The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -9.9) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 29 is 25.0 meters away at (-21.1, 13.4). A vehicle with ID 14 is 28.3 meters away at (11.9, 25.7). A unknown object with ID 25 is 30.6 meters away at (28.2, 12.0). A vehicle with ID 33 is 36.4 meters away at (31.0, 19.1). A cyclist with ID 49 is 37.0 meters away at (-14.5, 34.1). A vehicle with ID 17 is 42.1 meters away at (20.1, 36.9). A vehicle with ID 30 is 45.5 meters away at (-36.2, -27.6). A vehicle with ID 16 is 45.7 meters away at (25.7, 37.8). A vehicle with ID 27 is 45.7 meters away at (-16.4, 42.7). A vehicle with ID 21 is 48.4 meters away at (-41.0, -25.6).

The vehicle with ID 29 is traveling at a (x, y) velocity of [ 6.5100465 11.340726 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ -7.6511526 -10.987719 ] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.9627328  1.5343702] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-1.8087065 -1.7306422] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ -8.607322 -11.121683] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 6.2809353 15.389164 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.948846  -8.9005575] m/s.The vehicle with ID 27 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 [ 4.2674584 12.127826 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -6.4) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A unknown object with ID 12 is 15.5 meters away at (14.6, 5.2). A unknown object with ID 11 is 20.5 meters away at (13.8, 15.2). A unknown object with ID 3 is 45.6 meters away at (14.8, 43.1).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [14.637511   5.2425337], 15.548018455505371 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, -6.6) m/s. Its current heading (yaw) is -2.18

The most relevant actors are: A unknown object with ID 11 is 36.0 meters away at (22.8, 27.9).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [22.755524 27.897797], 36.001399993896484 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, -7.8) m/s. Its current heading (yaw) is -2.02

The most relevant actors are: A unknown object with ID 11 is 52.5 meters away at (31.5, 41.9). A vehicle with ID 1 is 64.1 meters away at (-15.2, -62.3). A unknown object with ID 8 is 71.5 meters away at (-18.5, -69.1).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [31.525007 41.918896], 52.45016860961914 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -8.5) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A unknown object with ID 2 is 33.2 meters away at (-6.5, -32.6). A unknown object with ID 10 is 33.3 meters away at (-6.8, -32.6). A vehicle with ID 1 is 47.0 meters away at (-8.4, -46.3). A unknown object with ID 8 is 54.4 meters away at (-11.5, -53.1).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 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 (-4.4, 3.8) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 35 is 10.0 meters away at (0.9, -10.0). A unknown object with ID 18 is 16.2 meters away at (0.4, 16.2). A unknown object with ID 19 is 19.5 meters away at (-1.5, 19.5). A vehicle with ID 37 is 27.0 meters away at (-26.7, -3.7). A unknown object with ID 41 is 28.1 meters away at (-13.4, 24.7). A vehicle with ID 43 is 52.1 meters away at (-46.7, -23.0). A vehicle with ID 46 is 52.1 meters away at (-39.6, 33.9). A cyclist with ID 36 is 56.7 meters away at (43.9, -35.9). A vehicle with ID 45 is 57.1 meters away at (-50.2, -27.3). A vehicle with ID 49 is 57.4 meters away at (-44.2, 36.6).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-2.3641899 -2.8132799] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-6.3555055  5.391521 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 0.90795994 -9.982255  ], 10.023463249206543 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.3) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A unknown object with ID 35 is 21.1 meters away at (10.7, -18.1). A vehicle with ID 37 is 25.7 meters away at (-20.2, -15.9). A vehicle with ID 46 is 39.2 meters away at (-29.6, 25.8). A vehicle with ID 49 is 44.5 meters away at (-34.2, 28.5). A vehicle with ID 43 is 48.3 meters away at (-36.8, -31.2). A pedestrian with ID 47 is 48.8 meters away at (-45.3, -18.4). A cyclist with ID 36 is 53.5 meters away at (41.6, -33.6). A vehicle with ID 45 is 53.7 meters away at (-40.5, -35.4). A vehicle with ID 44 is 56.3 meters away at (-34.7, -44.3). A vehicle with ID 48 is 59.8 meters away at (-44.2, -40.3).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.4436854 -1.7655381] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.95488685 -0.7453081 ] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-5.8039865  5.0775895] m/s.The vehicle 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 vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 10.72727 -18.12642], 21.06279754638672 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 4.8) m/s. Its current heading (yaw) is 2.48

The most relevant actors are: A unknown object with ID 22 is 21.7 meters away at (21.7, -1.0). A vehicle with ID 46 is 24.7 meters away at (-18.1, 16.8). A vehicle with ID 49 is 30.0 meters away at (-22.7, 19.6). A vehicle with ID 37 is 32.3 meters away at (-12.6, -29.7). A unknown object with ID 35 is 35.1 meters away at (22.2, -27.2). A pedestrian with ID 47 is 43.0 meters away at (-31.9, -28.8). A pedestrian with ID 32 is 43.8 meters away at (10.9, -42.5). A vehicle with ID 43 is 47.5 meters away at (-25.4, -40.1). A vehicle with ID 45 is 52.9 meters away at (-29.0, -44.2). A cyclist with ID 36 is 53.2 meters away at (41.7, -33.1).

The unknown object with ID 22 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 49 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 [-2.5988867 -3.1452856] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.8718467  -0.60778755] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00791269  0.01079345] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-5.524303  4.490788] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [21.695728  -1.0286045], 21.720096588134766 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 5.0) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A unknown object with ID 13 is 6.9 meters away at (6.8, -0.8). A vehicle with ID 46 is 8.4 meters away at (-4.3, 7.2). A vehicle with ID 49 is 13.3 meters away at (-8.8, 9.9). A unknown object with ID 22 is 37.2 meters away at (35.6, -10.8). A pedestrian with ID 47 is 43.0 meters away at (-16.5, -39.7). A vehicle with ID 37 is 48.1 meters away at (-5.6, -47.8). A vehicle with ID 43 is 51.1 meters away at (-11.6, -49.8). A vehicle with ID 45 is 55.9 meters away at (-15.3, -53.8). A cyclist with ID 36 is 56.4 meters away at (45.0, -33.9). A vehicle with ID 5 is 61.5 meters away at (-60.2, -12.3).

The unknown object 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 49 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 pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.74999356 -0.3006916 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-3.8915198 -4.6525517] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-5.141948   4.3769884] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 6.8318176 -0.8203621], 6.880895614624023 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.7) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 3 is 8.6 meters away at (4.0, 7.6). A vehicle with ID 7 is 10.6 meters away at (-5.8, -8.8). A vehicle with ID 11 is 16.7 meters away at (8.0, 14.7). A vehicle with ID 41 is 18.7 meters away at (-6.0, -17.7). A vehicle with ID 27 is 23.2 meters away at (-12.5, -19.5). A vehicle with ID 8 is 25.9 meters away at (13.2, 22.3). A vehicle with ID 40 is 38.9 meters away at (-20.6, -33.0). A pedestrian with ID 33 is 44.3 meters away at (-10.8, -42.9). A pedestrian with ID 34 is 45.0 meters away at (-11.9, -43.4). A pedestrian with ID 35 is 45.0 meters away at (-10.6, -43.7).

The vehicle with ID 3 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 [-0.915734  -1.5420269] m/s.The vehicle with ID 11 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 [ 6.882084 11.585086] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.8115257 -2.9976215] m/s.The vehicle with ID 8 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 [-2.720919  -4.5277877] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.5447417 -1.0274122] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.5191226 -0.9989357] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.53687084 -0.98883265] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.6) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 7 is 11.9 meters away at (-6.5, -9.9). A vehicle with ID 3 is 12.5 meters away at (6.0, 10.9). A vehicle with ID 41 is 15.8 meters away at (11.1, 11.2). A vehicle with ID 11 is 21.0 meters away at (10.2, 18.4). A vehicle with ID 24 is 26.3 meters away at (-9.7, -24.5). A vehicle with ID 27 is 27.2 meters away at (-14.7, -22.9). A vehicle with ID 8 is 30.2 meters away at (15.4, 26.0). A pedestrian with ID 15 is 39.4 meters away at (15.2, 36.3). A pedestrian with ID 33 is 42.3 meters away at (-9.9, -41.1). A pedestrian with ID 34 is 42.9 meters away at (-10.9, -41.5).

