 40.7 meters away at (39.0, -11.4).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 11.538879 -15.278204] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.220939 12.069104] m/s.

There are active red lights at the following coordinates: [[8.457263 7.851772]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, -4.7) m/s. Its current heading (yaw) is -2.45

The most relevant actors are: A pedestrian with ID 45 is 14.8 meters away at (-13.4, -6.1). A vehicle with ID 43 is 15.1 meters away at (-5.1, -14.2). A unknown object with ID 24 is 21.7 meters away at (9.4, -19.6). A pedestrian with ID 35 is 22.0 meters away at (9.9, -19.7). A pedestrian with ID 44 is 23.0 meters away at (9.3, -21.1). A unknown object with ID 30 is 23.3 meters away at (8.4, -21.7). A vehicle with ID 49 is 31.0 meters away at (4.5, -30.6). A pedestrian with ID 52 is 32.5 meters away at (-9.5, -31.1). A vehicle with ID 46 is 37.2 meters away at (30.1, 21.8). A vehicle with ID 55 is 38.9 meters away at (-23.8, -30.7).

The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.03489686 -0.01291182] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.1645857 -6.3005056] m/s.The unknown object with ID 24 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 [-0.1702503  -0.13042846] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.88585293 -0.519326  ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.0534896  -0.03575476] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-5.7413716 -4.428429 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [1.0266883 1.1545141] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -3.1) m/s. Its current heading (yaw) is -2.56

The most relevant actors are: A pedestrian with ID 45 is 3.9 meters away at (-3.5, 1.9). A vehicle with ID 43 is 18.7 meters away at (6.6, -17.6). A vehicle with ID 55 is 18.8 meters away at (-8.3, -16.9). A pedestrian with ID 52 is 22.2 meters away at (1.1, -22.2). A pedestrian with ID 35 is 23.5 meters away at (20.2, -11.9). A cyclist with ID 42 is 23.6 meters away at (20.2, -12.3). A pedestrian with ID 39 is 24.2 meters away at (0.9, -24.1). A vehicle with ID 49 is 26.8 meters away at (14.6, -22.5). A vehicle with ID 13 is 32.5 meters away at (-17.6, -27.3). A vehicle with ID 46 is 33.8 meters away at (27.1, 20.2).

The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.01560003 -0.05459781] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 2.54537   -5.1615233] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [4.355812  4.3303027] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.40098846 0.02490009] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.095205   -0.24710731] m/s.The cyclist with ID 42 is traveling at a (x, y) velocity of [ 0.1812933  -0.46615607] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.12845975 -0.0303671 ] m/s.The vehicle with ID 49 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 [1.5345309 1.5173669] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-7.288644  -5.5485277] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 0.7) m/s. Its current heading (yaw) is 3.02

The most relevant actors are: A pedestrian with ID 45 is 8.7 meters away at (7.1, 5.0). A vehicle with ID 55 is 14.3 meters away at (14.0, -2.5). A vehicle with ID 13 is 18.3 meters away at (-1.5, -18.3). A pedestrian with ID 52 is 22.3 meters away at (12.2, -18.6). A pedestrian with ID 47 is 23.2 meters away at (-16.2, -16.6). A pedestrian with ID 48 is 23.4 meters away at (-15.6, -17.4). A vehicle with ID 46 is 24.7 meters away at (22.2, 10.7). A vehicle with ID 11 is 27.8 meters away at (-9.2, -26.3). A vehicle with ID 49 is 31.8 meters away at (25.2, -19.4). A unknown object with ID 17 is 31.9 meters away at (25.1, 19.7).

The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.0030507  -0.00054986] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [7.2731047 6.7206345] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [4.2091517 4.429273 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.40780386 0.50824285] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.91272086 1.0450398 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.89468926 1.057065  ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-7.9654713 -6.975851 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.6221466 3.0653915] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 4.0) m/s. Its current heading (yaw) is 2.60

