The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 5.0) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A vehicle with ID 78 is 4.1 meters away at (2.5, 3.3). A vehicle with ID 73 is 13.3 meters away at (12.3, -5.0). A pedestrian with ID 36 is 13.7 meters away at (-0.9, 13.6). A pedestrian with ID 49 is 15.4 meters away at (-6.9, 13.8). A vehicle with ID 67 is 20.0 meters away at (17.6, -9.6). A pedestrian with ID 28 is 22.7 meters away at (-3.3, 22.4). A vehicle with ID 64 is 25.7 meters away at (21.9, -13.5). A vehicle with ID 52 is 29.1 meters away at (-13.6, 25.8). A vehicle with ID 61 is 31.7 meters away at (26.6, -17.3). A vehicle with ID 37 is 32.6 meters away at (-7.9, 31.7).

The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.03531828 -0.07234066] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.02043446 -0.00336263] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.23595107 1.3417122 ] m/s.The vehicle with ID 64 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 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 [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 (-7.1, 4.7) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A unknown object with ID 26 is 6.4 meters away at (1.0, -6.3). A unknown object with ID 18 is 6.6 meters away at (0.8, -6.5). A unknown object with ID 20 is 7.7 meters away at (-7.4, -2.1). A vehicle with ID 27 is 8.4 meters away at (8.4, -0.5). A pedestrian with ID 25 is 12.4 meters away at (4.5, -11.5). A pedestrian with ID 30 is 42.5 meters away at (41.6, -9.1). A pedestrian with ID 31 is 49.2 meters away at (47.6, -12.2). A vehicle with ID 32 is 53.1 meters away at (47.8, -23.2). A vehicle with ID 35 is 58.8 meters away at (48.7, -32.9). A pedestrian with ID 36 is 70.0 meters away at (55.9, -42.2).

The unknown object with ID 26 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 6.6198297 -4.4139714] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2284594  -0.13469139] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.2561961   0.28198662] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00800649 -0.03993335] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.96239704 -0.9588386 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 1.0276775 -6.2954483], 6.378776550292969 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.9) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A unknown object with ID 20 is 13.6 meters away at (7.1, -11.6). A unknown object with ID 18 is 22.4 meters away at (15.5, -16.2). A pedestrian with ID 25 is 26.4 meters away at (16.2, -20.9). A vehicle with ID 27 is 41.2 meters away at (36.4, -19.1). A vehicle with ID 10 is 62.9 meters away at (61.4, -13.5). A vehicle with ID 32 is 70.5 meters away at (62.3, -32.8). A vehicle with ID 7 is 70.6 meters away at (-60.7, 36.1). A vehicle with ID 35 is 76.2 meters away at (63.3, -42.6).

The unknown object with ID 20 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 pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2250105  0.3111344] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 6.7901793 -4.48629  ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 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: Slight right turn approaching.

(The closest actor is a unknown object at [  7.1452484 -11.614737 ], 13.636592864990234 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 5.3) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A unknown object with ID 18 is 40.5 meters away at (30.7, -26.5). A pedestrian with ID 25 is 42.5 meters away at (29.5, -30.6). A vehicle with ID 7 is 52.3 meters away at (-45.5, 25.9). A vehicle with ID 27 is 75.8 meters away at (65.3, -38.5). A vehicle with ID 10 is 80.0 meters away at (76.4, -23.6).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.9844622   0.41511947] 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 [ 6.068466  -3.7855937] m/s.The vehicle with ID 10 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 [ 30.675926 -26.470133], 40.51765441894531 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 5.3) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A vehicle with ID 7 is 33.1 meters away at (-29.5, 15.1).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -8.1) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A unknown object with ID 55 is 16.1 meters away at (-15.9, 2.9). A unknown object with ID 57 is 16.3 meters away at (-16.2, 1.8). A unknown object with ID 38 is 19.3 meters away at (-2.7, 19.1). A unknown object with ID 39 is 20.8 meters away at (-2.3, 20.7). A unknown object with ID 42 is 21.0 meters away at (-4.3, 20.6). A unknown object with ID 14 is 21.8 meters away at (-21.8, -0.6). A unknown object with ID 37 is 22.2 meters away at (-1.0, 22.2). A unknown object with ID 44 is 22.4 meters away at (-6.3, 21.5). A unknown object with ID 45 is 24.0 meters away at (-8.0, 22.6). A unknown object with ID 40 is 24.2 meters away at (-0.1, 24.2).

The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 14 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 44 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-15.87867     2.9260664], 16.14602279663086 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -7.9) m/s. Its current heading (yaw) is -1.97

The most relevant actors are: A unknown object with ID 57 is 20.2 meters away at (-9.2, 18.0). A unknown object with ID 55 is 21.1 meters away at (-8.9, 19.1). A unknown object with ID 38 is 35.5 meters away at (4.3, 35.3). A unknown object with ID 42 is 36.9 meters away at (2.8, 36.8). A unknown object with ID 39 is 37.2 meters away at (4.8, 36.9). A unknown object with ID 44 is 37.5 meters away at (0.9, 37.5). A unknown object with ID 45 is 38.8 meters away at (-1.0, 38.8). A unknown object with ID 37 is 38.9 meters away at (6.1, 38.4). A vehicle with ID 58 is 39.4 meters away at (15.2, 36.4). A unknown object with ID 46 is 40.4 meters away at (-1.7, 40.4).

The unknown object with ID 57 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 unknown object with ID 38 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 39 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-3.5873399 -7.6334944] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-9.235527 17.990528], 20.222612380981445 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.5) m/s. Its current heading (yaw) is -1.96

The most relevant actors are: A unknown object with ID 29 is 32.1 meters away at (-8.5, 30.9). A unknown object with ID 57 is 33.4 meters away at (-2.9, 33.2). A unknown object with ID 55 is 34.5 meters away at (-2.5, 34.4). A unknown object with ID 6 is 36.2 meters away at (-20.0, -30.2). A unknown object with ID 7 is 36.9 meters away at (-21.3, -30.1). A unknown object with ID 5 is 38.1 meters away at (-20.9, -31.9). A vehicle with ID 58 is 40.1 meters away at (15.2, 37.1). A unknown object with ID 42 is 52.8 meters away at (9.3, 51.9). A unknown object with ID 44 is 53.2 meters away at (7.2, 52.7). A unknown object with ID 39 is 53.3 meters away at (11.1, 52.2).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 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 unknown object with ID 6 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 5 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 [-2.7039943 -6.697655 ] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-8.46455  30.921005], 32.058650970458984 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -7.6) m/s. Its current heading (yaw) is -1.88

The most relevant actors are: A unknown object with ID 6 is 20.9 meters away at (-14.4, -15.1). A unknown object with ID 7 is 21.7 meters away at (-15.7, -15.0). A unknown object with ID 5 is 22.6 meters away at (-15.2, -16.8). A vehicle with ID 58 is 43.9 meters away at (16.1, 40.8). A unknown object with ID 29 is 46.1 meters away at (-2.8, 46.0). A unknown object with ID 57 is 48.4 meters away at (2.8, 48.3). A unknown object with ID 55 is 49.5 meters away at (3.2, 49.4). A vehicle with ID 26 is 62.7 meters away at (1.3, 62.7). A vehicle with ID 21 is 63.8 meters away at (-32.4, 54.9). A unknown object with ID 42 is 68.7 meters away at (14.9, 67.0).

