The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.1) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 9 is 9.0 meters away at (4.3, 7.9). A vehicle with ID 10 is 11.9 meters away at (-6.5, -10.0). A vehicle with ID 14 is 20.8 meters away at (-11.2, -17.6). A vehicle with ID 16 is 27.8 meters away at (13.6, 24.2). A vehicle with ID 19 is 30.4 meters away at (-15.8, -25.9). A vehicle with ID 21 is 58.0 meters away at (35.4, 45.9). A vehicle with ID 22 is 58.8 meters away at (-30.2, -50.5). A vehicle with ID 23 is 65.2 meters away at (39.2, 52.1). A vehicle with ID 1 is 66.6 meters away at (-3.7, -66.5). A vehicle with ID 24 is 70.1 meters away at (-34.7, -60.9).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.98476297 -1.5860488 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-2.744177  -4.7275205] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.23332025 -0.39611325] 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 [-0.16291496 -0.27586216] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.8322239 -1.6163676] 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, -0.6) m/s. Its current heading (yaw) is -2.14

The most relevant actors are: A vehicle with ID 9 is 8.5 meters away at (4.0, 7.5). A vehicle with ID 10 is 10.0 meters away at (-5.5, -8.4). A vehicle with ID 14 is 18.9 meters away at (-10.3, -15.9). A vehicle with ID 16 is 20.8 meters away at (10.1, 18.2). A vehicle with ID 19 is 28.5 meters away at (-14.9, -24.4). A vehicle with ID 22 is 59.3 meters away at (-30.4, -51.0). A vehicle with ID 21 is 59.8 meters away at (36.4, 47.4). A unknown object with ID 5 is 62.3 meters away at (-47.5, -40.2). A vehicle with ID 23 is 67.1 meters away at (40.3, 53.7). A vehicle with ID 24 is 71.4 meters away at (-35.2, -62.2).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.376697  -0.6154255] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-1.6668783 -2.774547 ] m/s.The vehicle with ID 19 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 [-0.89712083 -1.4961606 ] m/s.The vehicle with ID 21 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.46683663 -1.0404975 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 9 is 8.0 meters away at (3.8, 7.1). A vehicle with ID 10 is 9.1 meters away at (-5.0, -7.6). A vehicle with ID 16 is 17.6 meters away at (8.4, 15.4). A vehicle with ID 14 is 18.1 meters away at (-9.9, -15.2). A vehicle with ID 19 is 27.7 meters away at (-14.5, -23.6). A unknown object with ID 7 is 40.9 meters away at (-0.5, -40.9). A vehicle with ID 21 is 60.7 meters away at (36.9, 48.2). A unknown object with ID 4 is 60.9 meters away at (-55.1, -26.1). A vehicle with ID 22 is 62.0 meters away at (-31.6, -53.4). A vehicle with ID 23 is 67.9 meters away at (40.5, 54.5).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.2741283 -0.448432 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.67633516 -1.0704005 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 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 unknown object with ID 4 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 [-0.72472316 -1.3619481 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 9 is 7.9 meters away at (3.7, 7.0). A vehicle with ID 10 is 8.9 meters away at (-4.9, -7.4). A vehicle with ID 16 is 16.2 meters away at (7.7, 14.3). A vehicle with ID 14 is 18.0 meters away at (-9.8, -15.1). A vehicle with ID 19 is 27.5 meters away at (-14.4, -23.4). A unknown object with ID 7 is 40.8 meters away at (-0.2, -40.8). A vehicle with ID 21 is 60.8 meters away at (36.9, 48.3). A unknown object with ID 18 is 61.4 meters away at (-47.1, -39.4). A vehicle with ID 22 is 63.6 meters away at (-32.4, -54.8). A vehicle with ID 23 is 68.1 meters away at (40.9, 54.5).

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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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 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. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.6) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 56 is 5.4 meters away at (0.3, 5.4). A vehicle with ID 70 is 7.1 meters away at (-6.2, -3.6). A vehicle with ID 22 is 9.6 meters away at (-7.2, 6.3). A vehicle with ID 64 is 14.8 meters away at (13.9, -5.3). A vehicle with ID 53 is 15.1 meters away at (-8.3, 12.6). A vehicle with ID 66 is 19.6 meters away at (-5.5, -18.8). A vehicle with ID 77 is 19.8 meters away at (-18.5, 7.3). A vehicle with ID 33 is 20.1 meters away at (-15.5, 12.7). A vehicle with ID 68 is 26.1 meters away at (22.8, -12.7). A vehicle with ID 69 is 26.5 meters away at (5.9, -25.8).

The vehicle with ID 56 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 [ 8.938602 -7.151833] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.1595134   0.95258856] m/s.The vehicle with ID 64 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 66 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 [ 8.751865 -6.939353] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.7195792  2.4733367] m/s.The vehicle with ID 68 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 left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 1.2) m/s. Its current heading (yaw) is 2.41

The most relevant actors are: A vehicle with ID 56 is 4.4 meters away at (2.3, 3.8). A vehicle with ID 77 is 8.2 meters away at (0.4, -8.2). A vehicle with ID 53 is 12.7 meters away at (-6.3, 11.0). A vehicle with ID 22 is 12.7 meters away at (-9.6, 8.3). A vehicle with ID 64 is 17.3 meters away at (15.9, -6.9). A vehicle with ID 84 is 19.5 meters away at (-19.2, 3.8). A vehicle with ID 66 is 20.8 meters away at (-3.5, -20.5). A vehicle with ID 70 is 22.5 meters away at (12.8, -18.5). A vehicle with ID 33 is 27.4 meters away at (-21.1, 17.5). A vehicle with ID 69 is 28.6 meters away at (8.0, -27.4).

The vehicle with ID 56 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 [ 8.130948 -6.436066] m/s.The vehicle with ID 53 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 [-3.1651552  2.6958053] m/s.The vehicle with ID 64 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 [ 9.50569   -7.7185235] m/s.The vehicle with ID 66 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 [ 8.256704 -6.303032] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-4.2019453  3.5525641] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 3.5) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 53 is 6.4 meters away at (-0.7, 6.3). A vehicle with ID 56 is 8.0 meters away at (7.9, -0.9). A vehicle with ID 35 is 12.6 meters away at (-12.5, 1.7). A vehicle with ID 22 is 16.0 meters away at (-12.2, 10.4). A vehicle with ID 84 is 17.3 meters away at (5.4, -16.4). A vehicle with ID 52 is 23.8 meters away at (-15.4, 18.2). A vehicle with ID 64 is 24.4 meters away at (21.5, -11.6). A vehicle with ID 66 is 25.2 meters away at (2.2, -25.1). A vehicle with ID 54 is 29.8 meters away at (-20.2, 21.9). A vehicle with ID 30 is 31.8 meters away at (-26.6, 17.5).

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 35 is traveling at a (x, y) velocity of [ 9.406397  -7.0528316] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.746271  4.087604] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 9.0722475 -7.172357 ] m/s.The vehicle with ID 52 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 54 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: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.2) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 42 is 6.8 meters away at (-3.9, -5.5). A vehicle with ID 53 is 8.6 meters away at (8.5, -1.2). A vehicle with ID 52 is 12.1 meters away at (-6.1, 10.5). A vehicle with ID 22 is 17.3 meters away at (-13.1, 11.3). A vehicle with ID 54 is 17.9 meters away at (-10.8, 14.2). A vehicle with ID 56 is 19.3 meters away at (17.3, -8.5). A vehicle with ID 30 is 19.8 meters away at (-17.2, 9.8). A pedestrian with ID 80 is 24.1 meters away at (-10.6, 21.7). A vehicle with ID 35 is 25.0 meters away at (14.9, -20.2). A vehicle with ID 3 is 28.2 meters away at (-24.0, 14.7).