The most relevant actors are: A unknown object with ID 37 is 3.0 meters away at (2.1, 2.1). A pedestrian with ID 45 is 19.3 meters away at (19.2, -0.3). A pedestrian with ID 47 is 19.9 meters away at (-2.5, -19.8). A pedestrian with ID 48 is 20.5 meters away at (-2.0, -20.4). A vehicle with ID 46 is 20.6 meters away at (18.1, -9.8). A vehicle with ID 13 is 24.6 meters away at (21.1, -12.7). A vehicle with ID 11 is 25.3 meters away at (10.2, -23.2). A vehicle with ID 10 is 27.2 meters away at (27.1, 2.5). A vehicle with ID 57 is 33.2 meters away at (1.8, -33.2). A pedestrian with ID 52 is 33.9 meters away at (25.7, -22.2).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.09462423 -0.17599346] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.68141854 0.9564248 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.6807163 0.9301135] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-8.126513 -8.371076] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [6.484352  6.4029765] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [4.716474  4.8813777] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-8.33051  -7.231782] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [3.3741446 3.8227015] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.7636249  0.87477815] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [2.1032448 2.0689135], 2.950261354446411 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 2.1) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 53 is 7.2 meters away at (-1.7, -7.0). A vehicle with ID 56 is 9.1 meters away at (-9.1, -0.3). A vehicle with ID 63 is 14.0 meters away at (-6.4, -12.4). A vehicle with ID 62 is 14.7 meters away at (-13.2, -6.5). A vehicle with ID 72 is 16.4 meters away at (0.1, 16.4). A vehicle with ID 64 is 20.5 meters away at (-17.7, -10.4). A vehicle with ID 76 is 21.1 meters away at (0.6, 21.1). A vehicle with ID 65 is 26.5 meters away at (-6.3, 25.8). A vehicle with ID 59 is 27.0 meters away at (26.7, 3.6). A vehicle with ID 69 is 28.3 meters away at (-23.0, -16.6).

The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 4.6656575 -1.8158532] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-5.4981985   0.60221756] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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 0.84

The most relevant actors are: A vehicle with ID 53 is 9.8 meters away at (-3.6, -9.1). A vehicle with ID 56 is 11.3 meters away at (-11.0, -2.4). A vehicle with ID 72 is 13.9 meters away at (9.8, 9.9). A vehicle with ID 63 is 16.7 meters away at (-8.3, -14.5). A vehicle with ID 62 is 17.3 meters away at (-15.0, -8.6). A vehicle with ID 64 is 23.2 meters away at (-19.5, -12.5). A vehicle with ID 59 is 24.9 meters away at (24.8, 1.5). A vehicle with ID 65 is 25.0 meters away at (-8.3, 23.6). A vehicle with ID 76 is 25.3 meters away at (-12.9, 21.7). A vehicle with ID 78 is 29.4 meters away at (-14.4, 25.6).

The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 6.9124227 -2.3627782] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-6.051829   1.9697068] m/s.The vehicle with ID 78 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 (0.2, 0.2) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 53 is 10.1 meters away at (-3.8, -9.3). A vehicle with ID 56 is 11.5 meters away at (-11.2, -2.6). A vehicle with ID 63 is 17.0 meters away at (-8.5, -14.7). A vehicle with ID 62 is 17.3 meters away at (-14.9, -8.7). A vehicle with ID 64 is 23.5 meters away at (-19.7, -12.7). A vehicle with ID 59 is 24.6 meters away at (24.6, 1.2). A vehicle with ID 65 is 24.8 meters away at (-8.5, 23.3). A vehicle with ID 72 is 25.5 meters away at (25.1, 4.9). A vehicle with ID 78 is 29.2 meters away at (-14.6, 25.3). A vehicle with ID 31 is 29.5 meters away at (-23.4, 17.9).

The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 7.9520445 -2.5924609] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 2.4) m/s. Its current heading (yaw) is 0.83

The most relevant actors are: A vehicle with ID 53 is 13.7 meters away at (-6.4, -12.1). A vehicle with ID 56 is 14.8 meters away at (-13.7, -5.4). A vehicle with ID 62 is 20.1 meters away at (-16.9, -10.9). A vehicle with ID 63 is 20.7 meters away at (-11.0, -17.5). A vehicle with ID 59 is 22.2 meters away at (22.1, -1.6). A vehicle with ID 65 is 23.3 meters away at (-11.0, 20.6). A vehicle with ID 64 is 27.1 meters away at (-22.2, -15.4). A vehicle with ID 66 is 27.3 meters away at (27.1, -3.1). A vehicle with ID 78 is 28.3 meters away at (-17.1, 22.6). A vehicle with ID 31 is 30.0 meters away at (-25.9, 15.1).

The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0.338471  0.3960993] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -4.2) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A pedestrian with ID 99 is 5.1 meters away at (4.8, 1.5). A pedestrian with ID 97 is 5.3 meters away at (4.9, 2.1). A pedestrian with ID 96 is 5.9 meters away at (5.1, 3.0). A pedestrian with ID 100 is 6.3 meters away at (4.5, -4.3). A pedestrian with ID 101 is 7.0 meters away at (6.1, -3.5). A pedestrian with ID 102 is 7.8 meters away at (6.7, -3.9). A vehicle with ID 35 is 12.9 meters away at (5.1, 11.8). A pedestrian with ID 104 is 13.6 meters away at (-11.2, 7.7). A pedestrian with ID 105 is 13.6 meters away at (-11.6, 7.1). A pedestrian with ID 103 is 14.3 meters away at (-10.9, 9.3).