The unknown object with ID 6 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 5 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 [-2.357443 -4.657312] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 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 26 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 [-0.52095264 -0.86460024] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-14.422153 -15.06879 ], 20.858259201049805 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -2.5) m/s. Its current heading (yaw) is -1.00

The most relevant actors are: A unknown object with ID 29 is 15.0 meters away at (14.4, -4.1). A unknown object with ID 56 is 16.3 meters away at (15.9, -3.7). A unknown object with ID 32 is 16.3 meters away at (16.1, -2.5). A unknown object with ID 17 is 16.4 meters away at (15.7, -4.7). A unknown object with ID 30 is 17.0 meters away at (16.5, -4.2). A unknown object with ID 31 is 17.1 meters away at (16.8, -3.1). A unknown object with ID 36 is 19.0 meters away at (-8.2, -17.1). A vehicle with ID 60 is 20.0 meters away at (-9.0, 17.8). A vehicle with ID 52 is 23.6 meters away at (-5.5, 23.0). A pedestrian with ID 57 is 23.8 meters away at (-9.0, 22.0).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 52 is traveling at a (x, y) velocity of [ 1.8141569 -1.2537638] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.00910279 -0.00313574] m/s.

There are active red lights at the following coordinates: [[ 71.78479  -36.83614 ]
 [ 70.86091  -40.090637]]

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [14.448986  -4.1318746], 15.028159141540527 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -1.8) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A unknown object with ID 29 is 9.2 meters away at (9.2, 0.4). A unknown object with ID 17 is 10.4 meters away at (10.4, -0.2). A unknown object with ID 56 is 10.6 meters away at (10.6, 0.8). A unknown object with ID 32 is 11.0 meters away at (10.8, 2.1). A unknown object with ID 30 is 11.2 meters away at (11.2, 0.3). A unknown object with ID 31 is 11.6 meters away at (11.5, 1.4). A vehicle with ID 52 is 25.7 meters away at (-8.0, 24.5). A vehicle with ID 60 is 26.5 meters away at (-14.4, 22.2). A pedestrian with ID 57 is 30.1 meters away at (-14.4, 26.4). A vehicle with ID 63 is 32.1 meters away at (-20.6, 24.7).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 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 52 is traveling at a (x, y) velocity of [ 1.2591357 -1.5803459] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.00536436 -0.01135188] m/s.The vehicle with ID 63 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 [9.186374  0.3510065], 9.193077087402344 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -1.8) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A unknown object with ID 29 is 4.1 meters away at (1.7, 3.8). A unknown object with ID 17 is 4.3 meters away at (2.9, 3.2). A unknown object with ID 56 is 5.2 meters away at (3.1, 4.2). A unknown object with ID 30 is 5.3 meters away at (3.8, 3.7). A unknown object with ID 31 is 6.3 meters away at (4.0, 4.8). A unknown object with ID 32 is 6.5 meters away at (3.3, 5.5). A unknown object with ID 39 is 22.6 meters away at (6.7, -21.6). A vehicle with ID 52 is 27.4 meters away at (-13.4, 23.9). A unknown object with ID 4 is 32.7 meters away at (18.8, -26.7). A vehicle with ID 60 is 33.8 meters away at (-22.0, 25.7).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 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 [ 0.72870326 -2.0434923 ] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [1.7020168 3.7587318], 4.126127243041992 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -1.8) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A unknown object with ID 30 is 8.8 meters away at (-4.7, 7.4). A unknown object with ID 17 is 8.8 meters away at (-5.6, 6.8). A unknown object with ID 31 is 9.6 meters away at (-4.5, 8.5). A unknown object with ID 29 is 10.0 meters away at (-6.8, 7.3). A unknown object with ID 32 is 10.5 meters away at (-5.1, 9.2). A unknown object with ID 39 is 18.0 meters away at (-1.8, -18.0). A unknown object with ID 9 is 19.6 meters away at (1.9, -19.5). A unknown object with ID 7 is 21.5 meters away at (5.2, -20.8). A unknown object with ID 5 is 23.5 meters away at (7.9, -22.1). A unknown object with ID 4 is 25.2 meters away at (10.2, -23.0).

The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 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 9 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-4.736498  7.359973], 8.752348899841309 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 2.3) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A unknown object with ID 91 is 6.0 meters away at (-4.4, -4.0). A unknown object with ID 88 is 6.4 meters away at (6.3, -1.5). A pedestrian with ID 92 is 8.7 meters away at (-0.3, 8.7). A unknown object with ID 89 is 9.2 meters away at (3.3, -8.6). A pedestrian with ID 94 is 11.0 meters away at (-10.0, -4.5). A vehicle with ID 19 is 11.3 meters away at (9.4, -6.3). A unknown object with ID 95 is 20.1 meters away at (18.3, -8.4). A vehicle with ID 96 is 20.9 meters away at (17.9, -10.8). A unknown object with ID 54 is 29.1 meters away at (26.1, -13.0). A vehicle with ID 40 is 29.3 meters away at (25.2, -14.9).

The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.759723   1.2066281] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [ 0.04492603 -0.02111685] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.3838537   0.22513047] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [-0.28337878  0.1553343 ] m/s.The unknown object with ID 54 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-4.4181433 -4.021269 ], 5.974160671234131 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 5.2) m/s. Its current heading (yaw) is 2.32

The most relevant actors are: A pedestrian with ID 92 is 7.5 meters away at (6.5, 3.7). A vehicle with ID 112 is 10.1 meters away at (-9.8, 2.7). A pedestrian with ID 94 is 12.2 meters away at (-1.3, -12.1). A unknown object with ID 91 is 12.3 meters away at (4.2, -11.6). A unknown object with ID 71 is 12.6 meters away at (11.8, -4.2). A pedestrian with ID 83 is 17.9 meters away at (-3.5, 17.5). A vehicle with ID 19 is 18.7 meters away at (14.5, -11.8). A unknown object with ID 89 is 20.1 meters away at (12.0, -16.1). A unknown object with ID 55 is 21.8 meters away at (-5.1, 21.2). A pedestrian with ID 103 is 22.2 meters away at (-9.3, 20.2).

The pedestrian with ID 92 is traveling at a (x, y) velocity of [-1.0484043  1.2639214] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [ 5.282095 -5.533476] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.02707557 -0.00462861] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.78669107  0.9468828 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.1634383  1.907745 ] m/s.The unknown object with ID 89 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 pedestrian with ID 103 is traveling at a (x, y) velocity of [-0.07723118  0.7660239 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 7.2) m/s. Its current heading (yaw) is 2.21

The most relevant actors are: A pedestrian with ID 83 is 8.4 meters away at (5.1, 6.6). A pedestrian with ID 103 is 9.4 meters away at (0.9, 9.4). A pedestrian with ID 60 is 11.5 meters away at (3.3, 11.0). A pedestrian with ID 107 is 15.7 meters away at (3.6, 15.2). A pedestrian with ID 109 is 15.9 meters away at (2.9, 15.6). A pedestrian with ID 92 is 16.3 meters away at (14.9, -6.6). A vehicle with ID 117 is 21.1 meters away at (-9.7, 18.7). A vehicle with ID 87 is 22.6 meters away at (-21.3, -7.5). A unknown object with ID 56 is 23.7 meters away at (-23.3, 4.1). A vehicle with ID 112 is 24.6 meters away at (13.0, -20.9).

The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.7482316  1.0015332] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-0.1688466  0.9969005] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.4197194 -1.1568241] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [0.3252831 0.5760374] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [0.15486695 0.38608938] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.81970996  1.1581758 ] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [ 7.046627  -5.1180816] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 7.8) m/s. Its current heading (yaw) is 2.22

The most relevant actors are: A vehicle with ID 117 is 4.0 meters away at (1.6, 3.6). A vehicle with ID 43 is 7.9 meters away at (-1.3, 7.8). A pedestrian with ID 103 is 12.0 meters away at (11.3, -4.1). A pedestrian with ID 109 is 13.9 meters away at (13.9, -0.1). A pedestrian with ID 60 is 16.1 meters away at (14.6, -6.8). A pedestrian with ID 83 is 16.6 meters away at (15.3, -6.5). A vehicle with ID 66 is 17.9 meters away at (-7.7, 16.2). A vehicle with ID 118 is 20.2 meters away at (-16.3, -12.0). A vehicle with ID 57 is 23.5 meters away at (-10.9, 20.8). A vehicle with ID 87 is 24.8 meters away at (-10.2, -22.6).