The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.941868  -3.1414652] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.59429187 -0.99486154] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 7.9302344 13.412768 ] m/s.The vehicle with ID 11 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 [5.519653 9.2748  ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-2.471726  -3.9284084] m/s.The vehicle with ID 8 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 [-0.63704574 -0.88127   ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.74147767 -1.0164711 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.7257839 -1.018317 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -4.0) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 24 is 7.4 meters away at (6.8, 3.0). A vehicle with ID 7 is 12.8 meters away at (-7.0, -10.7). A vehicle with ID 3 is 14.5 meters away at (7.1, 12.6). A vehicle with ID 14 is 19.1 meters away at (-6.2, -18.0). A vehicle with ID 27 is 27.8 meters away at (-15.0, -23.4). A vehicle with ID 11 is 27.9 meters away at (13.8, 24.3). A pedestrian with ID 33 is 37.2 meters away at (-7.3, -36.5). A pedestrian with ID 34 is 37.6 meters away at (-8.3, -36.7). A vehicle with ID 8 is 38.0 meters away at (19.4, 32.6). A pedestrian with ID 35 is 38.0 meters away at (-6.8, -37.3).

The vehicle with ID 24 is traveling at a (x, y) velocity of [ 6.811924 11.418682] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.2486324 -3.6665156] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.258758  -3.7019598] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [5.5609007 9.204155 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.5324919 -2.6306827] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.7803176 -1.3227892] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.7364658 -1.1422803] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.7622991 -1.0981568] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.6528545 -1.1816012] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.4) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 7 is 10.7 meters away at (-6.0, -8.8). A vehicle with ID 3 is 13.5 meters away at (6.4, 11.9). A vehicle with ID 14 is 14.9 meters away at (10.7, 10.3). A vehicle with ID 27 is 23.7 meters away at (-12.9, -19.8). A vehicle with ID 11 is 31.3 meters away at (15.4, 27.3). A pedestrian with ID 33 is 31.4 meters away at (-4.2, -31.1). A pedestrian with ID 34 is 31.7 meters away at (-5.3, -31.3). A pedestrian with ID 35 is 32.2 meters away at (-3.7, -32.0). A vehicle with ID 40 is 34.7 meters away at (-17.7, -29.9). A vehicle with ID 24 is 42.8 meters away at (25.4, 34.5).

The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.344721 -2.349864] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.7171633 -4.272463 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 6.5281286 10.795817 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.1971356 -2.1573243] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.99185   -3.3724775] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.6830367 -1.190156 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.7226062 -1.1871867] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.69632936 -1.1526217 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.0545442 -3.8909748] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 7.155068 12.277927] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.66

The most relevant actors are: A pedestrian with ID 54 is 9.7 meters away at (2.6, 9.3). A vehicle with ID 47 is 14.2 meters away at (-0.6, -14.2). A vehicle with ID 60 is 15.8 meters away at (10.7, -11.7). A vehicle with ID 67 is 18.0 meters away at (-14.6, 10.6). A vehicle with ID 46 is 19.2 meters away at (-4.3, -18.7). A pedestrian with ID 43 is 23.4 meters away at (17.2, -15.9). A vehicle with ID 50 is 24.5 meters away at (4.3, -24.1). A vehicle with ID 17 is 25.2 meters away at (22.1, -12.1). A vehicle with ID 45 is 25.4 meters away at (-8.5, -24.0). A vehicle with ID 18 is 30.7 meters away at (-12.1, -28.2).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01313238  0.00292959] m/s.The vehicle with ID 47 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 [2.8126354 3.7376304] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 3.6284158 -2.3929949] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.03749175 -0.02484025] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a pedestrian at [2.5527618 9.348964 ], 9.691218376159668 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -1.2) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A pedestrian with ID 54 is 10.3 meters away at (1.5, 10.1). A vehicle with ID 67 is 12.5 meters away at (-9.9, 7.5). A vehicle with ID 47 is 13.6 meters away at (-1.6, -13.5). A vehicle with ID 60 is 17.4 meters away at (17.4, -0.9). A vehicle with ID 46 is 18.8 meters away at (-5.4, -18.0). A vehicle with ID 50 is 23.6 meters away at (3.3, -23.4). A vehicle with ID 17 is 23.9 meters away at (21.1, -11.3). A vehicle with ID 45 is 25.1 meters away at (-9.5, -23.2). A vehicle with ID 18 is 30.5 meters away at (-13.0, -27.5). A vehicle with ID 49 is 33.7 meters away at (-4.9, -33.3).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.0125488   0.00543913] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 1.9983352 -1.489873 ] m/s.The vehicle with ID 47 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 [4.218131  5.2826757] 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 17 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a pedestrian at [ 1.5132734 10.14016  ], 10.25245475769043 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -3.7) m/s. Its current heading (yaw) is -1.20

The most relevant actors are: A vehicle with ID 47 is 10.3 meters away at (-5.5, -8.7). A vehicle with ID 67 is 14.7 meters away at (-10.8, 10.0). A pedestrian with ID 54 is 15.3 meters away at (-2.6, 15.0). A vehicle with ID 46 is 16.1 meters away at (-9.2, -13.2). A vehicle with ID 17 is 17.4 meters away at (16.4, -5.9). A vehicle with ID 50 is 18.6 meters away at (-0.5, -18.6). A vehicle with ID 45 is 22.8 meters away at (-13.2, -18.6). A vehicle with ID 60 is 24.5 meters away at (20.7, 13.1). A vehicle with ID 18 is 28.5 meters away at (-16.8, -23.0). A vehicle with ID 49 is 29.8 meters away at (-8.6, -28.5).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 1.8062772 -1.339613 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.02169817 -0.0140393 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.61343277  0.34582648] m/s.The vehicle with ID 50 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 60 is traveling at a (x, y) velocity of [2.6431417 3.28156  ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.7) m/s. Its current heading (yaw) is -2.05

The most relevant actors are: A vehicle with ID 47 is 5.3 meters away at (-5.1, -1.3). A vehicle with ID 46 is 10.6 meters away at (-8.9, -5.8). A vehicle with ID 50 is 11.0 meters away at (-0.3, -11.0). A vehicle with ID 17 is 14.1 meters away at (13.8, 3.0). A vehicle with ID 67 is 16.3 meters away at (-6.6, 14.9). A vehicle with ID 45 is 17.1 meters away at (-13.0, -11.1). A unknown object with ID 33 is 20.5 meters away at (-15.8, 13.2). A pedestrian with ID 54 is 22.5 meters away at (-2.3, 22.4). A vehicle with ID 18 is 22.6 meters away at (-16.5, -15.4). A vehicle with ID 49 is 22.6 meters away at (-8.4, -21.0).

The vehicle with ID 47 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 17 is traveling at a (x, y) velocity of [-2.529648   0.5991639] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 1.490416   -0.95065963] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01738403  0.0172859 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, -6.1) m/s. Its current heading (yaw) is -2.47

The most relevant actors are: A vehicle with ID 30 is 7.7 meters away at (2.8, -7.1). A vehicle with ID 28 is 10.4 meters away at (10.3, -1.8). A vehicle with ID 26 is 16.8 meters away at (16.4, 3.5). A vehicle with ID 25 is 19.4 meters away at (17.4, 8.6). A vehicle with ID 6 is 20.6 meters away at (-15.7, -13.3). A vehicle with ID 27 is 23.5 meters away at (22.2, 7.8). A unknown object with ID 29 is 30.8 meters away at (30.4, 4.5). A vehicle with ID 8 is 31.4 meters away at (22.3, 22.1). A vehicle with ID 31 is 46.4 meters away at (40.9, 21.9).