The vehicle with ID 42 is traveling at a (x, y) velocity of [10.027631  -7.7851143] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.250033   4.6297207] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.0196513  0.10290049] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 8.505367  -6.4860406] m/s.The vehicle with ID 3 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 (-5.9, 4.5) m/s. Its current heading (yaw) is 2.49

The most relevant actors are: A vehicle with ID 52 is 9.6 meters away at (-7.0, -6.6). A vehicle with ID 49 is 13.0 meters away at (0.2, -13.0). A vehicle with ID 57 is 14.2 meters away at (-14.2, -0.5). A vehicle with ID 50 is 16.5 meters away at (-1.3, -16.4). A vehicle with ID 58 is 39.4 meters away at (11.3, -37.8). A vehicle with ID 53 is 40.9 meters away at (31.1, -26.5). A vehicle with ID 56 is 42.5 meters away at (30.1, -30.0). A vehicle with ID 55 is 42.7 meters away at (28.0, -32.3). A vehicle with ID 64 is 46.5 meters away at (-6.0, -46.1). A vehicle with ID 54 is 46.9 meters away at (26.8, -38.5).

The vehicle with ID 52 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 vehicle with ID 57 is traveling at a (x, y) velocity of [ 1.560927  -1.3814796] m/s.The vehicle with ID 50 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 [5.184054  2.0774307] m/s.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 55 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 [ 4.952937   -0.16015744] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 6.466337  -2.9992275] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 5.7) m/s. Its current heading (yaw) is 2.53

The most relevant actors are: A vehicle with ID 57 is 12.6 meters away at (1.9, -12.4). A vehicle with ID 52 is 19.1 meters away at (7.9, -17.4). A vehicle with ID 28 is 20.0 meters away at (-19.3, 5.3). A unknown object with ID 38 is 22.9 meters away at (-11.3, 20.0). A vehicle with ID 49 is 28.2 meters away at (15.1, -23.8). A vehicle with ID 50 is 30.6 meters away at (13.7, -27.3). A vehicle with ID 26 is 39.2 meters away at (-34.8, 18.2). A vehicle with ID 12 is 50.4 meters away at (-45.0, 22.6). A vehicle with ID 65 is 56.6 meters away at (-6.2, -56.3). A vehicle with ID 64 is 56.9 meters away at (18.2, -53.9).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 6.2930574 -5.3244796] m/s.The unknown object with ID 38 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 vehicle with ID 50 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 [ 8.011416 -6.858946] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 9.869069 -8.511244] 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 [4.620592  2.7427068] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, 6.3) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A vehicle with ID 26 is 7.4 meters away at (-5.2, -5.3). A vehicle with ID 12 is 11.8 meters away at (-10.9, -4.6). A vehicle with ID 28 is 16.1 meters away at (6.5, -14.7). A vehicle with ID 57 is 30.4 meters away at (18.2, -24.4). A vehicle with ID 52 is 38.0 meters away at (24.1, -29.3). A vehicle with ID 8 is 46.2 meters away at (-29.5, 35.5). A vehicle with ID 49 is 47.3 meters away at (31.2, -35.6). A vehicle with ID 50 is 49.2 meters away at (29.8, -39.1). A vehicle with ID 11 is 54.7 meters away at (-46.0, 29.5). A vehicle with ID 46 is 67.5 meters away at (-42.8, -52.2).

The vehicle with ID 26 is traveling at a (x, y) velocity of [ 5.382274  -4.5675597] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 7.9838247 -6.7945857] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 3.4040668 -2.855539 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 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 vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 8.665214  -7.3025723] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.868686   3.0644207] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 7.2) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 11 is 14.1 meters away at (-13.9, 2.8). A unknown object with ID 35 is 21.1 meters away at (20.6, -4.8). A vehicle with ID 18 is 25.4 meters away at (-23.1, 10.7). A vehicle with ID 8 is 26.3 meters away at (-13.5, 22.6). A vehicle with ID 26 is 31.1 meters away at (18.7, -24.9). A vehicle with ID 12 is 35.5 meters away at (19.4, -29.8). A vehicle with ID 28 is 42.1 meters away at (27.5, -31.9). A cyclist with ID 13 is 48.3 meters away at (-40.3, 26.6). A vehicle with ID 20 is 49.1 meters away at (-48.0, 10.2). A vehicle with ID 57 is 50.7 meters away at (34.3, -37.4).

The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.395395 -6.174504] m/s.The unknown object with ID 35 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 [ 7.9507446 -6.680425 ] m/s.The vehicle with ID 8 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 [ 2.431942  -2.0327609] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.10957   -5.2354865] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 1.3524011 -1.1283883] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [ 9.111228 -7.990475] m/s.The vehicle with ID 20 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 ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, -4.8) m/s. Its current heading (yaw) is -2.52

The most relevant actors are: A vehicle with ID 32 is 4.4 meters away at (0.6, -4.3). A unknown object with ID 12 is 6.3 meters away at (-6.2, -1.1). A vehicle with ID 30 is 7.5 meters away at (4.4, -6.1). A vehicle with ID 34 is 9.2 meters away at (-4.5, -8.1). A vehicle with ID 10 is 11.2 meters away at (8.4, -7.4). A vehicle with ID 35 is 12.6 meters away at (-3.2, -12.2). A vehicle with ID 36 is 15.3 meters away at (-9.7, -11.9). A unknown object with ID 31 is 15.6 meters away at (12.4, -9.5). A vehicle with ID 38 is 18.8 meters away at (-9.3, -16.4). A vehicle with ID 39 is 21.3 meters away at (-14.6, -15.5).

The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.The vehicle with ID 10 is traveling at a (x, y) velocity of [6.239077  4.2973146] m/s.The vehicle with ID 35 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 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.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, -6.1) m/s. Its current heading (yaw) is -2.46

The most relevant actors are: A vehicle with ID 39 is 4.4 meters away at (-0.1, -4.4). A vehicle with ID 36 is 4.9 meters away at (4.9, -0.8). A vehicle with ID 38 is 7.5 meters away at (5.3, -5.3). A vehicle with ID 40 is 10.2 meters away at (-0.8, -10.2). A vehicle with ID 34 is 10.4 meters away at (10.0, 2.9). A vehicle with ID 35 is 11.4 meters away at (11.3, -1.1). A vehicle with ID 6 is 13.5 meters away at (12.8, -4.3). A vehicle with ID 32 is 16.5 meters away at (15.1, 6.7). A vehicle with ID 41 is 17.3 meters away at (-7.8, -15.4). A vehicle with ID 30 is 19.5 meters away at (18.9, 4.9).

The vehicle 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 [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 40 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 35 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 [4.496144  3.3621976] m/s.The vehicle with ID 32 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 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 (-8.1, -6.6) m/s. Its current heading (yaw) is -2.46

The most relevant actors are: A vehicle with ID 41 is 8.6 meters away at (8.0, -3.1). A pedestrian with ID 19 is 12.7 meters away at (-12.5, -2.6). A pedestrian with ID 11 is 12.9 meters away at (-12.5, -3.3). A pedestrian with ID 8 is 13.8 meters away at (-13.3, -4.0). A pedestrian with ID 13 is 14.1 meters away at (-13.8, -2.8). A vehicle with ID 40 is 15.1 meters away at (14.9, 2.3). A vehicle with ID 39 is 17.7 meters away at (15.8, 8.0). A vehicle with ID 38 is 22.2 meters away at (21.0, 7.2). A vehicle with ID 36 is 23.8 meters away at (20.7, 11.7). A vehicle with ID 35 is 29.4 meters away at (27.1, 11.4).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.35804415 -0.20615886] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.64636636 -0.3139257 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.6592062 -0.5004278] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00118313 -0.08828282] m/s.The vehicle with ID 40 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, -6.8) m/s. Its current heading (yaw) is -2.44