The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.00206074 -0.02014371] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [ 0.00769435 -0.01478633] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [ 0.00412691 -0.00897533] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.6703699 -1.4269665] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.6001263 -1.2114642] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [-0.623987  -1.2174886] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-1.5328791 -3.6046915] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [-0.07746644 -0.00130899] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [-0.00606438 -0.01181508] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [ 0.02128169 -0.02740539] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [4.835708  1.4876552], 5.059366703033447 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -4.9) m/s. Its current heading (yaw) is -2.00

The most relevant actors are: A pedestrian with ID 100 is 7.6 meters away at (7.4, 2.0). A pedestrian with ID 113 is 7.9 meters away at (4.0, -6.9). A pedestrian with ID 111 is 9.0 meters away at (5.3, -7.3). A pedestrian with ID 101 is 9.7 meters away at (9.1, 3.3). A pedestrian with ID 112 is 9.7 meters away at (6.0, -7.7). A pedestrian with ID 102 is 10.2 meters away at (9.8, 2.9). A pedestrian with ID 116 is 10.4 meters away at (3.8, -9.7). A pedestrian with ID 99 is 13.8 meters away at (8.9, 10.5). A vehicle with ID 35 is 13.8 meters away at (5.6, 12.6). A pedestrian with ID 97 is 14.4 meters away at (9.0, 11.2).

The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.68285   -1.3778701] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [0.53318566 1.4289742 ] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [0.4245698 1.0271373] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.52041143 -1.1781434 ] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [0.45211253 0.99030215] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [-0.52640563 -1.1421887 ] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [0.5271037 1.1458939] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [-0.00328541 -0.02170683] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.1809325 -4.9908457] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [-0.00518734 -0.00770846] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [7.3556824 1.9940977], 7.62118673324585 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -5.2) m/s. Its current heading (yaw) is -2.03

The most relevant actors are: A pedestrian with ID 118 is 7.4 meters away at (3.9, -6.2). A pedestrian with ID 94 is 7.9 meters away at (3.5, -7.1). A pedestrian with ID 119 is 8.1 meters away at (4.3, -6.9). A pedestrian with ID 116 is 9.8 meters away at (9.4, 2.7). A pedestrian with ID 113 is 11.7 meters away at (10.1, 6.0). A pedestrian with ID 111 is 11.7 meters away at (10.7, 4.7). A pedestrian with ID 112 is 12.2 meters away at (11.5, 4.2). A vehicle with ID 35 is 13.2 meters away at (5.7, 11.9). A pedestrian with ID 100 is 14.2 meters away at (10.7, 9.4). A vehicle with ID 110 is 16.2 meters away at (16.2, -1.3).

The pedestrian with ID 118 is traveling at a (x, y) velocity of [ 0.00104987 -0.01830172] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.02282099 -0.00126501] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [-0.03864885  0.0033309 ] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [0.5057482 1.2233473] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [0.63454413 1.3383167 ] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [0.37878194 1.1308761 ] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [0.35775024 1.0655429 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.43024  -5.574533] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.69730234 -1.2697393 ] m/s.The vehicle with ID 110 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 (-2.9, -5.7) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A pedestrian with ID 94 is 9.7 meters away at (8.9, 3.9). A pedestrian with ID 118 is 10.5 meters away at (9.4, 4.7). A pedestrian with ID 119 is 10.6 meters away at (9.8, 4.0). A vehicle with ID 35 is 13.1 meters away at (6.1, 11.6). A unknown object with ID 44 is 14.0 meters away at (-14.0, -0.5). A unknown object with ID 63 is 14.7 meters away at (-14.7, -0.2). A pedestrian with ID 52 is 19.0 meters away at (-17.6, -7.2). A pedestrian with ID 53 is 19.8 meters away at (-18.5, -7.0). A pedestrian with ID 116 is 22.6 meters away at (16.1, 15.9). A pedestrian with ID 100 is 23.4 meters away at (15.3, 17.7).

The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.00403195 -0.01111069] m/s.The pedestrian with ID 118 is traveling at a (x, y) velocity of [-0.0043109 -0.0154114] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [ 0.00154185 -0.01859984] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.7710812 -5.9799905] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.3665469 -1.2535374] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.3515955 -1.228706 ] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [0.6610681 1.0340174] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.38431594 -1.4548492 ] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [8.945431  3.8645325], 9.744503021240234 meters away.)