The vehicle with ID 30 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-8.742294 -7.067883] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-2.8985078 -7.0347023] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-5.6749253  1.3866704] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, -7.0) m/s. Its current heading (yaw) is -2.46

The most relevant actors are: A vehicle with ID 30 is 20.2 meters away at (19.3, 5.9). A vehicle with ID 6 is 23.5 meters away at (-17.7, -15.5). A vehicle with ID 28 is 29.1 meters away at (26.8, 11.4). A vehicle with ID 8 is 36.4 meters away at (28.5, 22.6). A vehicle with ID 26 is 36.9 meters away at (32.9, 16.7). A vehicle with ID 25 is 40.2 meters away at (33.8, 21.8). A vehicle with ID 27 is 43.9 meters away at (38.6, 21.0). A vehicle with ID 31 is 55.2 meters away at (44.1, 33.2).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.560058  -7.8100533] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.745355 -5.920017] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-7.012484 -3.01876 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.1, -7.6) m/s. Its current heading (yaw) is -2.44

The most relevant actors are: A vehicle with ID 6 is 25.6 meters away at (-19.5, -16.5). A vehicle with ID 8 is 40.4 meters away at (31.6, 25.2). A vehicle with ID 30 is 42.1 meters away at (36.8, 20.4). A vehicle with ID 28 is 51.3 meters away at (44.3, 25.9). A vehicle with ID 26 is 59.2 meters away at (50.4, 31.2). A vehicle with ID 25 is 62.8 meters away at (51.3, 36.2). A vehicle with ID 27 is 66.4 meters away at (56.1, 35.5).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.9014    -7.8566923] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-7.6630287 -6.2078795] m/s.The vehicle with ID 30 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 (-9.2, -7.6) m/s. Its current heading (yaw) is -2.45

The most relevant actors are: A unknown object with ID 10 is 10.4 meters away at (10.4, -0.1). A vehicle with ID 6 is 27.3 meters away at (-21.3, -17.1). A vehicle with ID 8 is 43.7 meters away at (33.9, 27.5). A vehicle with ID 17 is 56.5 meters away at (-42.5, -37.2). A unknown object with ID 14 is 58.0 meters away at (51.9, 25.9). A unknown object with ID 20 is 63.9 meters away at (56.7, 29.6). A vehicle with ID 30 is 65.8 meters away at (55.3, 35.6).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-10.586877  -8.294341] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-8.344146 -6.842173] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [12.784232  9.69593 ] 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 20 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 (-3.1, 8.1) m/s. Its current heading (yaw) is 1.94

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 8.4) m/s. Its current heading (yaw) is 1.98

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 8.1) m/s. Its current heading (yaw) is 1.97

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 7.7) m/s. Its current heading (yaw) is 2.00

The most relevant actors are: A unknown object with ID 7 is 73.4 meters away at (33.1, -65.4).

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

Instruction: Continue straight.

(The closest actor is a unknown object at [ 33.149384 -65.448715], 73.36495208740234 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 6.3) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 75 is 8.4 meters away at (0.0, -8.4). A vehicle with ID 71 is 9.0 meters away at (-3.0, 8.4). A vehicle with ID 74 is 23.3 meters away at (-20.8, -10.6). A vehicle with ID 27 is 25.9 meters away at (20.4, -15.9). A vehicle with ID 80 is 36.7 meters away at (-31.5, 19.0). A vehicle with ID 69 is 37.7 meters away at (28.2, -25.1). A vehicle with ID 72 is 47.0 meters away at (44.0, -16.4). A vehicle with ID 70 is 49.3 meters away at (44.8, -20.5). A pedestrian with ID 78 is 49.4 meters away at (-47.2, 14.6). A cyclist with ID 59 is 49.5 meters away at (-47.3, 14.6).

The vehicle with ID 75 is traveling at a (x, y) velocity of [10.466184 -8.741192] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 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 [-4.4744678  3.2385983] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [ 8.876078  -7.6117635] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 6.0108976 -1.5226147] m/s.The vehicle with ID 72 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 [6.368699 5.099632] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 1.131102  -1.0500579] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 1.0880632 -1.0784801] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 6.4) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 80 is 10.5 meters away at (2.4, -10.2). A vehicle with ID 71 is 11.9 meters away at (11.3, -3.8). A vehicle with ID 64 is 21.9 meters away at (-19.9, 9.0). A vehicle with ID 74 is 23.8 meters away at (-6.4, -23.0). A cyclist with ID 59 is 30.5 meters away at (-30.5, -0.4). A vehicle with ID 27 is 32.6 meters away at (25.1, -20.8). A vehicle with ID 53 is 41.8 meters away at (-35.1, 22.7). A vehicle with ID 79 is 42.5 meters away at (-42.5, 1.0). A vehicle with ID 81 is 45.8 meters away at (-45.8, -2.9). A vehicle with ID 29 is 48.0 meters away at (-47.7, -4.9).

The vehicle with ID 80 is traveling at a (x, y) velocity of [10.444891 -8.798911] m/s.The vehicle with ID 71 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 [ 8.850045  -7.4522133] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 1.205135  -1.1678646] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.267603   4.2535896] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 9.661126 -7.801757] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 (-7.3, 6.2) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 53 is 6.1 meters away at (0.1, -6.1). A vehicle with ID 55 is 16.3 meters away at (-16.3, 0.7). A cyclist with ID 59 is 20.2 meters away at (-13.3, -15.3). A vehicle with ID 64 is 23.1 meters away at (12.9, -19.1). A vehicle with ID 79 is 30.1 meters away at (-27.7, -11.6). A vehicle with ID 71 is 30.7 meters away at (26.0, -16.3). A pedestrian with ID 36 is 34.0 meters away at (13.1, -31.4). A vehicle with ID 81 is 34.7 meters away at (-31.1, -15.4). A vehicle with ID 43 is 35.3 meters away at (-35.2, 2.3). A vehicle with ID 74 is 36.4 meters away at (8.3, -35.5).

The vehicle with ID 53 is traveling at a (x, y) velocity of [11.18053 -8.5691 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 9.197819 -7.710847] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 1.3516086 -1.2048377] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 9.2573    -7.9186335] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.0096684  0.00742417] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 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 (-7.5, 6.3) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 26 is 16.8 meters away at (-16.7, 2.4). A vehicle with ID 43 is 22.9 meters away at (-20.5, -10.2). A vehicle with ID 58 is 25.5 meters away at (-22.4, -12.3). A vehicle with ID 79 is 27.4 meters away at (-13.0, -24.1). A cyclist with ID 59 is 30.3 meters away at (4.1, -30.1). A vehicle with ID 65 is 30.9 meters away at (-26.1, -16.5). A vehicle with ID 55 is 32.1 meters away at (16.8, -27.4). A vehicle with ID 81 is 32.3 meters away at (-16.4, -27.8). A vehicle with ID 60 is 33.3 meters away at (-27.6, -18.7). A vehicle with ID 29 is 35.0 meters away at (-18.1, -30.0).