The most relevant actors are: A pedestrian with ID 8 is 9.2 meters away at (2.8, 8.8). A pedestrian with ID 26 is 9.5 meters away at (1.2, 9.4). A pedestrian with ID 11 is 10.6 meters away at (3.3, 10.1). A pedestrian with ID 13 is 10.7 meters away at (2.3, 10.5). A pedestrian with ID 19 is 11.1 meters away at (3.7, 10.5). A cyclist with ID 18 is 12.9 meters away at (-12.1, -4.2). A vehicle with ID 41 is 26.2 meters away at (24.1, 10.2). A unknown object with ID 16 is 26.3 meters away at (-22.4, -13.7). A vehicle with ID 40 is 34.7 meters away at (31.0, 15.6). A vehicle with ID 3 is 38.0 meters away at (29.7, 23.7).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.14721166  0.00605083] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.0149156  -0.00137989] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.09206361 0.06765304] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.01677619 -0.03563315] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01614559 -0.03159194] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [3.65201  2.640098] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 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 3 is traveling at a (x, y) velocity of [-8.670446 -6.90091 ] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [2.7793884 8.806862 ], 9.235032081604004 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -7.4) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 12 is 20.7 meters away at (7.6, 19.3). A pedestrian with ID 39 is 22.0 meters away at (-18.7, 11.6). A vehicle with ID 41 is 31.1 meters away at (-17.6, 25.6). A pedestrian with ID 38 is 31.8 meters away at (0.2, 31.8). A pedestrian with ID 49 is 36.3 meters away at (-11.6, -34.4). A vehicle with ID 40 is 42.2 meters away at (33.4, 25.8). A unknown object with ID 32 is 46.9 meters away at (9.5, 45.9). A pedestrian with ID 47 is 56.4 meters away at (13.3, 54.8). A pedestrian with ID 50 is 56.5 meters away at (-46.2, 32.5). A pedestrian with ID 51 is 59.6 meters away at (-50.4, 31.8).

The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.2086287 -5.2466006] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.00320445 0.0040866 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.8449824  0.69320273] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.3636784 -0.6126598] m/s.The vehicle with ID 40 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 pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.05364407 -0.03402068] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.01814013 0.04331139] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-1.2084723   0.17947885] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -7.9) m/s. Its current heading (yaw) is -2.07

The most relevant actors are: A pedestrian with ID 49 is 20.8 meters away at (-3.8, -20.4). A vehicle with ID 12 is 24.8 meters away at (9.2, 23.1). A pedestrian with ID 39 is 28.7 meters away at (-10.2, 26.8). A vehicle with ID 41 is 41.9 meters away at (-9.1, 40.9). A unknown object with ID 29 is 42.8 meters away at (-13.2, -40.8).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.3128338 -0.802621 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.816822  -6.5741363] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.01879851 -0.01392767] m/s.The vehicle with ID 41 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -7.9) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A pedestrian with ID 49 is 7.3 meters away at (3.8, -6.2). A unknown object with ID 29 is 25.4 meters away at (-4.9, -25.0). A vehicle with ID 12 is 26.8 meters away at (9.8, 25.0). A vehicle with ID 23 is 56.8 meters away at (-0.3, 56.8). A pedestrian with ID 22 is 63.0 meters away at (-60.8, -16.6). A vehicle with ID 14 is 63.5 meters away at (-19.3, -60.5).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.40576747 -0.8426388 ] m/s.The unknown object with ID 29 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 [-3.8205462 -6.9912777] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.31390405 -0.50162077] m/s.The vehicle with ID 14 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 (-3.8, -8.1) m/s. Its current heading (yaw) is -2.01

The most relevant actors are: A pedestrian with ID 49 is 13.8 meters away at (11.0, 8.3). A vehicle with ID 12 is 29.0 meters away at (10.2, 27.1). A vehicle with ID 14 is 45.7 meters away at (-11.3, -44.3). A pedestrian with ID 22 is 53.2 meters away at (-53.2, -1.2). A vehicle with ID 23 is 73.3 meters away at (7.7, 72.9).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.2744722 -0.8082203] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.7383432 -7.1035204] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.26226908 -0.26967052] m/s.The vehicle with ID 23 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 (-2.1, -3.0) m/s. Its current heading (yaw) is -2.20

The most relevant actors are: A vehicle with ID 3 is 14.3 meters away at (-9.5, -10.7). A vehicle with ID 16 is 24.4 meters away at (-24.2, 2.9). A unknown object with ID 18 is 27.7 meters away at (24.2, 13.6). A unknown object with ID 19 is 29.9 meters away at (25.6, 15.5). A unknown object with ID 20 is 31.6 meters away at (26.5, 17.4). A unknown object with ID 21 is 33.5 meters away at (28.0, 18.5). A vehicle with ID 15 is 33.8 meters away at (-32.2, 10.1). A vehicle with ID 27 is 34.9 meters away at (-0.6, -34.9). A vehicle with ID 28 is 36.3 meters away at (-3.6, -36.1). A unknown object with ID 22 is 45.6 meters away at (19.7, 41.1).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.112559  -3.0310657] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 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 unknown object with ID 21 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 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 unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -3.4) m/s. Its current heading (yaw) is -2.26

The most relevant actors are: A vehicle with ID 3 is 15.9 meters away at (-13.7, -8.2). A vehicle with ID 16 is 21.4 meters away at (-19.3, 9.3). A vehicle with ID 27 is 28.8 meters away at (4.4, -28.5). A vehicle with ID 28 is 29.7 meters away at (1.4, -29.6). A vehicle with ID 15 is 31.7 meters away at (-27.2, 16.3). A unknown object with ID 18 is 35.3 meters away at (29.0, 20.2). A unknown object with ID 19 is 37.6 meters away at (30.4, 22.2). A unknown object with ID 20 is 39.4 meters away at (31.3, 23.9). A vehicle with ID 9 is 41.7 meters away at (15.7, -38.6). A vehicle with ID 17 is 52.6 meters away at (18.6, -49.2).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7012725 -0.7395734] m/s.The vehicle with ID 16 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 15 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 19 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 9 is traveling at a (x, y) velocity of [-1.1768274  1.1584737] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-5.251366   4.9294915] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -1.6) m/s. Its current heading (yaw) is -2.75

The most relevant actors are: A vehicle with ID 3 is 17.1 meters away at (-17.1, -1.2). A vehicle with ID 16 is 19.3 meters away at (-12.9, 14.4). A vehicle with ID 28 is 25.6 meters away at (8.1, -24.3). A vehicle with ID 27 is 25.6 meters away at (11.0, -23.1). A vehicle with ID 15 is 29.9 meters away at (-20.8, 21.4). A vehicle with ID 9 is 37.2 meters away at (20.1, -31.3). A vehicle with ID 17 is 39.3 meters away at (16.1, -35.9). A unknown object with ID 18 is 43.8 meters away at (35.6, 25.5). A unknown object with ID 19 is 45.9 meters away at (36.8, 27.5). A unknown object with ID 20 is 47.8 meters away at (37.7, 29.3).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.0376735  2.6344852] m/s.The vehicle with ID 16 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 27 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 9 is traveling at a (x, y) velocity of [-0.5515168   0.45537642] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-3.3365054  3.0132217] 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 unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 0.9) m/s. Its current heading (yaw) is 2.95

The most relevant actors are: A vehicle with ID 16 is 15.9 meters away at (-3.9, 15.4). A vehicle with ID 3 is 18.5 meters away at (-17.3, 6.7). A vehicle with ID 15 is 25.3 meters away at (-11.8, 22.5). A vehicle with ID 28 is 28.8 meters away at (17.0, -23.3). A vehicle with ID 7 is 29.1 meters away at (17.1, -23.5). A vehicle with ID 27 is 29.9 meters away at (20.0, -22.1). A unknown object with ID 13 is 34.8 meters away at (27.4, 21.3). A vehicle with ID 17 is 35.0 meters away at (19.1, -29.4). A vehicle with ID 10 is 38.2 meters away at (15.9, -34.7). A vehicle with ID 9 is 41.7 meters away at (28.9, -30.2).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7546244  4.2507033] m/s.The vehicle with ID 15 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 7 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 unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.1787076  2.0409772] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.7585692  2.637823 ] m/s.The vehicle with ID 9 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 (-0.3, -1.6) m/s. Its current heading (yaw) is -1.78