The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-0.54915416  0.7290794 ] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-0.77525   -0.2605539] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.27447233 -1.1410863 ] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.64273363  1.0506011 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [-0.99141395 -2.6630843 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-28.075047    3.2334723]
 [-27.60541     2.9213686]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 10.2) m/s. Its current heading (yaw) is 1.94

The most relevant actors are: A pedestrian with ID 14 is 13.6 meters away at (8.0, -11.0). A pedestrian with ID 13 is 14.0 meters away at (7.3, -11.9). A pedestrian with ID 1 is 14.7 meters away at (6.9, -12.9). A pedestrian with ID 5 is 15.5 meters away at (7.2, -13.7). A pedestrian with ID 15 is 15.5 meters away at (10.7, -11.2). A pedestrian with ID 12 is 16.3 meters away at (9.9, -12.9). A vehicle with ID 11 is 19.3 meters away at (9.3, -16.9). A vehicle with ID 16 is 39.3 meters away at (15.6, -36.1). A pedestrian with ID 21 is 40.1 meters away at (-24.6, 31.6). A vehicle with ID 17 is 53.5 meters away at (20.3, -49.5).

The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.13871452 0.09050892] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.21707174 0.08935084] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.7912768  -0.37562937] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.07214759 -0.00787921] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.04488182  0.01157414] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.17592557  0.08047725] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.50935376 -1.2899523 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 9.9) m/s. Its current heading (yaw) is 1.95

The most relevant actors are: A pedestrian with ID 21 is 18.2 meters away at (-15.7, 9.1). A pedestrian with ID 14 is 34.8 meters away at (16.0, -30.9). A pedestrian with ID 13 is 35.5 meters away at (15.5, -32.0). A pedestrian with ID 3 is 35.6 meters away at (16.9, -31.3). A pedestrian with ID 15 is 36.2 meters away at (18.2, -31.3). A pedestrian with ID 5 is 36.7 meters away at (14.9, -33.6). A pedestrian with ID 12 is 37.1 meters away at (17.6, -32.7). A pedestrian with ID 1 is 38.1 meters away at (14.6, -35.2). A vehicle with ID 11 is 40.5 meters away at (17.1, -36.7).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.44894448 -1.3047212 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.09211837 0.01338456] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.22981825 -0.04627982] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.08752809 0.02906592] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.2110084  -0.05609594] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.00822694  0.02917116] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00406752  0.00283249] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.55419415 -1.1207528 ] m/s.The vehicle with ID 11 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, 10.1) m/s. Its current heading (yaw) is 1.95

The most relevant actors are: A pedestrian with ID 21 is 14.9 meters away at (-6.5, -13.4). A pedestrian with ID 14 is 56.1 meters away at (24.0, -50.7). A pedestrian with ID 13 is 56.8 meters away at (23.6, -51.7). A pedestrian with ID 15 is 57.7 meters away at (26.3, -51.3). A pedestrian with ID 5 is 58.2 meters away at (23.1, -53.4). A pedestrian with ID 12 is 58.5 meters away at (25.8, -52.5). A pedestrian with ID 2 is 59.3 meters away at (24.1, -54.2). A pedestrian with ID 8 is 59.8 meters away at (24.2, -54.7). A pedestrian with ID 1 is 61.6 meters away at (23.8, -56.8). A vehicle with ID 11 is 61.8 meters away at (25.2, -56.5).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.55843025 -1.1642975 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.32464373 -0.06538098] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.3579949  -0.05548527] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.01930903 -0.03864763] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.00374692 -0.00112046] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.03469408  0.01530034] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.07732109 -0.04755171] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.0225004  -0.02660083] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.03352989 -0.15844655] m/s.The vehicle with ID 11 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 (-4.2, 10.1) m/s. Its current heading (yaw) is 1.96

The most relevant actors are: A pedestrian with ID 21 is 36.5 meters away at (3.1, -36.4). A pedestrian with ID 13 is 78.3 meters away at (30.9, -72.0). A pedestrian with ID 14 is 78.4 meters away at (32.1, -71.5).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.51587737 -1.2154115 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.31519723  0.6549052 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.1188452   0.06048893] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 1.0) m/s. Its current heading (yaw) is 0.46

The most relevant actors are: A pedestrian with ID 9 is 28.4 meters away at (14.6, -24.4). A vehicle with ID 11 is 35.5 meters away at (-0.8, 35.5). A vehicle with ID 12 is 51.6 meters away at (0.3, -51.6). A unknown object with ID 3 is 62.1 meters away at (-0.9, 62.1).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.75082016 0.9138766 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.5605035 -3.4747205] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -0.7) m/s. Its current heading (yaw) is -0.42

The most relevant actors are: A pedestrian with ID 9 is 26.1 meters away at (12.3, -23.0). A vehicle with ID 11 is 35.6 meters away at (-4.6, 35.3). A unknown object with ID 4 is 37.7 meters away at (-16.1, 34.1). A vehicle with ID 12 is 59.3 meters away at (-8.1, -58.7). A unknown object with ID 3 is 62.1 meters away at (-4.7, 61.9).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.8342318 0.8063171] m/s.The vehicle with ID 11 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 12 is traveling at a (x, y) velocity of [-3.5501435 -2.8429432] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -1.5) m/s. Its current heading (yaw) is -0.67

The most relevant actors are: A pedestrian with ID 9 is 21.8 meters away at (10.2, -19.3). A vehicle with ID 11 is 38.4 meters away at (-8.2, 37.5). A cyclist with ID 8 is 62.3 meters away at (2.2, -62.2). A vehicle with ID 5 is 74.1 meters away at (-4.1, 73.9).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.63290924 0.78738874] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 8 is traveling at a (x, y) velocity of [7.3321743 3.1151593] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-4.49169   -1.4485471] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -2.4) m/s. Its current heading (yaw) is -1.05

The most relevant actors are: A pedestrian with ID 9 is 15.9 meters away at (8.2, -13.6). A vehicle with ID 11 is 43.1 meters away at (-11.8, 41.5). A vehicle with ID 2 is 66.3 meters away at (-37.6, -54.5). A vehicle with ID 1 is 71.0 meters away at (-14.1, 69.6).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.7418706 0.8245696] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.646196   1.5155158] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.4326051 -5.9309006] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -2.1) m/s. Its current heading (yaw) is -2.03

The most relevant actors are: A unknown object with ID 60 is 8.9 meters away at (8.9, 0.7). A unknown object with ID 59 is 9.0 meters away at (8.7, 2.2). A vehicle with ID 63 is 9.8 meters away at (6.3, 7.5). A pedestrian with ID 62 is 14.8 meters away at (0.4, 14.8). A vehicle with ID 66 is 19.5 meters away at (9.7, 16.9). A vehicle with ID 58 is 22.4 meters away at (8.4, -20.8). A vehicle with ID 68 is 23.1 meters away at (-23.1, 0.8). A vehicle with ID 70 is 25.4 meters away at (13.5, 21.5). A vehicle with ID 56 is 26.9 meters away at (14.3, -22.8). A unknown object with ID 39 is 27.2 meters away at (9.9, 25.4).

The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-1.1991822 -1.3777208] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [0.9962386  0.75897354] m/s.The vehicle with ID 66 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 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.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [8.897802  0.6660508], 8.922696113586426 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -4.6) m/s. Its current heading (yaw) is -1.37

The most relevant actors are: A vehicle with ID 63 is 12.2 meters away at (4.4, 11.4). A vehicle with ID 58 is 16.5 meters away at (9.3, -13.7). A vehicle with ID 90 is 20.1 meters away at (17.8, -9.2). A vehicle with ID 88 is 20.7 meters away at (-15.7, -13.4). A vehicle with ID 56 is 21.9 meters away at (15.2, -15.8). A vehicle with ID 68 is 23.5 meters away at (-22.2, 7.8). A pedestrian with ID 62 is 23.6 meters away at (3.2, 23.4). A vehicle with ID 66 is 26.2 meters away at (10.7, 23.9). A vehicle with ID 55 is 27.4 meters away at (21.0, -17.7). A vehicle with ID 78 is 28.8 meters away at (-17.1, -23.1).