The vehicle with ID 26 is traveling at a (x, y) velocity of [ 4.3182364 -4.223794 ] m/s.The vehicle with ID 43 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 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 1.3286223 -1.0285214] m/s.The vehicle with ID 65 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 [ 9.051451  -7.6448417] m/s.The vehicle with ID 81 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 1.9) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A pedestrian with ID 67 is 9.4 meters away at (-4.6, -8.2). A vehicle with ID 75 is 10.1 meters away at (-3.8, -9.4). A pedestrian with ID 74 is 10.9 meters away at (-2.9, -10.5). A vehicle with ID 76 is 12.4 meters away at (-11.9, -3.5). A vehicle with ID 82 is 17.4 meters away at (-8.6, -15.1). A vehicle with ID 84 is 19.1 meters away at (-16.7, -9.2). A vehicle with ID 80 is 23.4 meters away at (-12.7, -19.6). A vehicle with ID 83 is 29.3 meters away at (-16.4, -24.3). A vehicle with ID 77 is 29.7 meters away at (29.6, 2.4). A vehicle with ID 85 is 31.7 meters away at (-25.1, -19.3).

The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.57639533 -0.8159838 ] m/s.The vehicle with ID 75 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 [0.02514456 0.00467864] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a pedestrian at [-4.62839  -8.194828], 9.411545753479004 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.2) m/s. Its current heading (yaw) is 0.81

The most relevant actors are: A pedestrian with ID 67 is 12.2 meters away at (-6.6, -10.3). A vehicle with ID 75 is 12.3 meters away at (-5.2, -11.1). A pedestrian with ID 74 is 12.8 meters away at (-4.1, -12.2). A vehicle with ID 76 is 14.1 meters away at (-13.2, -5.1). A vehicle with ID 82 is 19.5 meters away at (-10.0, -16.8). A vehicle with ID 84 is 21.1 meters away at (-18.0, -10.9). A vehicle with ID 80 is 25.6 meters away at (-14.1, -21.4). A vehicle with ID 77 is 28.3 meters away at (28.3, 0.8). A vehicle with ID 83 is 31.5 meters away at (-17.8, -26.0). A unknown object with ID 60 is 33.1 meters away at (14.4, 29.8).

The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.04085874 -0.03297196] m/s.The vehicle with ID 75 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 [-0.01110066 -0.05872007] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 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 (1.9, 2.2) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A pedestrian with ID 67 is 14.7 meters away at (-7.8, -12.5). A vehicle with ID 75 is 15.1 meters away at (-7.1, -13.3). A pedestrian with ID 74 is 15.6 meters away at (-6.1, -14.4). A vehicle with ID 76 is 16.8 meters away at (-15.1, -7.3). A vehicle with ID 82 is 22.3 meters away at (-11.8, -18.9). A vehicle with ID 84 is 23.8 meters away at (-19.9, -13.0). A vehicle with ID 77 is 26.4 meters away at (26.4, -1.4). A vehicle with ID 80 is 28.4 meters away at (-15.9, -23.5). A unknown object with ID 60 is 30.3 meters away at (12.4, 27.6). A unknown object with ID 93 is 31.3 meters away at (22.6, 21.7).

The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.00820188 0.00656612] m/s.The vehicle with ID 75 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 [ 0.01963609 -0.02271501] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 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 (3.8, 4.6) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A unknown object with ID 60 is 21.5 meters away at (6.5, 20.5). A unknown object with ID 93 is 22.2 meters away at (16.6, 14.7). A vehicle with ID 77 is 22.2 meters away at (20.5, -8.4). A vehicle with ID 16 is 22.4 meters away at (11.5, 19.2). A vehicle with ID 75 is 24.2 meters away at (-13.0, -20.4). A pedestrian with ID 74 is 24.4 meters away at (-12.0, -21.2). A vehicle with ID 76 is 25.4 meters away at (-21.0, -14.3). A pedestrian with ID 95 is 26.5 meters away at (26.2, 3.8). A pedestrian with ID 63 is 26.9 meters away at (19.1, 18.9). A pedestrian with ID 97 is 27.4 meters away at (27.0, 4.1).

The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-4.035147  -4.2855167] m/s.The vehicle with ID 75 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 [0.07585943 0.4033707 ] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [0.29548353 0.04296968] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.03031135 0.00017679] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [0.01896273 0.00103397] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [ 6.4700546 20.545956 ], 21.540611267089844 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 0.0) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A vehicle with ID 53 is 9.7 meters away at (-1.1, -9.7). A vehicle with ID 51 is 10.0 meters away at (1.3, 9.9). A vehicle with ID 50 is 10.2 meters away at (1.6, -10.1). A vehicle with ID 58 is 10.5 meters away at (-3.8, -9.8). A vehicle with ID 59 is 10.7 meters away at (-4.0, 9.9). A vehicle with ID 57 is 10.7 meters away at (-1.3, 10.6). A vehicle with ID 5 is 10.8 meters away at (-10.8, 1.0). A vehicle with ID 48 is 11.0 meters away at (4.4, -10.1). A vehicle with ID 49 is 11.1 meters away at (4.0, 10.4). A vehicle with ID 60 is 11.7 meters away at (-6.7, -9.7).

The vehicle with ID 53 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [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 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 1.6845521  -0.00484168] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.0) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A vehicle with ID 5 is 9.7 meters away at (-9.6, 1.0). A vehicle with ID 51 is 9.8 meters away at (0.0, 9.8). A vehicle with ID 53 is 10.0 meters away at (-2.4, -9.7). A vehicle with ID 50 is 10.1 meters away at (0.4, -10.1). A vehicle with ID 48 is 10.6 meters away at (3.1, -10.1). A vehicle with ID 49 is 10.7 meters away at (2.8, 10.4). A vehicle with ID 57 is 10.9 meters away at (-2.6, 10.6). A vehicle with ID 58 is 11.0 meters away at (-5.1, -9.8). A vehicle with ID 59 is 11.2 meters away at (-5.3, 9.9). A vehicle with ID 43 is 11.6 meters away at (5.8, -10.0).

The vehicle with ID 5 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [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 59 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.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A vehicle with ID 51 is 10.1 meters away at (-2.3, 9.9). A vehicle with ID 48 is 10.2 meters away at (0.9, -10.1). A vehicle with ID 50 is 10.3 meters away at (-1.9, -10.2). A vehicle with ID 49 is 10.4 meters away at (0.5, 10.4). A vehicle with ID 43 is 10.6 meters away at (3.5, -10.0). A vehicle with ID 46 is 10.7 meters away at (3.1, 10.3). A vehicle with ID 53 is 10.7 meters away at (-4.7, -9.7). A vehicle with ID 5 is 10.8 meters away at (-10.7, 1.0). A vehicle with ID 57 is 11.6 meters away at (-4.9, 10.5). A vehicle with ID 58 is 12.2 meters away at (-7.4, -9.8).

The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 1.1907036  -0.02358254] m/s.The vehicle with ID 57 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.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 0.0) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A vehicle with ID 43 is 10.3 meters away at (-1.5, -10.1). A vehicle with ID 46 is 10.4 meters away at (-1.8, 10.2). A vehicle with ID 41 is 10.7 meters away at (3.4, 10.1). A vehicle with ID 47 is 10.9 meters away at (0.8, 10.8). A vehicle with ID 48 is 11.0 meters away at (-4.1, -10.2). A vehicle with ID 49 is 11.3 meters away at (-4.5, 10.3). A vehicle with ID 5 is 11.7 meters away at (-11.7, 1.0). A vehicle with ID 51 is 12.2 meters away at (-7.3, 9.8). A vehicle with ID 50 is 12.3 meters away at (-6.9, -10.2). A vehicle with ID 53 is 13.8 meters away at (-9.7, -9.8).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 3.0652208  -0.01605343] m/s.The vehicle with ID 51 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.4) m/s. Its current heading (yaw) is -1.23

The most relevant actors are: A vehicle with ID 51 is 12.0 meters away at (-11.7, 2.4). A vehicle with ID 43 is 12.7 meters away at (4.3, -12.0). A vehicle with ID 46 is 14.6 meters away at (-12.5, -7.4). A vehicle with ID 52 is 15.8 meters away at (-7.7, 13.8). A vehicle with ID 55 is 17.6 meters away at (-3.1, 17.3). A vehicle with ID 53 is 17.8 meters away at (-16.0, -7.7). A vehicle with ID 60 is 18.5 meters away at (-9.9, 15.6). A pedestrian with ID 86 is 19.6 meters away at (-16.7, 10.3). A vehicle with ID 50 is 22.0 meters away at (3.2, -21.7). A pedestrian with ID 56 is 23.4 meters away at (-18.6, 14.2).