The most relevant actors are: A pedestrian with ID 6 is 30.4 meters away at (-30.3, 2.6). A vehicle with ID 7 is 31.3 meters away at (-31.2, 2.2). A vehicle with ID 8 is 41.3 meters away at (-40.3, 9.1). A unknown object with ID 3 is 63.6 meters away at (-54.8, 32.2).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.03674303 0.10203616] m/s.The vehicle with ID 7 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 unknown object with ID 3 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 (0.8, -4.5) m/s. Its current heading (yaw) is -1.39

The most relevant actors are: A unknown object with ID 2 is 21.5 meters away at (4.9, -20.9). A pedestrian with ID 6 is 31.4 meters away at (-30.0, 9.4). A vehicle with ID 7 is 32.2 meters away at (-31.0, 8.9). A unknown object with ID 4 is 39.9 meters away at (30.4, -25.7). A vehicle with ID 8 is 43.1 meters away at (-40.1, 15.9).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.01189984  0.02559418] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 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 [  4.909335 -20.903605], 21.472360610961914 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -4.6) m/s. Its current heading (yaw) is -0.87

The most relevant actors are: A unknown object with ID 2 is 11.4 meters away at (0.4, -11.3). A pedestrian with ID 6 is 39.5 meters away at (-34.8, 18.7). A vehicle with ID 7 is 40.2 meters away at (-35.8, 18.3). A vehicle with ID 8 is 51.6 meters away at (-45.0, 25.3).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.00498894 -0.01882809] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -4.5) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A unknown object with ID 2 is 9.6 meters away at (-9.3, -2.4). A pedestrian with ID 6 is 52.5 meters away at (-44.6, 27.6). A vehicle with ID 7 is 53.1 meters away at (-45.6, 27.1). A vehicle with ID 8 is 64.5 meters away at (-54.8, 34.1). A pedestrian with ID 1 is 77.4 meters away at (40.6, -66.0).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00549909 -0.00279671] m/s.The vehicle with ID 7 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 pedestrian with ID 1 is traveling at a (x, y) velocity of [1.3393135 1.9117067] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-9.298779 -2.371313], 9.59637451171875 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 5.3) m/s. Its current heading (yaw) is 2.52

The most relevant actors are: A unknown object with ID 36 is 3.5 meters away at (3.0, 1.8). A vehicle with ID 39 is 7.4 meters away at (-3.0, 6.8). A vehicle with ID 41 is 12.6 meters away at (-7.8, 9.8). A unknown object with ID 37 is 32.7 meters away at (31.5, -8.9). A pedestrian with ID 40 is 38.9 meters away at (34.8, -17.4). A vehicle with ID 50 is 40.6 meters away at (-29.8, 27.5). A vehicle with ID 9 is 47.3 meters away at (36.4, -30.2). A pedestrian with ID 16 is 49.7 meters away at (0.1, -49.7). A vehicle with ID 46 is 50.4 meters away at (-17.1, -47.4). A pedestrian with ID 42 is 52.0 meters away at (1.5, -52.0).

The unknown object 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 vehicle with ID 41 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 pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.01988754 -0.01546451] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.3637733  5.6227865] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.06706138 -0.02972001] m/s.The vehicle with ID 46 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 [0.08427291 0.04260975] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [3.020072  1.7804098], 3.5058085918426514 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 5.1) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A vehicle with ID 41 is 7.4 meters away at (7.4, -0.5). A vehicle with ID 39 is 12.8 meters away at (12.2, -3.6). A vehicle with ID 50 is 22.4 meters away at (-14.5, 17.0). A vehicle with ID 24 is 25.2 meters away at (-18.3, 17.3). A vehicle with ID 9 is 47.2 meters away at (37.8, -28.3). A unknown object with ID 37 is 50.7 meters away at (46.9, -19.3). A unknown object with ID 29 is 52.8 meters away at (47.7, -22.7). A vehicle with ID 38 is 53.4 meters away at (-49.9, -19.0). A vehicle with ID 46 is 57.9 meters away at (-1.6, -57.8). A vehicle with ID 6 is 62.8 meters away at (-61.5, -12.6).

The vehicle with ID 41 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 50 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 [-0.03249216  0.46716675] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.8191605  6.6467166] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 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 46 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 (-7.5, 4.8) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A vehicle with ID 50 is 7.1 meters away at (0.8, 7.0). A vehicle with ID 24 is 8.5 meters away at (-2.3, 8.2). A vehicle with ID 41 is 25.0 meters away at (22.7, -10.4). A vehicle with ID 39 is 30.9 meters away at (27.8, -13.6). A vehicle with ID 9 is 44.4 meters away at (36.8, -24.8). A vehicle with ID 38 is 44.9 meters away at (-34.4, -28.9). A vehicle with ID 6 is 51.4 meters away at (-46.1, -22.6). A unknown object with ID 26 is 52.9 meters away at (-49.3, -19.3). A vehicle with ID 46 is 69.0 meters away at (13.9, -67.6).

The vehicle with ID 50 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 41 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 9 is traveling at a (x, y) velocity of [-8.791026   6.5236506] m/s.The vehicle with ID 38 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 unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.7) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A unknown object with ID 13 is 6.7 meters away at (6.7, 0.4). A unknown object with ID 15 is 8.1 meters away at (8.0, -0.9). A vehicle with ID 9 is 39.7 meters away at (33.2, -21.8). A unknown object with ID 2 is 41.7 meters away at (-32.0, 26.8). A vehicle with ID 41 is 42.5 meters away at (37.6, -19.9). A vehicle with ID 38 is 43.1 meters away at (-19.7, -38.4). A vehicle with ID 6 is 44.9 meters away at (-31.4, -32.1). A vehicle with ID 39 is 48.4 meters away at (42.5, -23.0). A vehicle with ID 1 is 60.7 meters away at (-51.9, 31.4). A pedestrian with ID 4 is 67.0 meters away at (-66.8, -5.5).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-9.260767   5.9261746] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.0154983  0.5376222] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [6.6568604 0.4120102], 6.669598579406738 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -0.9) m/s. Its current heading (yaw) is -0.18

The most relevant actors are: A pedestrian with ID 47 is 9.5 meters away at (1.8, 9.4). A pedestrian with ID 49 is 16.1 meters away at (0.8, 16.1). A pedestrian with ID 19 is 17.4 meters away at (17.0, -3.8). A pedestrian with ID 20 is 17.5 meters away at (17.3, -3.0). A pedestrian with ID 44 is 17.8 meters away at (-17.2, 4.6). A cyclist with ID 42 is 20.3 meters away at (-9.4, 18.0). A unknown object with ID 48 is 20.6 meters away at (-14.8, 14.3). A unknown object with ID 45 is 20.6 meters away at (-20.6, -0.6). A unknown object with ID 46 is 21.2 meters away at (-21.1, -1.8). A pedestrian with ID 59 is 21.2 meters away at (2.6, 21.0).