The vehicle with ID 63 is traveling at a (x, y) velocity of [-1.9121468 -2.1293564] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [-4.3790283  1.6459528] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0.39604303 4.0099    ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [0.8815248  0.82259727] m/s.The vehicle with ID 66 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 78 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -2.8) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A vehicle with ID 58 is 6.6 meters away at (3.4, -5.7). A vehicle with ID 90 is 7.0 meters away at (7.0, 0.7). A vehicle with ID 56 is 12.1 meters away at (9.3, -7.7). A pedestrian with ID 29 is 13.2 meters away at (-5.7, -12.0). A vehicle with ID 63 is 16.1 meters away at (-5.5, 15.2). A vehicle with ID 55 is 17.9 meters away at (15.1, -9.6). A vehicle with ID 54 is 23.3 meters away at (20.1, -11.8). A vehicle with ID 88 is 24.7 meters away at (-24.3, 4.0). A vehicle with ID 78 is 27.5 meters away at (-22.8, -15.3). A vehicle with ID 53 is 29.0 meters away at (25.2, -14.3).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [-1.1018524  0.4133736] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.04193489 -0.01999349] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-2.1786573 -2.371454 ] m/s.The vehicle with ID 55 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 88 is traveling at a (x, y) velocity of [-3.4495163  5.003865 ] m/s.The vehicle with ID 78 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.2) m/s. Its current heading (yaw) is -0.36

The most relevant actors are: A vehicle with ID 56 is 3.6 meters away at (-1.7, -3.1). A vehicle with ID 55 is 6.4 meters away at (4.0, -5.0). A vehicle with ID 58 is 7.6 meters away at (-7.5, -1.1). A vehicle with ID 90 is 8.1 meters away at (-5.5, 5.9). A vehicle with ID 54 is 11.5 meters away at (9.1, -7.1). A vehicle with ID 53 is 17.1 meters away at (14.1, -9.7). A vehicle with ID 16 is 22.7 meters away at (19.1, -12.3). A vehicle with ID 63 is 26.0 meters away at (-22.5, 13.1). A vehicle with ID 100 is 33.1 meters away at (-32.9, -3.8). A vehicle with ID 78 is 35.5 meters away at (-33.9, -10.8).

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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-3.9092696 -4.6041083] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0.9301094 1.0845491] m/s.The vehicle with ID 78 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 (6.4, 10.2) m/s. Its current heading (yaw) is 1.01

The most relevant actors are: A pedestrian with ID 27 is 14.5 meters away at (-13.1, -6.1). A vehicle with ID 26 is 15.5 meters away at (10.8, 11.1). A vehicle with ID 9 is 53.0 meters away at (-22.1, -48.2). A vehicle with ID 18 is 55.5 meters away at (45.0, 32.4). A vehicle with ID 29 is 57.0 meters away at (-26.6, -50.4). A pedestrian with ID 30 is 73.5 meters away at (-48.3, -55.5).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.0274017 -1.3203219] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 9.049539 13.906146] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 4.8380775 10.870103 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -9.935601 -14.011807] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [3.48278   7.7964287] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.26522905  1.2939719 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, 10.3) m/s. Its current heading (yaw) is 0.96

The most relevant actors are: A vehicle with ID 18 is 20.6 meters away at (11.7, -16.9). A vehicle with ID 26 is 24.7 meters away at (15.9, 18.9). A pedestrian with ID 27 is 41.4 meters away at (-28.7, -29.8). A vehicle with ID 9 is 52.2 meters away at (-25.0, -45.8). A cyclist with ID 20 is 53.9 meters away at (45.2, 29.4). A vehicle with ID 29 is 63.8 meters away at (-33.1, -54.6). A vehicle with ID 10 is 67.6 meters away at (49.2, 46.4).

The vehicle with ID 18 is traveling at a (x, y) velocity of [ -9.237199 -14.097083] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 9.847107 14.573088] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.9334713 -1.3637537] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.2029204 12.024973 ] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ -7.720466 -11.220837] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [3.7140427 8.642965 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ -9.522299 -12.568863] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, 10.5) m/s. Its current heading (yaw) is 0.94

The most relevant actors are: A vehicle with ID 10 is 15.3 meters away at (15.3, 0.1). A cyclist with ID 20 is 20.1 meters away at (13.7, -14.8). A vehicle with ID 21 is 29.6 meters away at (27.8, 10.2). A vehicle with ID 26 is 34.8 meters away at (21.3, 27.6). A vehicle with ID 11 is 45.9 meters away at (38.4, 25.2). A vehicle with ID 9 is 50.2 meters away at (-26.3, -42.7). A vehicle with ID 13 is 55.0 meters away at (46.2, 29.7). A vehicle with ID 18 is 68.1 meters away at (-19.8, -65.1). A pedestrian with ID 27 is 70.0 meters away at (-45.3, -53.3). A vehicle with ID 29 is 70.4 meters away at (-40.5, -57.6).

The vehicle with ID 10 is traveling at a (x, y) velocity of [ -9.420498 -12.658856] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ -8.481882 -12.226339] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ -9.2221775 -12.242355 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [10.423261 14.770393] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ -8.404775 -11.461   ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.600366 12.087802] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ -7.4708467 -10.176916 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -7.485945 -13.550162] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.88142145 -1.2956903 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [3.8957243 8.7912855] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, 10.2) m/s. Its current heading (yaw) is 0.93

The most relevant actors are: A vehicle with ID 13 is 19.4 meters away at (15.6, -11.5). A vehicle with ID 11 is 20.0 meters away at (5.5, -19.3). A vehicle with ID 21 is 36.0 meters away at (-6.3, -35.4). A vehicle with ID 16 is 40.9 meters away at (33.5, 23.5). A vehicle with ID 26 is 45.5 meters away at (26.7, 36.8). A vehicle with ID 9 is 46.5 meters away at (-25.3, -39.0). A vehicle with ID 10 is 50.3 meters away at (-19.2, -46.5). A cyclist with ID 22 is 62.3 meters away at (-18.0, -59.7). A cyclist with ID 20 is 62.6 meters away at (-18.5, -59.8). A vehicle with ID 29 is 76.9 meters away at (-46.6, -61.1).

The vehicle with ID 13 is traveling at a (x, y) velocity of [ -7.8990345 -10.566427 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ -9.245626 -12.414959] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ -9.615696 -12.839181] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.8939457 -9.497971 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [10.116557 15.095738] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 8.639101 12.272458] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ -9.898906 -13.466355] m/s.The cyclist with ID 22 is traveling at a (x, y) velocity of [ -7.6110373 -12.179074 ] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ -8.234676 -12.42254 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [5.190727 8.461237] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -3.7) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 70 is 3.7 meters away at (-2.9, 2.3). A pedestrian with ID 69 is 5.3 meters away at (-0.4, 5.3). A vehicle with ID 72 is 6.3 meters away at (4.5, -4.4). A vehicle with ID 73 is 6.9 meters away at (-6.6, -2.1). A vehicle with ID 67 is 9.4 meters away at (0.1, -9.4). A vehicle with ID 68 is 10.6 meters away at (10.2, 2.9). A vehicle with ID 25 is 13.8 meters away at (-11.4, -7.8). A vehicle with ID 66 is 15.7 meters away at (-4.7, -14.9). A vehicle with ID 28 is 20.0 meters away at (-15.6, -12.5). A vehicle with ID 75 is 31.5 meters away at (19.9, 24.4).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.01696899 -0.16563274] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 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 75 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 (-3.9, -4.4) m/s. Its current heading (yaw) is -2.31