The vehicle with ID 51 is traveling at a (x, y) velocity of [ 7.349206  -5.5962305] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 9.181198 -5.770495] m/s.The vehicle with ID 46 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 55 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.98222286  1.0404571 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.6701127  1.0296311] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.9787599 -0.8562881] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.23

The most relevant actors are: A vehicle with ID 51 is 9.5 meters away at (4.5, -8.3). A vehicle with ID 78 is 12.5 meters away at (-12.1, 3.0). A vehicle with ID 46 is 14.5 meters away at (-12.6, -7.2). A vehicle with ID 52 is 16.1 meters away at (-7.8, 14.1). A vehicle with ID 53 is 17.7 meters away at (-16.0, -7.5). A vehicle with ID 55 is 17.8 meters away at (-3.1, 17.5). A vehicle with ID 60 is 18.7 meters away at (-10.0, 15.8). A vehicle with ID 50 is 19.5 meters away at (-0.2, -19.5). A pedestrian with ID 56 is 21.1 meters away at (-16.7, 12.8). A pedestrian with ID 86 is 22.7 meters away at (-18.9, 12.6).

The vehicle with ID 51 is traveling at a (x, y) velocity of [ 8.612031  -5.4322376] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 8.311394  -6.2245216] m/s.The vehicle with ID 46 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 53 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 60 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 [-1.5643432   0.96845776] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.8950197 -0.8370027] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.1289048  1.0126715] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.23

The most relevant actors are: A vehicle with ID 78 is 9.8 meters away at (4.7, -8.6). A vehicle with ID 101 is 13.7 meters away at (-13.3, 3.0). A vehicle with ID 46 is 14.5 meters away at (-12.6, -7.2). A vehicle with ID 52 is 16.1 meters away at (-7.8, 14.1). A vehicle with ID 53 is 17.7 meters away at (-16.0, -7.4). A vehicle with ID 55 is 17.8 meters away at (-3.2, 17.5). A vehicle with ID 50 is 17.9 meters away at (-3.3, -17.6). A pedestrian with ID 56 is 18.6 meters away at (-14.9, 11.1). A vehicle with ID 60 is 18.7 meters away at (-10.0, 15.9). A vehicle with ID 41 is 19.1 meters away at (0.8, 19.0).

The vehicle with ID 78 is traveling at a (x, y) velocity of [ 8.86607  -5.650783] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [ 8.868021 -6.898437] m/s.The vehicle with ID 46 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 53 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 50 is traveling at a (x, y) velocity of [-1.5375496   0.96314526] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 1.0241272  -0.77744395] m/s.The vehicle with ID 60 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 [-0.9965672 -3.4615424] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.23

The most relevant actors are: A vehicle with ID 101 is 10.8 meters away at (5.0, -9.6). A vehicle with ID 46 is 14.5 meters away at (-12.6, -7.2). A vehicle with ID 41 is 14.5 meters away at (-0.5, 14.5). A pedestrian with ID 56 is 16.0 meters away at (-13.0, 9.4). A vehicle with ID 52 is 16.1 meters away at (-7.8, 14.1). A vehicle with ID 50 is 17.0 meters away at (-5.5, -16.1). A vehicle with ID 53 is 17.7 meters away at (-16.1, -7.4). A vehicle with ID 55 is 17.8 meters away at (-3.2, 17.6). A vehicle with ID 60 is 18.8 meters away at (-10.0, 15.9). A vehicle with ID 54 is 18.9 meters away at (-17.7, 6.6).

The vehicle with ID 101 is traveling at a (x, y) velocity of [ 9.498027  -5.9424977] m/s.The vehicle with ID 46 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 [-0.38939297 -1.8165731 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.9953042  -0.78421265] m/s.The vehicle with ID 52 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 [-0.84110165  0.5494848 ] m/s.The vehicle with ID 53 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 60 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 [ 8.808521  -7.3156557] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 6.9) m/s. Its current heading (yaw) is 2.24

The most relevant actors are: A pedestrian with ID 54 is 3.3 meters away at (3.2, -0.5). A unknown object with ID 91 is 5.9 meters away at (-4.9, -3.3). A vehicle with ID 97 is 9.3 meters away at (0.2, 9.3). A unknown object with ID 74 is 17.0 meters away at (1.0, -16.9). A unknown object with ID 86 is 20.6 meters away at (7.6, -19.2). A unknown object with ID 77 is 23.1 meters away at (17.5, -15.1). A unknown object with ID 76 is 33.5 meters away at (-24.7, 22.7). A vehicle with ID 100 is 35.3 meters away at (35.3, 0.0). A vehicle with ID 12 is 39.6 meters away at (23.3, -32.0). A vehicle with ID 95 is 40.0 meters away at (33.2, -22.3).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.097768    0.10056853] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-7.1090107  8.292045 ] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 7.4) m/s. Its current heading (yaw) is 2.25

The most relevant actors are: A vehicle with ID 97 is 13.0 meters away at (11.7, -5.7). A unknown object with ID 52 is 13.8 meters away at (-12.2, 6.4). A unknown object with ID 76 is 15.0 meters away at (-12.9, 7.7). A unknown object with ID 67 is 16.4 meters away at (-13.9, 8.7). A unknown object with ID 19 is 18.4 meters away at (-15.2, 10.3). A unknown object with ID 91 is 19.6 meters away at (6.6, -18.4). A unknown object with ID 25 is 20.7 meters away at (-17.0, 11.7). A pedestrian with ID 54 is 21.7 meters away at (15.0, -15.7). A unknown object with ID 14 is 21.8 meters away at (-17.7, 12.8). A unknown object with ID 64 is 24.9 meters away at (-19.9, 14.8).

The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.03583199 -0.00819659] 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 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 6.8) m/s. Its current heading (yaw) is 2.32

The most relevant actors are: A unknown object with ID 19 is 5.0 meters away at (-3.1, -3.9). A unknown object with ID 14 is 5.7 meters away at (-5.5, -1.4). A unknown object with ID 76 is 6.3 meters away at (-1.0, -6.2). A unknown object with ID 50 is 7.1 meters away at (-7.1, 0.1). A unknown object with ID 52 is 7.4 meters away at (-0.1, -7.4). A unknown object with ID 64 is 8.4 meters away at (-8.3, 1.3). A unknown object with ID 31 is 10.0 meters away at (-9.7, 2.6). A unknown object with ID 85 is 11.6 meters away at (-11.0, 3.9). A unknown object with ID 43 is 13.4 meters away at (-12.3, 5.2). A unknown object with ID 21 is 15.1 meters away at (-13.7, 6.4).

The unknown object with ID 19 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 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-3.1388168 -3.8510666], 4.96818733215332 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 6.5) m/s. Its current heading (yaw) is 2.39

The most relevant actors are: A unknown object with ID 53 is 5.7 meters away at (-1.8, -5.4). A unknown object with ID 21 is 6.7 meters away at (-0.3, -6.7). A unknown object with ID 43 is 8.0 meters away at (1.1, -7.9). A unknown object with ID 16 is 8.5 meters away at (-8.5, 0.6). A unknown object with ID 85 is 9.6 meters away at (2.6, -9.3). A unknown object with ID 31 is 11.1 meters away at (3.6, -10.5). A unknown object with ID 64 is 12.7 meters away at (5.1, -11.7). A unknown object with ID 50 is 14.6 meters away at (6.5, -13.0). A unknown object with ID 14 is 16.4 meters away at (8.0, -14.4). A unknown object with ID 71 is 17.2 meters away at (-15.8, 7.0).