The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.4483013  1.5780578] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.06446042 1.2937654 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.94419205 -0.46420622] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.9984898  -0.48608246] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.66929907 -1.4599614 ] m/s.The cyclist with ID 42 is traveling at a (x, y) velocity of [2.3571112 6.291351 ] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.6608198 -1.1893221] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -2.6) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A pedestrian with ID 19 is 8.1 meters away at (8.0, -0.9). A pedestrian with ID 20 is 8.4 meters away at (8.4, -0.2). A pedestrian with ID 47 is 19.0 meters away at (-9.9, 16.2). A pedestrian with ID 61 is 24.2 meters away at (-8.0, 22.9). A pedestrian with ID 59 is 24.3 meters away at (-8.7, 22.7). A pedestrian with ID 49 is 24.3 meters away at (-9.5, 22.4). A vehicle with ID 81 is 28.2 meters away at (-10.4, 26.2). A pedestrian with ID 44 is 29.7 meters away at (-29.2, 5.7). A unknown object with ID 52 is 30.5 meters away at (-24.9, -17.6). A unknown object with ID 54 is 30.9 meters away at (-23.7, -19.8).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.0030212 -0.3437545] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.9917842  -0.37502784] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.4573656  1.5494627] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.17287149 -1.0403042 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.13353665 -1.0560168 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.07712162 1.3106441 ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-2.9452906 -7.2652836] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.6249603 -1.3753403] 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 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, -3.0) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A pedestrian with ID 19 is 5.1 meters away at (-3.2, 4.0). A pedestrian with ID 20 is 5.5 meters away at (-2.8, 4.8). A unknown object with ID 41 is 19.6 meters away at (17.0, -9.8). A pedestrian with ID 51 is 20.7 meters away at (20.1, -5.0). A pedestrian with ID 43 is 27.3 meters away at (26.3, -7.5). A pedestrian with ID 50 is 29.0 meters away at (27.6, -8.9). A pedestrian with ID 21 is 29.5 meters away at (28.4, -8.2). A pedestrian with ID 61 is 34.3 meters away at (-21.8, 26.4). A pedestrian with ID 47 is 34.3 meters away at (-23.6, 24.9). A vehicle with ID 81 is 34.3 meters away at (-29.8, 17.0).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.9829694  -0.37691644] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.9502809  -0.39658478] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-1.4380093  0.662279 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.08925826  0.03257237] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.086837    0.48606673] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.10791604 -0.02920309] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.26562357 -1.1546578 ] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.12363973  1.5056227 ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-3.2072866 -7.677704 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.8, -3.4) m/s. Its current heading (yaw) is -0.42

The most relevant actors are: A pedestrian with ID 51 is 3.4 meters away at (2.4, 2.3). A unknown object with ID 41 is 4.1 meters away at (2.1, -3.5). A vehicle with ID 36 is 8.2 meters away at (2.4, -7.8). A pedestrian with ID 43 is 10.6 meters away at (10.5, -0.7). A pedestrian with ID 50 is 10.6 meters away at (10.5, -1.8). A pedestrian with ID 21 is 13.6 meters away at (13.5, -2.0). A pedestrian with ID 19 is 18.7 meters away at (-16.1, 9.4). A pedestrian with ID 20 is 18.7 meters away at (-15.8, 10.1). A pedestrian with ID 14 is 23.2 meters away at (22.3, -6.6). A pedestrian with ID 13 is 23.3 meters away at (22.5, -6.0).

The pedestrian with ID 51 is traveling at a (x, y) velocity of [-1.4218032   0.42849767] 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 [-8.390176   3.6932786] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.4431472   0.36459312] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.98456556  0.47973529] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00117317 0.01450844] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.0356683  -0.45107457] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.0224211 -0.5152842] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0471841  0.5403903] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.0586696  0.5196785] 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, 0.7) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A vehicle with ID 15 is 13.0 meters away at (-8.3, -10.0). A vehicle with ID 17 is 14.6 meters away at (-13.7, -5.1). A vehicle with ID 16 is 16.1 meters away at (5.4, -15.1). A vehicle with ID 18 is 23.6 meters away at (-10.6, -21.1). A vehicle with ID 20 is 28.6 meters away at (-11.4, -26.3). A cyclist with ID 19 is 29.4 meters away at (18.6, 22.7). A pedestrian with ID 21 is 32.2 meters away at (-22.7, -22.8). A pedestrian with ID 22 is 32.8 meters away at (-23.6, -22.7). A vehicle with ID 23 is 33.7 meters away at (-11.8, -31.6). A unknown object with ID 12 is 33.8 meters away at (30.7, -14.3).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0.82901925 2.3535905 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 3.7297835 -2.4091544] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.03967216 -0.02397966] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.01815835 -0.00882801] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 2.2) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A vehicle with ID 17 is 9.6 meters away at (-7.8, -5.5). A vehicle with ID 15 is 13.4 meters away at (-3.6, -12.9). A vehicle with ID 16 is 20.8 meters away at (10.1, -18.1). A vehicle with ID 18 is 24.8 meters away at (-5.9, -24.1). A vehicle with ID 20 is 30.0 meters away at (-6.7, -29.2). A pedestrian with ID 21 is 31.5 meters away at (-17.9, -25.9). A pedestrian with ID 22 is 31.9 meters away at (-18.9, -25.7). A cyclist with ID 19 is 34.2 meters away at (31.2, 14.0). A vehicle with ID 23 is 35.3 meters away at (-7.0, -34.5). A vehicle with ID 25 is 39.0 meters away at (27.8, 27.4).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0.54840755 0.9369082 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00591983 -0.00360128] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.01045343  0.00122537] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 4.130457 -3.308124] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 3.6) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A vehicle with ID 17 is 10.3 meters away at (3.3, -9.7). A vehicle with ID 15 is 19.8 meters away at (6.2, -18.8). A vehicle with ID 18 is 30.2 meters away at (3.9, -29.9). A vehicle with ID 16 is 31.3 meters away at (20.1, -23.9). A pedestrian with ID 21 is 32.7 meters away at (-7.7, -31.8). A pedestrian with ID 22 is 33.2 meters away at (-9.2, -31.9). A vehicle with ID 20 is 35.2 meters away at (3.1, -35.1). A vehicle with ID 23 is 40.5 meters away at (2.8, -40.4). A vehicle with ID 25 is 43.4 meters away at (37.7, 21.5). A cyclist with ID 19 is 50.5 meters away at (50.5, 0.9).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0.98805684 0.9203884 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.06757662 -0.10106958] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.45535207 -0.23964708] m/s.The vehicle with ID 20 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 5.209156  -3.7844694] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 4.4) m/s. Its current heading (yaw) is 2.63

The most relevant actors are: A vehicle with ID 17 is 26.2 meters away at (20.5, -16.4). A vehicle with ID 15 is 33.5 meters away at (20.2, -26.7). A vehicle with ID 18 is 41.9 meters away at (17.9, -37.9). A vehicle with ID 20 is 46.4 meters away at (17.1, -43.1). A vehicle with ID 16 is 46.7 meters away at (34.1, -32.0). A vehicle with ID 23 is 51.2 meters away at (16.7, -48.4). A vehicle with ID 25 is 53.3 meters away at (51.6, 13.5). A pedestrian with ID 2 is 58.4 meters away at (-43.3, 39.2). A vehicle with ID 4 is 66.3 meters away at (66.2, 4.6). A cyclist with ID 19 is 78.1 meters away at (76.7, -14.5).