The most relevant actors are: A vehicle with ID 25 is 4.2 meters away at (-4.2, 0.3). A vehicle with ID 73 is 5.9 meters away at (0.6, 5.9). A vehicle with ID 66 is 7.4 meters away at (2.5, -6.9). A vehicle with ID 67 is 7.5 meters away at (7.4, -1.3). A vehicle with ID 28 is 9.5 meters away at (-8.4, -4.4). A vehicle with ID 70 is 11.2 meters away at (4.4, 10.3). A vehicle with ID 72 is 12.2 meters away at (11.7, 3.6). A pedestrian with ID 69 is 15.0 meters away at (6.9, 13.3). A vehicle with ID 68 is 20.5 meters away at (17.4, 10.9). A unknown object with ID 26 is 20.9 meters away at (-15.4, -14.2).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 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 67 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.00348059 -0.04489205] m/s.The vehicle with ID 68 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -5.1) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A vehicle with ID 28 is 4.8 meters away at (-0.2, 4.8). A unknown object with ID 26 is 8.6 meters away at (-7.1, -4.9). A unknown object with ID 79 is 9.0 meters away at (-7.9, -4.2). A vehicle with ID 25 is 10.4 meters away at (4.1, 9.5). A vehicle with ID 66 is 11.0 meters away at (10.8, 2.3). A pedestrian with ID 74 is 11.8 meters away at (0.6, -11.8). A pedestrian with ID 76 is 13.1 meters away at (-12.4, -4.1). A unknown object with ID 27 is 13.3 meters away at (-10.2, -8.5). A unknown object with ID 80 is 13.6 meters away at (-11.1, -7.8). A vehicle with ID 65 is 16.2 meters away at (-4.6, -15.5).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.5170196 1.3941274] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.9803583 1.1369983] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.8) m/s. Its current heading (yaw) is -2.26

The most relevant actors are: A unknown object with ID 27 is 2.3 meters away at (-2.0, 1.1). A unknown object with ID 80 is 3.4 meters away at (-2.9, 1.8). A unknown object with ID 26 is 4.9 meters away at (1.1, 4.8). A unknown object with ID 79 is 5.5 meters away at (0.3, 5.5). A vehicle with ID 24 is 5.7 meters away at (-5.6, -1.1). A vehicle with ID 65 is 6.8 meters away at (3.5, -5.9). A pedestrian with ID 74 is 8.0 meters away at (8.0, 0.7). A pedestrian with ID 76 is 8.3 meters away at (-2.0, 8.0). A vehicle with ID 64 is 9.9 meters away at (-0.2, -9.9). A pedestrian with ID 59 is 13.3 meters away at (5.8, -11.9).

The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.7465243  1.2167543] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.96083915 1.3685551 ] m/s.The vehicle with ID 64 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 [ 0.02195565 -0.00572467] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.0298672  1.1408844], 2.3285140991210938 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -3.0) m/s. Its current heading (yaw) is -2.02

The most relevant actors are: A vehicle with ID 16 is 27.4 meters away at (-10.4, 25.3). A unknown object with ID 25 is 31.1 meters away at (10.8, 29.2). A pedestrian with ID 24 is 48.3 meters away at (-44.6, -18.5). A pedestrian with ID 4 is 49.1 meters away at (-45.5, -18.4).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01080109 -0.00037708] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00753153  0.00204516] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.4) m/s. Its current heading (yaw) is -2.07

The most relevant actors are: A unknown object with ID 25 is 35.0 meters away at (12.3, 32.7). A pedestrian with ID 17 is 41.1 meters away at (24.7, -32.8). A pedestrian with ID 24 is 45.5 meters away at (-42.9, -15.0). A pedestrian with ID 4 is 46.4 meters away at (-43.7, -15.5).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.89976764 0.3316099 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.02092511 -0.02202847] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.12332284 -0.15826687] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [12.323609 32.723015], 34.96665573120117 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.5) m/s. Its current heading (yaw) is -2.07

The most relevant actors are: A vehicle with ID 6 is 31.5 meters away at (-28.9, -12.5). A unknown object with ID 25 is 35.5 meters away at (12.6, 33.2). A pedestrian with ID 17 is 42.5 meters away at (27.3, -32.6). A pedestrian with ID 10 is 42.8 meters away at (27.0, -33.3). A pedestrian with ID 24 is 45.1 meters away at (-42.6, -14.6). A pedestrian with ID 4 is 45.6 meters away at (-42.9, -15.6).

The vehicle with ID 6 is traveling at a (x, y) velocity of [4.15188  4.742869] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.2072333  -0.40661705] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.96084833 0.07579006] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.05136915 0.00879118] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.67262965 -0.14799455] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -2.0) m/s. Its current heading (yaw) is -2.43

The most relevant actors are: A vehicle with ID 6 is 18.9 meters away at (-18.4, -4.4). A vehicle with ID 5 is 33.9 meters away at (-30.5, -14.7). A unknown object with ID 25 is 39.3 meters away at (14.6, 36.5). A pedestrian with ID 24 is 41.3 meters away at (-39.4, -12.4). A pedestrian with ID 4 is 41.9 meters away at (-39.8, -13.3). A pedestrian with ID 2 is 42.4 meters away at (-40.8, -11.8). A pedestrian with ID 7 is 43.6 meters away at (31.9, -29.7).

The vehicle with ID 6 is traveling at a (x, y) velocity of [3.283173   0.71328694] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [2.884125  5.0276494] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.60222244 -0.7503318 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.51890624 -0.58521414] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.41520947 -0.82241035] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.9750007  -0.66368574] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -5.2) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 39 is 7.0 meters away at (2.2, 6.6). A vehicle with ID 42 is 8.5 meters away at (8.2, 2.2). A vehicle with ID 36 is 13.2 meters away at (-4.7, 12.3). A vehicle with ID 45 is 14.9 meters away at (14.6, -3.1). A vehicle with ID 40 is 16.3 meters away at (-15.0, -6.4). A vehicle with ID 38 is 16.3 meters away at (-2.9, 16.1). A vehicle with ID 41 is 18.7 meters away at (-16.4, -9.0). A vehicle with ID 37 is 20.0 meters away at (-10.7, 16.9). A vehicle with ID 46 is 21.5 meters away at (-7.2, -20.2). A vehicle with ID 30 is 24.0 meters away at (-20.3, -12.8).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 41 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 46 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 (6.6, -5.7) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 45 is 7.8 meters away at (1.4, 7.7). A vehicle with ID 42 is 13.8 meters away at (-5.0, 12.9). A vehicle with ID 64 is 18.9 meters away at (18.8, -1.3). A vehicle with ID 39 is 20.5 meters away at (-11.0, 17.3). A vehicle with ID 46 is 22.5 meters away at (-20.4, -9.5). A vehicle with ID 50 is 27.1 meters away at (-23.7, -13.2). A vehicle with ID 40 is 28.6 meters away at (-28.3, 4.5). A pedestrian with ID 23 is 29.1 meters away at (7.9, -28.0). A vehicle with ID 36 is 29.3 meters away at (-18.0, 23.0). A vehicle with ID 53 is 29.5 meters away at (-25.1, -15.4).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 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 46 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 40 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 [-0.00804861 -0.04207361] m/s.The vehicle with ID 36 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -5.8) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 64 is 11.2 meters away at (5.4, 9.8). A vehicle with ID 72 is 16.9 meters away at (-2.1, -16.8). A vehicle with ID 45 is 22.3 meters away at (-12.1, 18.7). A vehicle with ID 19 is 24.0 meters away at (20.5, -12.5). A vehicle with ID 77 is 25.8 meters away at (25.1, -6.1). A vehicle with ID 42 is 30.3 meters away at (-18.5, 24.0). A vehicle with ID 13 is 31.9 meters away at (30.2, -10.2). A vehicle with ID 46 is 34.0 meters away at (-34.0, 1.7). A vehicle with ID 50 is 37.2 meters away at (-37.2, -2.1). A vehicle with ID 39 is 37.6 meters away at (-24.6, 28.4).