The unknown object with ID 53 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 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 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-1.7843132 -5.435795 ], 5.721157073974609 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.7) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A unknown object with ID 32 is 11.9 meters away at (-2.9, -11.5). A unknown object with ID 29 is 12.2 meters away at (-6.6, 10.2). A unknown object with ID 34 is 12.3 meters away at (-1.0, -12.3). A unknown object with ID 11 is 12.3 meters away at (-3.9, -11.7). A unknown object with ID 33 is 12.8 meters away at (-4.1, -12.1). A unknown object with ID 31 is 12.8 meters away at (-4.4, -12.0). A unknown object with ID 30 is 13.0 meters away at (-5.2, -11.9). A unknown object with ID 35 is 13.2 meters away at (1.0, -13.1). A unknown object with ID 12 is 13.9 meters away at (-0.5, -13.9). A unknown object with ID 36 is 14.7 meters away at (1.5, -14.7).

The unknown object with ID 32 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -2.9) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A unknown object with ID 39 is 4.7 meters away at (2.8, -3.7). A unknown object with ID 41 is 5.4 meters away at (2.3, -4.9). A unknown object with ID 35 is 14.7 meters away at (-12.6, -7.5). A unknown object with ID 36 is 15.1 meters away at (-12.0, -9.2). A unknown object with ID 34 is 16.0 meters away at (-14.6, -6.6). A unknown object with ID 32 is 17.5 meters away at (-16.5, -5.9). A unknown object with ID 11 is 18.5 meters away at (-17.4, -6.2). A pedestrian with ID 8 is 49.1 meters away at (45.2, -19.1). A vehicle with ID 28 is 49.1 meters away at (39.1, -29.7). A vehicle with ID 43 is 49.9 meters away at (-48.2, 12.8).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.7995397   0.51082104] m/s.The vehicle with ID 28 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 [ -4.6016097 -10.722767 ] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [ 2.8348713 -3.7334576], 4.687771320343018 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -3.3) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A unknown object with ID 39 is 12.1 meters away at (-11.9, 2.3). A unknown object with ID 41 is 12.4 meters away at (-12.4, 1.1). A unknown object with ID 36 is 26.9 meters away at (-26.8, -3.2). A unknown object with ID 35 is 27.4 meters away at (-27.3, -1.5). A unknown object with ID 34 is 29.4 meters away at (-29.3, -0.6). A unknown object with ID 32 is 31.0 meters away at (-31.0, 0.1). A pedestrian with ID 8 is 31.2 meters away at (28.9, -11.8). A unknown object with ID 15 is 32.2 meters away at (-32.2, 0.4). A unknown object with ID 11 is 32.3 meters away at (-32.3, -0.2). A vehicle with ID 28 is 33.8 meters away at (24.3, -23.5).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.8525947  0.5659076] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 [-11.86285     2.2979546], 12.083369255065918 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -4.3) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A pedestrian with ID 8 is 12.6 meters away at (12.1, -3.4). A vehicle with ID 28 is 18.6 meters away at (9.2, -16.1). A pedestrian with ID 10 is 23.7 meters away at (-12.1, -20.4). A pedestrian with ID 19 is 26.0 meters away at (-3.0, -25.8). A unknown object with ID 39 is 28.7 meters away at (-27.0, 9.6). A unknown object with ID 41 is 28.8 meters away at (-27.5, 8.4). A vehicle with ID 4 is 30.2 meters away at (19.7, -22.9). A vehicle with ID 13 is 37.9 meters away at (28.9, -24.6). A unknown object with ID 36 is 42.1 meters away at (-41.9, 4.3). A unknown object with ID 35 is 43.0 meters away at (-42.6, 5.9).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.8137671   0.45582935] m/s.The vehicle with ID 28 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 [ 0.01231461 -0.02018837] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00217531 -0.00296629] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 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 [-9.963848  6.657965] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.4) m/s. Its current heading (yaw) is -0.25

The most relevant actors are: A vehicle with ID 13 is 18.8 meters away at (15.0, 11.3). A vehicle with ID 15 is 22.2 meters away at (21.6, -5.0). A pedestrian with ID 11 is 36.8 meters away at (31.6, -18.9). A pedestrian with ID 18 is 45.5 meters away at (38.8, -23.9). A vehicle with ID 16 is 51.8 meters away at (46.6, -22.5).

The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.4398809 -0.5337675] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.3123238   0.79402924] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.87250215 -0.00626063] m/s.The vehicle with ID 16 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 (4.4, -1.6) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A vehicle with ID 13 is 13.7 meters away at (7.8, 11.2). A vehicle with ID 15 is 15.5 meters away at (15.2, -2.9). A pedestrian with ID 11 is 27.9 meters away at (22.9, -15.8). A vehicle with ID 16 is 45.4 meters away at (40.5, -20.7).

The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.2254405 -2.1282022] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.2170528  0.4886688] m/s.The vehicle with ID 16 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 (4.5, -2.2) m/s. Its current heading (yaw) is -0.45

The most relevant actors are: A vehicle with ID 15 is 5.3 meters away at (5.0, 1.6). A vehicle with ID 13 is 12.1 meters away at (-6.8, 10.0). A pedestrian with ID 11 is 15.4 meters away at (11.4, -10.5). A vehicle with ID 16 is 35.3 meters away at (31.1, -16.7).

The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.98062706  0.524182  ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-4.266727  -1.7069539] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0574198  0.6417926] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -1.8) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A pedestrian with ID 11 is 5.2 meters away at (1.0, -5.1). A vehicle with ID 15 is 11.3 meters away at (-7.8, 8.3). A vehicle with ID 16 is 26.4 meters away at (23.2, -12.5). A pedestrian with ID 7 is 27.6 meters away at (21.4, -17.4). A vehicle with ID 13 is 29.7 meters away at (-26.5, 13.4). A pedestrian with ID 4 is 76.2 meters away at (74.8, -14.8).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0929488  0.5434839] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.571208   1.7828608] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-7.0655813 -0.6813989] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.63918495 -0.6050286 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -0.5) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A pedestrian with ID 78 is 7.7 meters away at (3.7, -6.7). A vehicle with ID 75 is 9.0 meters away at (-9.0, -0.4). A pedestrian with ID 77 is 9.3 meters away at (-8.6, -3.5). A vehicle with ID 76 is 10.3 meters away at (-6.3, 8.1). A unknown object with ID 80 is 16.3 meters away at (10.8, -12.2). A vehicle with ID 37 is 18.6 meters away at (2.1, -18.5). A pedestrian with ID 81 is 18.7 meters away at (14.0, -12.5). A vehicle with ID 38 is 19.6 meters away at (13.5, 14.2). A vehicle with ID 79 is 20.0 meters away at (-19.7, 3.4). A pedestrian with ID 84 is 21.1 meters away at (17.2, -12.2).

The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.721289  -0.9338639] m/s.The vehicle with ID 75 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 [ 1.0217197  -0.47267747] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.11832064 0.03358084] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.06076947  0.01102976] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [ 3.7193723 -6.74723  ], 7.704468727111816 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.2) m/s. Its current heading (yaw) is -0.28

The most relevant actors are: A pedestrian with ID 78 is 7.4 meters away at (-3.0, -6.8). A unknown object with ID 80 is 11.4 meters away at (4.8, -10.4). A pedestrian with ID 77 is 12.4 meters away at (-12.1, -2.6). A pedestrian with ID 81 is 13.7 meters away at (8.6, -10.7). A unknown object with ID 33 is 14.7 meters away at (8.3, -12.1). A vehicle with ID 75 is 15.1 meters away at (-15.0, 1.5). A pedestrian with ID 84 is 15.3 meters away at (11.2, -10.4). A vehicle with ID 76 is 15.7 meters away at (-12.1, 10.0). A pedestrian with ID 85 is 16.3 meters away at (11.7, -11.3). A vehicle with ID 37 is 17.0 meters away at (-3.8, -16.6).