The vehicle with ID 17 is traveling at a (x, y) velocity of [2.338927   0.12709099] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.99244726 1.0001415 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 6.4739156 -3.1371548] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -8.5) m/s. Its current heading (yaw) is -1.63

The most relevant actors are: A unknown object with ID 9 is 10.9 meters away at (-8.7, -6.7). A vehicle with ID 7 is 23.4 meters away at (2.9, -23.2). A vehicle with ID 8 is 49.2 meters away at (3.6, -49.1). A vehicle with ID 1 is 54.8 meters away at (16.2, -52.4). A pedestrian with ID 3 is 54.9 meters away at (21.0, -50.7).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [1.1995708 0.8362116] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-8.671192 -6.678087], 10.944698333740234 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -9.3) m/s. Its current heading (yaw) is -1.59

The most relevant actors are: A vehicle with ID 7 is 6.4 meters away at (3.7, -5.2). A unknown object with ID 9 is 13.7 meters away at (-7.8, 11.3). A vehicle with ID 8 is 31.4 meters away at (4.4, -31.1). A vehicle with ID 1 is 38.3 meters away at (17.0, -34.3).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 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, -9.2) m/s. Its current heading (yaw) is -1.53

The most relevant actors are: A vehicle with ID 8 is 13.2 meters away at (4.1, -12.6). A vehicle with ID 7 is 13.6 meters away at (3.4, 13.1). A vehicle with ID 1 is 23.0 meters away at (16.7, -15.8). A unknown object with ID 9 is 31.0 meters away at (-8.1, 29.9).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -8.2) m/s. Its current heading (yaw) is -1.46

The most relevant actors are: A vehicle with ID 8 is 5.7 meters away at (2.8, 5.0). A vehicle with ID 1 is 15.6 meters away at (15.5, 1.7). A vehicle with ID 7 is 30.9 meters away at (2.1, 30.8).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.6) m/s. Its current heading (yaw) is -2.14

The most relevant actors are: A vehicle with ID 19 is 48.3 meters away at (-11.0, 47.0). A cyclist with ID 12 is 66.8 meters away at (-8.3, -66.2). A vehicle with ID 18 is 68.7 meters away at (-8.0, -68.2).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [-2.1106992 -4.7802634] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.41828415 -5.023832  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -1.4) m/s. Its current heading (yaw) is -2.30

The most relevant actors are: A vehicle with ID 19 is 50.8 meters away at (-8.8, 50.0).

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

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -0.6) m/s. Its current heading (yaw) is -2.47

The most relevant actors are: A vehicle with ID 19 is 52.6 meters away at (-6.5, 52.2).

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

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.47

The most relevant actors are: A vehicle with ID 19 is 53.0 meters away at (-6.1, 52.6).

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

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.2) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 58 is 20.6 meters away at (17.8, -10.4). A vehicle with ID 59 is 26.5 meters away at (22.6, -14.0). A unknown object with ID 61 is 27.2 meters away at (-19.2, 19.3). A vehicle with ID 41 is 36.4 meters away at (-8.2, -35.4). A pedestrian with ID 22 is 52.4 meters away at (-44.6, 27.6). A pedestrian with ID 23 is 53.0 meters away at (-45.5, 27.3). A vehicle with ID 57 is 55.1 meters away at (-40.0, 37.9). A pedestrian with ID 60 is 55.7 meters away at (-54.1, -13.2). A unknown object with ID 33 is 60.5 meters away at (19.4, -57.3). A unknown object with ID 32 is 62.3 meters away at (16.6, -60.1).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 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 pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.7251977   0.76265305] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.779718    0.75967175] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.82126015 0.8314311 ] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.2) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 61 is 11.4 meters away at (-6.9, 9.1). A unknown object with ID 50 is 13.2 meters away at (-8.1, 10.4). A vehicle with ID 56 is 24.9 meters away at (24.6, -3.6). A vehicle with ID 58 is 36.3 meters away at (30.1, -20.4). A pedestrian with ID 22 is 39.0 meters away at (-34.2, 18.8). A vehicle with ID 57 is 39.2 meters away at (-27.7, 27.7). A pedestrian with ID 23 is 39.5 meters away at (-35.0, 18.3). A vehicle with ID 59 is 42.5 meters away at (35.0, -24.1). A vehicle with ID 37 is 44.5 meters away at (-36.4, 25.6). A pedestrian with ID 60 is 45.7 meters away at (-40.2, -21.8).

The unknown object with ID 61 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 56 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 pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8809645  0.7735747] m/s.The vehicle with ID 57 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 [-0.8426861   0.73312414] m/s.The vehicle with ID 59 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 [ 6.6775494 -5.6093335] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.64846176 0.92241853] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-6.929329  9.088079], 11.428420066833496 meters away.)


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 unknown object with ID 50 is 3.9 meters away at (3.8, 0.5). A unknown object with ID 61 is 5.2 meters away at (5.2, -0.7). A vehicle with ID 37 is 10.3 meters away at (-9.7, 3.3). A vehicle with ID 57 is 23.7 meters away at (-15.7, 17.8). A pedestrian with ID 22 is 26.1 meters away at (-24.0, 10.3). A pedestrian with ID 23 is 26.6 meters away at (-24.8, 9.8). A pedestrian with ID 60 is 40.5 meters away at (-27.5, -29.6). A vehicle with ID 58 is 51.9 meters away at (42.0, -30.4). A unknown object with ID 31 is 55.9 meters away at (-39.7, 39.4). A vehicle with ID 59 is 58.1 meters away at (46.8, -34.4).

The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 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 [ 8.162576 -6.484017] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.78500044  0.9323185 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.77709097  0.98240757] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.11591385 1.1753004 ] m/s.The vehicle with ID 58 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [3.8283234 0.4696045], 3.857018232345581 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.5) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 57 is 9.7 meters away at (-4.5, 8.6). A pedestrian with ID 22 is 14.8 meters away at (-14.6, 2.5). A pedestrian with ID 23 is 15.5 meters away at (-15.4, 2.1). A unknown object with ID 50 is 17.4 meters away at (15.0, -8.8). A unknown object with ID 61 is 19.2 meters away at (16.3, -10.0). A vehicle with ID 37 is 27.5 meters away at (18.9, -20.0). A unknown object with ID 43 is 35.8 meters away at (-18.2, 30.9). A unknown object with ID 35 is 39.8 meters away at (-1.7, -39.7). A pedestrian with ID 60 is 41.0 meters away at (-17.5, -37.1). A unknown object with ID 55 is 43.0 meters away at (-3.5, -42.9).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8057001   0.88247937] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.7875724  0.8973588] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 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 [ 9.287824 -7.17349 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.79814667  0.9370679 ] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 3.5) m/s. Its current heading (yaw) is 1.82

The most relevant actors are: A vehicle with ID 25 is 30.0 meters away at (9.9, -28.4). A unknown object with ID 40 is 40.4 meters away at (23.4, -32.9). A unknown object with ID 39 is 40.4 meters away at (23.3, -33.0). A unknown object with ID 42 is 41.6 meters away at (7.6, -41.0). A unknown object with ID 43 is 41.9 meters away at (7.7, -41.2). A unknown object with ID 46 is 42.3 meters away at (27.3, -32.3). A unknown object with ID 44 is 42.4 meters away at (23.5, -35.4). A vehicle with ID 35 is 49.9 meters away at (13.7, 48.0). A vehicle with ID 36 is 52.3 meters away at (14.9, 50.1). A pedestrian with ID 48 is 54.2 meters away at (24.7, 48.2).

The vehicle with ID 25 is traveling at a (x, y) velocity of [1.3599194 5.3865027] 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 48 is traveling at a (x, y) velocity of [0.96636873 1.0891759 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 3.3) m/s. Its current heading (yaw) is 1.80

The most relevant actors are: A vehicle with ID 25 is 31.7 meters away at (17.8, -26.2). A vehicle with ID 35 is 43.9 meters away at (15.3, 41.1). A vehicle with ID 36 is 46.3 meters away at (16.5, 43.2). A unknown object with ID 40 is 46.9 meters away at (24.8, -39.8). A vehicle with ID 37 is 48.6 meters away at (18.5, 44.9). A unknown object with ID 42 is 48.7 meters away at (9.3, -47.8). A unknown object with ID 31 is 49.7 meters away at (9.4, -48.8). A vehicle with ID 1 is 51.4 meters away at (9.3, 50.6). A pedestrian with ID 48 is 51.9 meters away at (28.2, 43.5). A vehicle with ID 38 is 55.0 meters away at (22.6, 50.2).