The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 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 [ 2.1056972 -1.9415151] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 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 50 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.

There are active red lights at the following coordinates: [[ 86.38643 -67.72871]
 [ 86.00945 -68.28994]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -6.1) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 19 is 9.8 meters away at (9.2, -3.4). A vehicle with ID 77 is 12.2 meters away at (10.9, 5.4). A vehicle with ID 13 is 16.2 meters away at (16.1, 1.2). A vehicle with ID 18 is 17.1 meters away at (-16.2, -5.5). A vehicle with ID 34 is 20.0 meters away at (17.7, -9.3). A vehicle with ID 64 is 22.9 meters away at (-8.7, 21.2). A vehicle with ID 7 is 29.8 meters away at (25.3, -15.8). A vehicle with ID 45 is 40.0 meters away at (-26.2, 30.2). A vehicle with ID 42 is 48.2 meters away at (-32.7, 35.5). A vehicle with ID 46 is 49.9 meters away at (-48.1, 13.2).

The vehicle with ID 19 is traveling at a (x, y) velocity of [ 0.6348849 -0.8880316] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 7 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 42 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.

There are active red lights at the following coordinates: [[ 86.38643 -67.72871]
 [ 86.00945 -68.28994]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.1) m/s. Its current heading (yaw) is 1.30

The most relevant actors are: A unknown object with ID 4 is 5.1 meters away at (-2.0, 4.7). A vehicle with ID 28 is 10.1 meters away at (2.1, 9.9). A vehicle with ID 29 is 19.0 meters away at (9.6, -16.4). A vehicle with ID 36 is 23.7 meters away at (10.0, -21.5). A vehicle with ID 41 is 28.4 meters away at (7.1, -27.5). A pedestrian with ID 10 is 35.8 meters away at (-19.3, 30.1). A vehicle with ID 40 is 41.1 meters away at (17.9, 37.0). A unknown object with ID 45 is 46.7 meters away at (14.2, 44.5). A vehicle with ID 44 is 50.8 meters away at (17.9, 47.6). A pedestrian with ID 46 is 51.8 meters away at (1.6, 51.8).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-1.5558219 -2.03045  ] m/s.The vehicle with ID 36 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 10 is traveling at a (x, y) velocity of [0.46740657 0.9836293 ] m/s.The vehicle with ID 40 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 vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.03175351 -1.4539429 ] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-1.9701976  4.7478294], 5.140385150909424 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.1) m/s. Its current heading (yaw) is 1.29

The most relevant actors are: A vehicle with ID 28 is 9.3 meters away at (1.9, 9.1). A vehicle with ID 29 is 23.5 meters away at (5.5, -22.8). A vehicle with ID 36 is 24.3 meters away at (9.8, -22.2). A vehicle with ID 41 is 29.1 meters away at (7.0, -28.2). A pedestrian with ID 24 is 36.3 meters away at (-17.4, 31.9). A vehicle with ID 40 is 40.2 meters away at (17.7, 36.2). A vehicle with ID 23 is 40.6 meters away at (38.7, 12.2). A unknown object with ID 45 is 45.8 meters away at (14.0, 43.6). A pedestrian with ID 46 is 48.0 meters away at (1.3, 48.0). A vehicle with ID 44 is 49.9 meters away at (17.6, 46.7).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-2.0967433 -3.8849251] m/s.The vehicle with ID 36 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 24 is traveling at a (x, y) velocity of [0.17163481 0.9308141 ] m/s.The vehicle with ID 40 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 [-3.0339634   0.92262554] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.06830382 -1.5010016 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.29

The most relevant actors are: A vehicle with ID 28 is 9.2 meters away at (1.8, 9.0). A vehicle with ID 36 is 24.3 meters away at (9.7, -22.3). A vehicle with ID 41 is 29.2 meters away at (6.9, -28.3). A vehicle with ID 29 is 32.2 meters away at (1.2, -32.2). A pedestrian with ID 21 is 36.2 meters away at (-17.1, 32.0). A vehicle with ID 23 is 36.7 meters away at (34.2, 13.2). A pedestrian with ID 22 is 36.7 meters away at (-17.8, 32.1). A pedestrian with ID 24 is 38.0 meters away at (-16.9, 34.1). A vehicle with ID 40 is 40.1 meters away at (17.6, 36.1). A unknown object with ID 45 is 45.7 meters away at (13.9, 43.5).

The vehicle with ID 28 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-2.440585  -5.4301395] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.17460385 1.0255857 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.9682765   0.14852162] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.19432355 1.0178591 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.15376455 1.1561174 ] m/s.The vehicle with ID 40 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.29

The most relevant actors are: A vehicle with ID 28 is 9.1 meters away at (1.8, 9.0). A vehicle with ID 36 is 24.4 meters away at (9.7, -22.3). A vehicle with ID 41 is 29.2 meters away at (6.9, -28.4). A vehicle with ID 23 is 36.3 meters away at (33.8, 13.3). A pedestrian with ID 21 is 38.0 meters away at (-16.6, 34.2). A pedestrian with ID 22 is 38.4 meters away at (-17.4, 34.2). A pedestrian with ID 24 is 40.1 meters away at (-16.6, 36.5). A vehicle with ID 40 is 40.1 meters away at (17.6, 36.0). A vehicle with ID 29 is 44.6 meters away at (-4.6, -44.4). A unknown object with ID 45 is 45.6 meters away at (13.9, 43.5).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0.10921022 0.48696446] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.0816666 1.0674944] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.08421708 1.0561547 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.10532531  1.1869434 ] m/s.The vehicle with ID 40 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 [-3.362335 -6.245981] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -1.3) m/s. Its current heading (yaw) is -0.24

The most relevant actors are: A vehicle with ID 26 is 12.5 meters away at (-10.6, 6.5). A vehicle with ID 27 is 17.7 meters away at (-12.3, -12.7). A vehicle with ID 28 is 18.4 meters away at (-17.4, 6.1). A pedestrian with ID 30 is 20.6 meters away at (20.6, -0.5). A vehicle with ID 32 is 57.3 meters away at (46.3, -33.7). A pedestrian with ID 2 is 59.7 meters away at (52.4, -28.6). A pedestrian with ID 31 is 59.8 meters away at (52.1, -29.3).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 0.8198508 -2.618341 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 2.6548622 -1.5255628] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.49686682 -0.3484793 ] m/s.The vehicle with ID 32 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 [-1.1863326  0.3579405] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.1566348   0.38071793] m/s.

There are active red lights at the following coordinates: [[ 59.514416 -29.005157]
 [ 57.310505 -28.13674 ]]

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -1.6) m/s. Its current heading (yaw) is -0.29