The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.32860246 -0.93753207] m/s.The unknown object with ID 80 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 [ 1.2116618  -0.36929163] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.06020356 0.01412045] m/s.The unknown object with ID 33 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 pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.02628594  0.03069106] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.23928861  0.06328172] m/s.The vehicle with ID 37 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 (5.6, -3.6) m/s. Its current heading (yaw) is -0.57

The most relevant actors are: A pedestrian with ID 84 is 5.8 meters away at (1.2, -5.7). A pedestrian with ID 81 is 6.2 meters away at (-1.1, -6.1). A pedestrian with ID 85 is 7.2 meters away at (1.6, -7.0). A pedestrian with ID 86 is 7.7 meters away at (2.8, -7.2). A unknown object with ID 80 is 7.8 meters away at (-5.2, -5.8). A vehicle with ID 74 is 7.9 meters away at (7.9, 0.7). A vehicle with ID 88 is 10.3 meters away at (2.5, -10.0). A vehicle with ID 73 is 12.5 meters away at (12.1, -2.9). A pedestrian with ID 89 is 12.7 meters away at (1.5, -12.6). A pedestrian with ID 78 is 14.3 meters away at (-13.7, -4.1).

The pedestrian with ID 84 is traveling at a (x, y) velocity of [0.01094346 0.00894687] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.03958395 0.00722289] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.00795976 -0.02081004] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [0.01468838 0.01278652] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 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 [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 89 is traveling at a (x, y) velocity of [0.01286606 0.09544964] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.37999046 -1.0044593 ] 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, -5.3) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A vehicle with ID 28 is 4.3 meters away at (-2.4, -3.5). A unknown object with ID 92 is 5.0 meters away at (3.9, 3.1). A vehicle with ID 73 is 6.3 meters away at (0.3, 6.3). A vehicle with ID 72 is 7.6 meters away at (7.6, 0.2). A unknown object with ID 21 is 8.4 meters away at (4.2, -7.3). A pedestrian with ID 86 is 9.3 meters away at (-9.1, 2.1). A vehicle with ID 88 is 9.5 meters away at (-9.5, -0.5). A vehicle with ID 74 is 10.6 meters away at (-3.9, 9.8). A pedestrian with ID 85 is 10.6 meters away at (-10.3, 2.5). A pedestrian with ID 89 is 11.1 meters away at (-10.6, -3.4).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 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 72 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 86 is traveling at a (x, y) velocity of [ 0.02151039 -0.00140623] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.05280474 0.01194307] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.01175931 -0.00307261] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.1) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 10 is 7.3 meters away at (5.4, 5.0). A pedestrian with ID 13 is 15.8 meters away at (-15.7, -1.0). A pedestrian with ID 14 is 15.9 meters away at (-15.6, -2.9). A pedestrian with ID 22 is 55.2 meters away at (-53.1, -15.0). A vehicle with ID 21 is 57.9 meters away at (9.9, 57.0). A pedestrian with ID 17 is 62.6 meters away at (15.6, 60.7). A vehicle with ID 9 is 64.8 meters away at (16.0, 62.8).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.1727262 -3.1822023] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00167857 -0.00551912] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.1993903  -0.50786793] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1302042   0.53085506] m/s.The vehicle with ID 21 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 [-0.08195165  0.8769424 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.12882657 0.5008803 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 10 is 3.6 meters away at (3.6, 0.2). A pedestrian with ID 14 is 13.5 meters away at (-12.8, -4.2). A pedestrian with ID 13 is 15.3 meters away at (-15.3, -1.4). A vehicle with ID 2 is 49.1 meters away at (-48.7, 6.3). A pedestrian with ID 22 is 56.7 meters away at (-54.9, -14.2). A vehicle with ID 21 is 57.9 meters away at (10.0, 57.0). A pedestrian with ID 17 is 64.2 meters away at (15.3, 62.3). A vehicle with ID 9 is 66.0 meters away at (16.1, 64.0).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.55799127 -1.5967071 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.4261023  -0.66650826] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.7775852  -0.65077454] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [13.908443 -5.974101] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.9127109   0.41960377] m/s.The vehicle with ID 21 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 [0.13816006 0.89583   ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.22924839 0.6251486 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 11 is 3.3 meters away at (3.0, -1.3). A vehicle with ID 10 is 3.3 meters away at (3.0, -1.3). A pedestrian with ID 14 is 11.5 meters away at (-10.1, -5.5). A pedestrian with ID 13 is 13.5 meters away at (-13.2, -2.9). A vehicle with ID 2 is 21.2 meters away at (-20.4, -5.9). A vehicle with ID 21 is 57.8 meters away at (10.0, 57.0). A pedestrian with ID 22 is 58.4 meters away at (-56.8, -13.4). A pedestrian with ID 6 is 60.0 meters away at (20.6, 56.4). A pedestrian with ID 17 is 65.9 meters away at (15.3, 64.1). A unknown object with ID 5 is 69.2 meters away at (-69.1, -4.0).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.3003569 -0.6539583] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.1526289 -0.559524 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [14.454443  -6.2236714] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.9667884  0.3509881] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.31392244 0.8427554 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.2374759 0.8956637] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 11 is 3.3 meters away at (3.0, -1.2). A vehicle with ID 10 is 3.3 meters away at (3.0, -1.4). A pedestrian with ID 14 is 10.1 meters away at (-7.4, -6.9). A pedestrian with ID 13 is 11.6 meters away at (-10.9, -3.9). A vehicle with ID 2 is 20.3 meters away at (9.0, -18.2). A vehicle with ID 21 is 57.9 meters away at (10.0, 57.0). A pedestrian with ID 22 is 60.1 meters away at (-58.7, -12.7). A unknown object with ID 8 is 60.1 meters away at (19.6, 56.8). A pedestrian with ID 17 is 67.8 meters away at (15.1, 66.1).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.4401076 -0.6146264] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.1752205 -0.5833537] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [14.973697  -6.2969584] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8608689   0.32150918] m/s.The unknown object with ID 8 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 [-0.08966865  1.2224054 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -7.1) m/s. Its current heading (yaw) is -1.35

The most relevant actors are: A pedestrian with ID 3 is 28.7 meters away at (2.6, -28.5). A vehicle with ID 4 is 33.1 meters away at (-22.7, 24.1). A vehicle with ID 6 is 50.0 meters away at (-41.4, 27.9). A vehicle with ID 5 is 54.0 meters away at (-13.2, 52.4).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.0030311   0.01463068] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -8.3) m/s. Its current heading (yaw) is -1.33

The most relevant actors are: A vehicle with ID 5 is 69.9 meters away at (-16.8, 67.9).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -8.7) m/s. Its current heading (yaw) is -1.35

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, -8.6) m/s. Its current heading (yaw) is -1.33

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -3.9) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 88 is 23.2 meters away at (-20.0, -11.7). A vehicle with ID 87 is 23.2 meters away at (-20.1, -11.7). A vehicle with ID 43 is 26.9 meters away at (-26.9, 1.2). A unknown object with ID 68 is 27.3 meters away at (3.3, -27.1). A vehicle with ID 93 is 28.0 meters away at (-4.2, -27.7). A vehicle with ID 89 is 29.7 meters away at (-28.2, -9.2). A pedestrian with ID 90 is 30.8 meters away at (-22.8, -20.7). A pedestrian with ID 70 is 31.9 meters away at (-25.2, -19.6). A pedestrian with ID 80 is 32.4 meters away at (-32.0, 4.7). A vehicle with ID 91 is 33.1 meters away at (-30.6, -12.6).