The vehicle with ID 25 is traveling at a (x, y) velocity of [4.7869473 3.3055549] m/s.The vehicle with ID 35 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 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 1 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 [0.9170454 1.1652325] 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 (-0.9, 4.6) m/s. Its current heading (yaw) is 1.77

The most relevant actors are: A vehicle with ID 35 is 37.4 meters away at (16.8, 33.4). A vehicle with ID 36 is 39.9 meters away at (18.4, 35.4). A vehicle with ID 37 is 42.3 meters away at (20.1, 37.2). A vehicle with ID 32 is 43.4 meters away at (30.9, -30.5). A vehicle with ID 1 is 44.1 meters away at (10.9, 42.7). A vehicle with ID 38 is 48.8 meters away at (24.3, 42.3). A pedestrian with ID 48 is 49.4 meters away at (31.6, 37.9). A pedestrian with ID 49 is 53.0 meters away at (33.7, 40.9). A unknown object with ID 40 is 54.5 meters away at (26.5, -47.6). A vehicle with ID 47 is 55.2 meters away at (18.4, 52.1).

The vehicle with ID 35 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 37 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 [6.1477647  0.78096604] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.8216802 1.1912563] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.99268824 1.2079232 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 4.7) m/s. Its current heading (yaw) is 1.62

The most relevant actors are: A vehicle with ID 35 is 30.1 meters away at (17.9, 24.2). A vehicle with ID 36 is 32.7 meters away at (19.5, 26.2). A vehicle with ID 37 is 35.1 meters away at (21.2, 28.0). A vehicle with ID 1 is 35.6 meters away at (12.0, 33.5). A vehicle with ID 38 is 41.7 meters away at (25.4, 33.0). A pedestrian with ID 48 is 46.4 meters away at (34.4, 31.1). A vehicle with ID 47 is 47.0 meters away at (19.7, 42.7). A vehicle with ID 4 is 49.4 meters away at (21.3, 44.6). A pedestrian with ID 49 is 50.1 meters away at (36.8, 34.0). A vehicle with ID 2 is 50.3 meters away at (11.9, 48.9).

The vehicle with ID 35 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 37 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 38 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 [0.83640856 1.1560774 ] m/s.The vehicle with ID 47 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 pedestrian with ID 49 is traveling at a (x, y) velocity of [0.83427566 1.0055697 ] m/s.The vehicle with ID 2 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 (1.4, -0.5) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 41 is 12.8 meters away at (-8.7, 9.4). A vehicle with ID 45 is 19.1 meters away at (-4.9, -18.4). A vehicle with ID 56 is 19.6 meters away at (-8.0, -17.9). A vehicle with ID 44 is 20.7 meters away at (-20.4, 3.8). A vehicle with ID 37 is 21.1 meters away at (14.2, 15.6). A vehicle with ID 58 is 21.7 meters away at (2.1, -21.6). A vehicle with ID 46 is 22.2 meters away at (-16.3, -15.0). A vehicle with ID 39 is 26.0 meters away at (22.6, 12.9). A vehicle with ID 65 is 26.7 meters away at (0.6, -26.7). A vehicle with ID 48 is 28.9 meters away at (21.3, -19.5).

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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 0.7) m/s. Its current heading (yaw) is 0.15

The most relevant actors are: A vehicle with ID 37 is 18.0 meters away at (7.4, 16.4). A vehicle with ID 41 is 18.7 meters away at (-15.6, 10.3). A vehicle with ID 39 is 20.8 meters away at (15.8, 13.6). A vehicle with ID 45 is 21.1 meters away at (-11.7, -17.6). A vehicle with ID 58 is 21.3 meters away at (-4.9, -20.7). A vehicle with ID 49 is 22.5 meters away at (19.8, -10.8). A vehicle with ID 56 is 22.7 meters away at (-15.0, -17.1). A vehicle with ID 48 is 23.6 meters away at (14.2, -18.8). A vehicle with ID 65 is 26.7 meters away at (-6.4, -25.9). A vehicle with ID 46 is 27.2 meters away at (-23.3, -14.0).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 58 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 vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 4.1) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 39 is 11.3 meters away at (7.5, 8.5). A vehicle with ID 37 is 11.4 meters away at (-0.8, 11.3). A vehicle with ID 67 is 18.0 meters away at (14.8, -10.2). A vehicle with ID 49 is 19.5 meters away at (11.5, -15.8). A unknown object with ID 55 is 21.7 meters away at (20.3, -7.7). A vehicle with ID 41 is 24.4 meters away at (-23.9, 5.2). A vehicle with ID 5 is 24.7 meters away at (3.6, 24.4). A vehicle with ID 60 is 26.2 meters away at (24.0, -10.4). A vehicle with ID 59 is 27.9 meters away at (20.6, -18.9). A vehicle with ID 69 is 28.3 meters away at (-28.3, 0.4).

The vehicle with ID 39 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 67 is traveling at a (x, y) velocity of [-2.1497304  0.7554214] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 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 5 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 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 [ 7.2894087 -2.378022 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 4.8) m/s. Its current heading (yaw) is 1.15

The most relevant actors are: A vehicle with ID 39 is 2.6 meters away at (2.6, -0.6). A vehicle with ID 37 is 6.2 meters away at (-5.8, 2.1). A vehicle with ID 11 is 13.1 meters away at (1.7, 12.9). A unknown object with ID 23 is 14.4 meters away at (-3.7, 14.0). A vehicle with ID 5 is 15.2 meters away at (-1.4, 15.1). A vehicle with ID 30 is 18.4 meters away at (7.9, 16.7). A vehicle with ID 3 is 18.5 meters away at (8.0, 16.7). A vehicle with ID 67 is 19.6 meters away at (6.8, -18.4). A vehicle with ID 69 is 25.7 meters away at (-22.4, -12.6). A vehicle with ID 49 is 25.8 meters away at (6.6, -25.0).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.7408516 -4.863283 ] m/s.The unknown object with ID 23 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 30 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 67 is traveling at a (x, y) velocity of [-1.5567545   0.57299626] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 3.871795  -1.2535399] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.4) m/s. Its current heading (yaw) is -1.25

The most relevant actors are: A pedestrian with ID 27 is 5.7 meters away at (-5.7, 0.7). A pedestrian with ID 28 is 6.5 meters away at (-6.2, 2.0). A vehicle with ID 11 is 10.7 meters away at (0.3, -10.7). A vehicle with ID 29 is 15.7 meters away at (-1.7, -15.6). A vehicle with ID 30 is 19.0 meters away at (-3.1, -18.8). A vehicle with ID 31 is 20.1 meters away at (4.7, -19.6). A vehicle with ID 33 is 21.7 meters away at (-21.4, 3.5). A vehicle with ID 34 is 21.8 meters away at (-3.7, -21.5). A vehicle with ID 35 is 23.1 meters away at (4.2, -22.7). A vehicle with ID 36 is 24.3 meters away at (-5.6, -23.7).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.09672735  0.11245363] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.13767381  0.31847915] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 6.9722843 -2.7201738] m/s.The vehicle with ID 29 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 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 34 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 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 (1.9, -3.0) m/s. Its current heading (yaw) is -1.02

The most relevant actors are: A pedestrian with ID 27 is 8.8 meters away at (-7.6, 4.6). A pedestrian with ID 28 is 9.9 meters away at (-8.0, 5.9). A vehicle with ID 29 is 12.4 meters away at (-3.5, -11.9). A vehicle with ID 30 is 15.9 meters away at (-4.8, -15.1). A vehicle with ID 31 is 16.0 meters away at (2.8, -15.8). A vehicle with ID 34 is 18.7 meters away at (-5.6, -17.8). A vehicle with ID 35 is 19.2 meters away at (2.3, -19.0). A vehicle with ID 11 is 19.7 meters away at (13.0, -14.8). A vehicle with ID 38 is 20.8 meters away at (8.6, -19.0). A vehicle with ID 37 is 20.9 meters away at (-0.4, -20.9).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.00958803 0.00536067] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.0104018  0.01773353] m/s.The vehicle with ID 29 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 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 35 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 [ 7.971149 -4.530383] m/s.The vehicle with ID 38 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: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -3.9) m/s. Its current heading (yaw) is -0.66

The most relevant actors are: A vehicle with ID 31 is 9.3 meters away at (-3.7, -8.5). A vehicle with ID 29 is 11.2 meters away at (-10.2, -4.5). A vehicle with ID 38 is 11.7 meters away at (1.9, -11.6). A vehicle with ID 35 is 12.4 meters away at (-4.2, -11.7). A vehicle with ID 30 is 13.9 meters away at (-11.6, -7.7). A vehicle with ID 39 is 15.3 meters away at (1.9, -15.2). A vehicle with ID 37 is 15.3 meters away at (-7.1, -13.6). A vehicle with ID 34 is 16.1 meters away at (-12.3, -10.4). A vehicle with ID 40 is 18.2 meters away at (9.3, -15.7). A pedestrian with ID 27 is 18.6 meters away at (-14.3, 12.0).