The most relevant actors are: A unknown object with ID 16 is 6.8 meters away at (1.5, 6.6). A pedestrian with ID 30 is 9.5 meters away at (9.3, 2.1). A vehicle with ID 26 is 23.3 meters away at (-21.4, 9.4). A vehicle with ID 24 is 23.7 meters away at (-21.7, 9.6). A vehicle with ID 28 is 24.4 meters away at (-23.9, 5.2). A pedestrian with ID 2 is 46.8 meters away at (39.6, -24.9). A pedestrian with ID 31 is 46.9 meters away at (39.3, -25.7). A vehicle with ID 32 is 47.3 meters away at (35.6, -31.1). A pedestrian with ID 1 is 55.1 meters away at (54.2, -10.0). A unknown object with ID 15 is 66.8 meters away at (-11.9, 65.8).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.01286374  0.01034619] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 1.4788709 -2.0028958] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0388911  0.4271541] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.0616847   0.43936014] m/s.The vehicle with ID 32 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 [-1.1218896  -0.22856176] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 59.514416 -29.005157]
 [ 57.310505 -28.13674 ]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [1.4992619 6.6141086], 6.7819037437438965 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -1.6) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A pedestrian with ID 30 is 5.2 meters away at (-0.4, 5.2). A pedestrian with ID 6 is 11.1 meters away at (-0.4, 11.1). A vehicle with ID 28 is 32.7 meters away at (-32.3, 4.8). A vehicle with ID 26 is 33.9 meters away at (-31.4, 12.8). A vehicle with ID 24 is 34.3 meters away at (-31.8, 12.9). A pedestrian with ID 2 is 34.4 meters away at (27.4, -20.8). A pedestrian with ID 31 is 34.6 meters away at (27.1, -21.6). A vehicle with ID 32 is 37.6 meters away at (25.6, -27.6). A pedestrian with ID 1 is 41.4 meters away at (41.1, -5.4). A unknown object with ID 21 is 42.0 meters away at (-36.8, 20.2).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.2597188  -0.31375486] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.02872873  0.00377301] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 0.14315277 -1.4177631 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.1255263   0.31020004] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.1214713   0.30252776] m/s.The vehicle with ID 32 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 [-1.4642469  0.8870696] m/s.The unknown object with ID 21 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 (2.9, -0.7) m/s. Its current heading (yaw) is -0.22

The most relevant actors are: A pedestrian with ID 30 is 9.5 meters away at (-6.8, 6.7). A pedestrian with ID 6 is 15.7 meters away at (-7.9, 13.5). A pedestrian with ID 7 is 15.8 meters away at (-8.8, 13.2). A pedestrian with ID 2 is 25.1 meters away at (17.7, -17.8). A pedestrian with ID 31 is 25.3 meters away at (17.4, -18.4). A unknown object with ID 3 is 27.3 meters away at (25.9, 8.5). A pedestrian with ID 1 is 30.6 meters away at (30.5, -1.6). A vehicle with ID 32 is 31.0 meters away at (18.0, -25.2). A vehicle with ID 28 is 40.2 meters away at (-39.9, 5.1). A vehicle with ID 26 is 41.8 meters away at (-38.8, 15.4).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.71562725 -0.54499453] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.01139996 -0.00700663] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.00054125 -0.00239995] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0357875  0.4638023] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.0211358   0.45325372] m/s.The unknown object with ID 3 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 [-1.5480924   0.48676035] m/s.The vehicle with ID 32 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 [-0.05820802 -0.7638677 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a pedestrian at [-6.752369  6.723004], 9.528550148010254 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 1.9) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A pedestrian with ID 53 is 11.7 meters away at (10.8, 4.5). A pedestrian with ID 56 is 12.6 meters away at (11.4, 5.2). A pedestrian with ID 54 is 12.9 meters away at (12.1, 4.4). A vehicle with ID 55 is 15.1 meters away at (13.0, 7.7). A pedestrian with ID 62 is 23.5 meters away at (23.5, 0.1). A pedestrian with ID 64 is 24.3 meters away at (23.4, 6.7). A unknown object with ID 33 is 26.2 meters away at (-12.4, -23.1). A vehicle with ID 57 is 30.7 meters away at (-17.0, -25.5). A pedestrian with ID 58 is 32.1 meters away at (-12.0, -29.8). A vehicle with ID 60 is 32.2 meters away at (-25.2, -20.1).

The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.00755801 -0.00385353] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.00556739 0.0066788 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00334703 0.00189746] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 1.5711427 -1.246351 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.2867826  -0.73212373] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-1.1599034   0.60138553] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00780094  0.00822268] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.7) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A pedestrian with ID 53 is 8.8 meters away at (8.6, 2.0). A pedestrian with ID 56 is 9.7 meters away at (9.3, 2.8). A pedestrian with ID 54 is 10.0 meters away at (9.8, 1.8). A vehicle with ID 55 is 13.5 meters away at (13.2, 3.1). A pedestrian with ID 62 is 19.1 meters away at (18.7, -4.0). A pedestrian with ID 64 is 19.7 meters away at (19.0, 5.2). A unknown object with ID 16 is 20.0 meters away at (3.2, -19.8). A pedestrian with ID 15 is 25.9 meters away at (24.5, 8.4). A vehicle with ID 57 is 33.9 meters away at (-19.2, -28.0). A vehicle with ID 51 is 34.8 meters away at (-13.9, 31.9).

The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.00837738 0.00116184] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.00334208 0.00041609] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.02668759 -0.00490954] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 1.0529239 -1.0715687] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.2981663  -0.95373297] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-1.0372127   0.58689904] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.01454291  0.0075682 ] m/s.The vehicle with ID 57 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 right turn approaching

(The closest actor is a pedestrian at [8.625896 1.953032], 8.844230651855469 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.4) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A pedestrian with ID 53 is 8.4 meters away at (8.3, 1.2). A pedestrian with ID 56 is 8.9 meters away at (8.6, 2.0). A pedestrian with ID 54 is 9.1 meters away at (9.0, 1.0). A vehicle with ID 55 is 15.0 meters away at (15.0, 0.0). A pedestrian with ID 62 is 16.3 meters away at (15.5, -5.1). A pedestrian with ID 64 is 16.9 meters away at (16.2, 4.6). A unknown object with ID 16 is 20.6 meters away at (2.5, -20.4). A unknown object with ID 35 is 28.2 meters away at (-13.8, -24.6). A vehicle with ID 51 is 34.4 meters away at (-14.6, 31.2). A vehicle with ID 57 is 34.9 meters away at (-19.9, -28.7).

The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.02254462 -0.03500061] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.02733757 -0.00575019] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.0114002   0.00748912] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 1.8721768 -1.8393396] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.3900691   0.34526128] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-1.4386274  -0.52019453] m/s.The unknown object with ID 16 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 vehicle with ID 51 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: Sharp right turn approaching

(The closest actor is a pedestrian at [8.279869  1.2085743], 8.367609024047852 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 2.8) m/s. Its current heading (yaw) is 1.18

The most relevant actors are: A pedestrian with ID 53 is 6.6 meters away at (6.2, -2.0). A pedestrian with ID 56 is 6.7 meters away at (6.6, -1.2). A pedestrian with ID 54 is 7.3 meters away at (7.0, -2.2). A pedestrian with ID 64 is 12.0 meters away at (12.0, 0.1). A pedestrian with ID 62 is 13.1 meters away at (11.3, -6.5). A vehicle with ID 55 is 20.1 meters away at (18.4, -8.2). A unknown object with ID 26 is 22.5 meters away at (18.5, 12.7). A unknown object with ID 35 is 32.4 meters away at (-16.0, -28.1). A vehicle with ID 51 is 32.5 meters away at (-16.5, 28.1). A unknown object with ID 22 is 34.1 meters away at (-17.3, -29.3).

The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.01433694  0.0126774 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.00702332 -0.00516559] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00793641 0.00231716] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.80495954 -0.7959572 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.018425   1.0072364] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 3.6191328 -3.1872945] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 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.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 2.3) m/s. Its current heading (yaw) is 0.99

The most relevant actors are: A unknown object with ID 69 is 3.2 meters away at (-1.7, 2.7). A unknown object with ID 49 is 3.5 meters away at (3.4, -0.5). A pedestrian with ID 72 is 9.6 meters away at (1.8, 9.4). A pedestrian with ID 74 is 12.7 meters away at (-9.2, -8.8). A unknown object with ID 76 is 40.0 meters away at (30.3, 26.2). A unknown object with ID 79 is 59.9 meters away at (11.6, 58.8). A pedestrian with ID 77 is 66.3 meters away at (15.9, 64.4). A pedestrian with ID 78 is 67.1 meters away at (16.3, 65.1). A vehicle with ID 81 is 67.7 meters away at (-25.0, 62.9). A pedestrian with ID 82 is 69.9 meters away at (40.0, 57.3).