The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [2.4964285 3.4613152] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.7185768 -0.5421367] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 0.09372173 -0.03176456] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.75381327  0.306984  ] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-10.213362 -22.076628]
 [ -9.034478 -20.207024]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.4) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A vehicle with ID 93 is 13.7 meters away at (7.0, -11.8). A vehicle with ID 87 is 16.2 meters away at (-16.2, -0.4). A vehicle with ID 88 is 16.2 meters away at (-16.2, -0.4). A unknown object with ID 68 is 17.3 meters away at (7.2, -15.7). A pedestrian with ID 90 is 21.6 meters away at (-18.8, -10.7). A vehicle with ID 97 is 22.0 meters away at (-3.1, -21.8). A pedestrian with ID 70 is 22.9 meters away at (-21.4, -8.2). A pedestrian with ID 28 is 23.2 meters away at (12.0, -19.9). A vehicle with ID 89 is 24.4 meters away at (-24.3, 2.1). A vehicle with ID 43 is 26.3 meters away at (-23.2, 12.4).

The vehicle with ID 93 is traveling at a (x, y) velocity of [4.7668977 0.7372842] m/s.The vehicle with ID 87 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 [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-0.32048416 -0.5291404 ] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [1.0129083 2.7817128] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.02244891  0.00470692] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.1515523   0.39989725] m/s.The vehicle with ID 89 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.

There are active red lights at the following coordinates: [[-10.213362 -22.076628]
 [ -9.034478 -20.207024]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -7.3) m/s. Its current heading (yaw) is -1.88

The most relevant actors are: A vehicle with ID 97 is 4.3 meters away at (3.3, -2.7). A unknown object with ID 68 is 11.9 meters away at (11.8, -1.4). A vehicle with ID 101 is 12.7 meters away at (-0.4, -12.7). A pedestrian with ID 90 is 14.8 meters away at (-14.3, 3.7). A pedestrian with ID 28 is 14.9 meters away at (14.0, -5.0). A vehicle with ID 88 is 18.0 meters away at (-11.5, 13.8). A vehicle with ID 102 is 22.0 meters away at (-3.6, -21.7). A pedestrian with ID 34 is 22.8 meters away at (-21.5, 7.4). A vehicle with ID 93 is 23.7 meters away at (23.7, 0.8). A vehicle with ID 84 is 24.6 meters away at (-1.8, -24.6).

The vehicle with ID 97 is traveling at a (x, y) velocity of [0.88205427 2.7733886 ] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [1.0870553 2.779687 ] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.03643033 0.06097168] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.3099439   0.40652317] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [1.175212  3.2408762] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.08876302 -0.04932031] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [ 7.072171  -2.1923404] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-10.213362 -22.076628]
 [ -9.034478 -20.207024]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -7.0) m/s. Its current heading (yaw) is -1.90

The most relevant actors are: A vehicle with ID 102 is 3.4 meters away at (3.2, -1.2). A vehicle with ID 101 is 9.9 meters away at (6.6, 7.4). A vehicle with ID 84 is 10.7 meters away at (2.9, -10.3). A pedestrian with ID 28 is 19.0 meters away at (16.1, 10.2). A unknown object with ID 68 is 21.0 meters away at (16.6, 12.9). A vehicle with ID 97 is 21.8 meters away at (8.5, 20.1). A vehicle with ID 46 is 22.4 meters away at (-15.9, -15.8). A vehicle with ID 103 is 24.9 meters away at (-4.9, -24.4). A vehicle with ID 85 is 25.8 meters away at (-22.4, -12.8). A vehicle with ID 88 is 28.9 meters away at (-6.8, 28.1).

The vehicle with ID 102 is traveling at a (x, y) velocity of [1.0423079 3.0252323] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [1.4349798 3.5614839] m/s.The vehicle with ID 84 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 [-1.435611    0.52282965] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [-1.4167227  5.1491404] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 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 [0. 0.] m/s.

There are active red lights at the following coordinates: [[-10.213362 -22.076628]
 [ -9.034478 -20.207024]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 1.0) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A unknown object with ID 60 is 5.7 meters away at (5.5, -1.5). A unknown object with ID 61 is 6.4 meters away at (6.4, -0.4). A pedestrian with ID 64 is 10.9 meters away at (-2.2, 10.7). A pedestrian with ID 62 is 12.1 meters away at (-3.8, 11.5). A vehicle with ID 17 is 16.6 meters away at (-14.7, 7.8). A vehicle with ID 66 is 20.1 meters away at (-20.1, 0.5). A unknown object with ID 67 is 24.2 meters away at (-2.2, -24.1). A unknown object with ID 68 is 26.1 meters away at (-15.4, 21.1). A vehicle with ID 63 is 27.2 meters away at (-26.9, -3.6). A vehicle with ID 65 is 32.9 meters away at (-31.7, -8.9).

The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.8609234 -1.2146248] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.8618379 -1.058805 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.4541976  4.997953 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-1.7123145 -4.74753  ] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 5.453785  -1.4964094], 5.655352592468262 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 2.6) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A pedestrian with ID 64 is 5.3 meters away at (2.8, 4.5). A pedestrian with ID 62 is 5.7 meters away at (1.5, 5.5). A unknown object with ID 60 is 11.2 meters away at (9.9, -5.3). A unknown object with ID 61 is 11.6 meters away at (10.8, -4.2). A unknown object with ID 45 is 18.7 meters away at (-1.2, 18.6). A unknown object with ID 68 is 20.5 meters away at (-10.9, 17.3). A unknown object with ID 35 is 22.0 meters away at (-21.0, 6.5). A vehicle with ID 17 is 22.4 meters away at (-17.1, 14.5). A vehicle with ID 63 is 23.7 meters away at (-22.6, -7.4). A vehicle with ID 66 is 26.6 meters away at (-22.7, -13.8).

The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.11321429 -1.2071543 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.01621692 -1.1298785 ] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-5.1468697  5.273967 ] m/s.The vehicle with ID 63 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 [-5.124354  -5.8717437] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.1) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A pedestrian with ID 62 is 9.7 meters away at (9.0, -3.6). A pedestrian with ID 64 is 10.9 meters away at (9.8, -4.6). A unknown object with ID 68 is 11.0 meters away at (-3.1, 10.6). A unknown object with ID 45 is 13.6 meters away at (6.6, 11.9). A unknown object with ID 55 is 17.2 meters away at (15.5, -7.5). A unknown object with ID 34 is 19.1 meters away at (-11.9, 15.0). A unknown object with ID 50 is 19.6 meters away at (17.4, -9.0). A vehicle with ID 63 is 20.4 meters away at (-14.8, -14.1). A unknown object with ID 60 is 21.4 meters away at (17.7, -12.1). A unknown object with ID 40 is 21.4 meters away at (-20.6, 5.7).

The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.48012832 -1.1486022 ] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.5808061 -1.2162222] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 pedestrian at [ 8.97032   -3.5992842], 9.665478706359863 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 5.5) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 34 is 5.1 meters away at (-0.5, 5.1). A unknown object with ID 28 is 5.9 meters away at (2.3, 5.4). A unknown object with ID 68 is 8.2 meters away at (8.2, 0.7). A unknown object with ID 40 is 10.1 meters away at (-9.3, -4.2). A vehicle with ID 58 is 12.2 meters away at (-12.1, 1.3). A unknown object with ID 18 is 12.5 meters away at (-6.6, 10.6). A unknown object with ID 16 is 21.6 meters away at (-13.7, 16.7). A vehicle with ID 63 is 24.1 meters away at (-3.5, -23.9). A unknown object with ID 42 is 24.2 meters away at (-22.9, 7.9). A pedestrian with ID 62 is 24.3 meters away at (18.8, -15.4).

The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 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 pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.8066784 -0.8603571] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-0.5214443  5.1194954], 5.14598274230957 meters away.)