The vehicle with ID 31 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 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 30 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 37 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 40 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 [-0.00390903 -0.01932128] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -3.9) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A vehicle with ID 40 is 8.5 meters away at (-2.4, -8.2). A vehicle with ID 38 is 10.4 meters away at (-9.5, -4.0). A vehicle with ID 12 is 11.4 meters away at (-4.2, -10.6). A cyclist with ID 25 is 12.4 meters away at (4.7, -11.4). A vehicle with ID 39 is 12.4 meters away at (-9.9, -7.4). A vehicle with ID 44 is 14.4 meters away at (2.8, -14.1). A vehicle with ID 31 is 15.4 meters away at (-15.4, -0.9). A vehicle with ID 35 is 16.5 meters away at (-16.0, -4.0). A vehicle with ID 37 is 19.7 meters away at (-18.9, -5.8). A vehicle with ID 29 is 22.3 meters away at (-22.1, 3.2).

The vehicle with ID 40 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-0.07785545 -0.04610485] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [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 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 29 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 (-5.6, -6.4) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 38 is 19.9 meters away at (3.0, 19.7). A unknown object with ID 11 is 22.8 meters away at (-22.6, -3.2). A vehicle with ID 15 is 22.8 meters away at (13.7, 18.2). A unknown object with ID 8 is 23.5 meters away at (-23.1, -4.0). A unknown object with ID 41 is 23.6 meters away at (-23.4, -2.6). A vehicle with ID 39 is 23.8 meters away at (1.4, 23.7). A unknown object with ID 37 is 30.3 meters away at (-14.9, -26.5). A unknown object with ID 36 is 32.1 meters away at (-16.3, -27.6). A vehicle with ID 16 is 36.2 meters away at (14.0, 33.4). A vehicle with ID 42 is 48.3 meters away at (2.9, 48.2).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.6580524 -6.7601776] 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 41 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 1.778498  -6.2693915] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 4.102604 -3.844654] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, -5.9) m/s. Its current heading (yaw) is -2.37

The most relevant actors are: A unknown object with ID 28 is 14.0 meters away at (-2.3, -13.9). A unknown object with ID 37 is 14.1 meters away at (-2.9, -13.8). A unknown object with ID 8 is 14.4 meters away at (-11.5, 8.7). A unknown object with ID 11 is 14.4 meters away at (-10.9, 9.5). A unknown object with ID 9 is 15.3 meters away at (-12.1, 9.4). A unknown object with ID 33 is 15.4 meters away at (-12.0, 9.7). A unknown object with ID 41 is 15.5 meters away at (-11.8, 10.0). A unknown object with ID 36 is 15.6 meters away at (-4.4, -15.0). A unknown object with ID 7 is 17.7 meters away at (-5.3, -16.8). A unknown object with ID 4 is 20.0 meters away at (-6.9, -18.8).

The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ -2.3020325 -13.853931 ], 14.0438871383667 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -5.2) m/s. Its current heading (yaw) is -2.38

The most relevant actors are: A unknown object with ID 36 is 8.4 meters away at (7.2, -4.2). A unknown object with ID 7 is 8.7 meters away at (6.3, -6.1). A unknown object with ID 37 is 9.2 meters away at (8.6, -3.1). A unknown object with ID 4 is 9.5 meters away at (5.0, -8.1). A unknown object with ID 8 is 19.4 meters away at (0.2, 19.4). A vehicle with ID 15 is 20.0 meters away at (15.8, 12.1). A unknown object with ID 9 is 20.0 meters away at (-0.5, 20.0). A unknown object with ID 11 is 20.2 meters away at (0.7, 20.2). A unknown object with ID 33 is 20.7 meters away at (-0.3, 20.7). A unknown object with ID 41 is 20.8 meters away at (-0.1, 20.8).

The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.2822437 -8.28076  ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 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: Continue straight.

(The closest actor is a unknown object at [ 7.2054424 -4.2460175], 8.363436698913574 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -4.5) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 18 is 9.8 meters away at (-9.5, -2.3). A vehicle with ID 15 is 13.8 meters away at (12.6, 5.7). A unknown object with ID 4 is 14.2 meters away at (14.1, 1.5). A unknown object with ID 7 is 15.8 meters away at (15.4, 3.4). A unknown object with ID 36 is 17.1 meters away at (16.3, 5.2). A unknown object with ID 37 is 18.9 meters away at (17.8, 6.4). A unknown object with ID 8 is 30.4 meters away at (9.4, 29.0). A unknown object with ID 9 is 30.9 meters away at (8.7, 29.6). A vehicle with ID 16 is 31.2 meters away at (24.3, 19.6). A unknown object with ID 11 is 31.4 meters away at (10.0, 29.8).

The vehicle with ID 18 is traveling at a (x, y) velocity of [5.819812  6.8617854] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.668055  -7.8677397] 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.1957207 -7.932458 ] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-6.858158  19.088617 ]
 [-1.1483867 16.665474 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -4.0) m/s. Its current heading (yaw) is -0.59

The most relevant actors are: A vehicle with ID 39 is 7.1 meters away at (1.0, 7.0). A vehicle with ID 38 is 11.2 meters away at (-3.4, 10.7). A vehicle with ID 37 is 16.2 meters away at (-8.6, 13.8). A vehicle with ID 10 is 30.5 meters away at (-20.8, 22.3). A vehicle with ID 43 is 30.8 meters away at (6.9, -30.0). A unknown object with ID 44 is 34.8 meters away at (34.5, -4.8). A unknown object with ID 46 is 37.2 meters away at (36.3, -8.2). A unknown object with ID 47 is 38.9 meters away at (37.2, -11.4). A vehicle with ID 48 is 51.7 meters away at (-14.0, -49.7). A vehicle with ID 51 is 53.1 meters away at (48.9, -20.7).

The vehicle with ID 39 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 37 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 [-0.24110863 -0.86796296] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 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 (5.9, -4.6) m/s. Its current heading (yaw) is -0.66

The most relevant actors are: A unknown object with ID 34 is 13.8 meters away at (-13.7, 1.6). A vehicle with ID 39 is 18.6 meters away at (-10.6, 15.3). A vehicle with ID 43 is 22.3 meters away at (-4.8, -21.8). A unknown object with ID 44 is 23.1 meters away at (22.9, 3.5). A vehicle with ID 38 is 24.3 meters away at (-15.2, 19.0). A unknown object with ID 46 is 24.7 meters away at (24.7, 0.2). A unknown object with ID 47 is 25.7 meters away at (25.5, -3.1). A vehicle with ID 37 is 29.9 meters away at (-20.2, 22.0). A vehicle with ID 10 is 43.4 meters away at (-33.2, 27.9). A vehicle with ID 48 is 48.7 meters away at (-25.6, -41.4).

The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 [-0.24733388 -2.6758504 ] m/s.The vehicle with ID 48 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 [-13.710684    1.6212406], 13.806203842163086 meters away.)