The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.5761032  -0.75982374] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.53228956 -0.67491025] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.42601037  0.29127312] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.46162897  0.34151328] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-0.01208315  0.01759736] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-1.7312664  2.66649  ], 3.1792218685150146 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 2.6) m/s. Its current heading (yaw) is 0.99

The most relevant actors are: A pedestrian with ID 72 is 3.8 meters away at (-2.3, 3.0). A unknown object with ID 69 is 5.3 meters away at (-4.8, -2.1). A unknown object with ID 22 is 5.7 meters away at (-4.4, 3.5). A unknown object with ID 21 is 18.9 meters away at (-12.8, 13.9). A pedestrian with ID 74 is 20.1 meters away at (-13.2, -15.1). A unknown object with ID 76 is 34.3 meters away at (26.7, 21.6). A unknown object with ID 34 is 43.8 meters away at (-27.1, -34.4). A unknown object with ID 53 is 52.1 meters away at (-36.5, 37.2). A unknown object with ID 31 is 53.3 meters away at (-37.6, 37.9). A unknown object with ID 79 is 54.6 meters away at (8.3, 54.0).

The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.34744683 -0.96947056] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 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 pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.50606716 -0.74934137] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 3.1) m/s. Its current heading (yaw) is 1.01

The most relevant actors are: A pedestrian with ID 72 is 8.2 meters away at (-6.7, -4.8). A unknown object with ID 22 is 8.6 meters away at (-8.2, -2.5). A unknown object with ID 69 is 11.9 meters away at (-8.7, -8.0). A unknown object with ID 21 is 18.5 meters away at (-16.8, 7.7). A unknown object with ID 76 is 27.6 meters away at (22.9, 15.5). A pedestrian with ID 74 is 28.9 meters away at (-18.1, -22.5). A unknown object with ID 79 is 48.2 meters away at (4.5, 48.0). A unknown object with ID 53 is 51.0 meters away at (-40.3, 31.2). A unknown object with ID 31 is 52.6 meters away at (-41.5, 32.3). A pedestrian with ID 77 is 54.0 meters away at (9.5, 53.2).

The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.1987735  -0.84994674] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.51956683 -0.60953015] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 0.63392735 -0.2639381 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [-6.65386   -4.8022537], 8.20582103729248 meters away.)


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 72 is 16.9 meters away at (-11.1, -12.7). A unknown object with ID 69 is 18.7 meters away at (-12.5, -14.0). A unknown object with ID 42 is 20.3 meters away at (-20.2, 2.1). A unknown object with ID 21 is 20.5 meters away at (-20.5, 1.8). A unknown object with ID 56 is 21.8 meters away at (19.7, 9.3). A unknown object with ID 38 is 31.6 meters away at (-2.2, 31.6). A pedestrian with ID 74 is 37.7 meters away at (-23.0, -29.9). A unknown object with ID 79 is 42.1 meters away at (0.8, 42.1). A unknown object with ID 40 is 43.7 meters away at (-42.9, 8.5). A pedestrian with ID 77 is 47.8 meters away at (5.5, 47.5).

The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.46619818 -0.98561   ] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.6849712  -0.80140203] m/s.The unknown object with ID 79 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 pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.02350326  0.00447015] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 1.0) m/s. Its current heading (yaw) is 0.34

The most relevant actors are: A vehicle with ID 18 is 12.9 meters away at (-8.8, -9.4). A unknown object with ID 16 is 19.6 meters away at (0.9, 19.5). A vehicle with ID 20 is 36.3 meters away at (-31.1, -18.8). A vehicle with ID 19 is 51.9 meters away at (25.1, -45.5). A pedestrian with ID 21 is 67.7 meters away at (38.3, -55.8).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.3538138 -3.6492128] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-6.236699  -0.9254587] m/s.The vehicle with ID 19 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 [-1.0337834   0.60622096] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -1.2) m/s. Its current heading (yaw) is -0.37

The most relevant actors are: A vehicle with ID 18 is 22.7 meters away at (-17.2, -14.8). A vehicle with ID 19 is 49.2 meters away at (19.1, -45.3). A vehicle with ID 20 is 54.2 meters away at (-48.4, -24.5). A pedestrian with ID 21 is 62.0 meters away at (29.7, -54.5).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.5751148 -2.5122056] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-4.7168803 -5.363632 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.3742177  0.5212409] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -2.4) m/s. Its current heading (yaw) is -0.46

The most relevant actors are: A vehicle with ID 18 is 34.7 meters away at (-31.2, -15.2). A vehicle with ID 19 is 43.2 meters away at (10.9, -41.9). A pedestrian with ID 21 is 53.1 meters away at (18.7, -49.7).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.0833454 -1.0004035] m/s.The vehicle with ID 19 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 [-1.1241738  0.5827643] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -3.1) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A vehicle with ID 19 is 36.5 meters away at (-0.3, -36.5). A vehicle with ID 9 is 39.2 meters away at (36.0, -15.5). A pedestrian with ID 10 is 40.0 meters away at (-4.7, -39.7). A pedestrian with ID 21 is 43.5 meters away at (4.9, -43.2). A vehicle with ID 18 is 52.6 meters away at (-51.7, -9.6). A vehicle with ID 1 is 73.4 meters away at (46.0, -57.2). A vehicle with ID 4 is 76.3 meters away at (37.1, -66.7).

The vehicle with ID 19 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 [-12.708028   6.997715] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.00043862 0.00021737] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.2396716   0.48878062] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-5.4002967   0.24014454] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.8275654   0.26109478] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, 0.1) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A vehicle with ID 59 is 10.6 meters away at (2.9, -10.2). A vehicle with ID 54 is 12.5 meters away at (-8.2, -9.4). A vehicle with ID 63 is 12.6 meters away at (8.1, -9.7). A vehicle with ID 64 is 14.4 meters away at (10.9, -9.5). A vehicle with ID 68 is 16.9 meters away at (13.7, -9.9). A vehicle with ID 73 is 19.2 meters away at (16.4, -9.9). A vehicle with ID 60 is 22.7 meters away at (-5.2, -22.1). A vehicle with ID 62 is 22.8 meters away at (-2.7, -22.6). A vehicle with ID 65 is 22.8 meters away at (2.8, -22.7). A vehicle with ID 67 is 23.6 meters away at (5.6, -22.9).

The vehicle with ID 59 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 63 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, 0.1) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A vehicle with ID 73 is 10.4 meters away at (-3.1, -10.0). A vehicle with ID 68 is 11.6 meters away at (-5.9, -10.0). A vehicle with ID 64 is 13.0 meters away at (-8.7, -9.7). A vehicle with ID 63 is 15.1 meters away at (-11.5, -9.8). A vehicle with ID 59 is 19.6 meters away at (-16.7, -10.2). A vehicle with ID 75 is 22.8 meters away at (-0.0, -22.8). A vehicle with ID 69 is 25.7 meters away at (-11.3, -23.1). A vehicle with ID 67 is 27.0 meters away at (-14.1, -23.1). A vehicle with ID 65 is 28.4 meters away at (-16.8, -22.9). A vehicle with ID 54 is 29.5 meters away at (-27.9, -9.6).

The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (10.0, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A vehicle with ID 48 is 21.8 meters away at (19.1, -10.7). A vehicle with ID 40 is 24.1 meters away at (21.8, -10.1). A vehicle with ID 73 is 24.9 meters away at (-22.8, -10.0). A vehicle with ID 32 is 26.6 meters away at (24.6, -10.2). A vehicle with ID 68 is 27.5 meters away at (-25.7, -10.0). A vehicle with ID 31 is 29.1 meters away at (27.3, -9.9). A vehicle with ID 64 is 30.2 meters away at (-28.6, -9.7). A vehicle with ID 75 is 30.4 meters away at (-19.8, -23.0). A vehicle with ID 38 is 31.8 meters away at (22.0, -23.1). A vehicle with ID 63 is 32.9 meters away at (-31.3, -9.9).

The vehicle with ID 48 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 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 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching