The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -2.2) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A unknown object with ID 41 is 10.2 meters away at (9.0, -4.8). A vehicle with ID 2 is 12.8 meters away at (-4.3, -12.1). A vehicle with ID 1 is 18.0 meters away at (-5.5, -17.2). A vehicle with ID 3 is 25.6 meters away at (-7.8, -24.3). A vehicle with ID 10 is 37.6 meters away at (-1.2, -37.6). A vehicle with ID 40 is 38.1 meters away at (-17.0, -34.2). A vehicle with ID 77 is 38.4 meters away at (35.7, 14.0). A vehicle with ID 76 is 39.4 meters away at (18.3, 34.9). A vehicle with ID 32 is 44.5 meters away at (-13.6, -42.4). A vehicle with ID 18 is 48.9 meters away at (-4.0, -48.7).

The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [ 8.964103  -4.8218327], 10.178664207458496 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, -7.5) m/s. Its current heading (yaw) is -2.03

The most relevant actors are: A pedestrian with ID 25 is 9.8 meters away at (9.4, 2.6). A unknown object with ID 22 is 18.6 meters away at (3.3, -18.3). A pedestrian with ID 8 is 20.4 meters away at (-3.8, -20.0). A unknown object with ID 15 is 20.5 meters away at (2.7, -20.3). A pedestrian with ID 7 is 21.4 meters away at (0.3, -21.4). A pedestrian with ID 9 is 24.4 meters away at (-13.8, -20.1). A unknown object with ID 26 is 26.5 meters away at (-20.4, -16.9). A pedestrian with ID 27 is 54.9 meters away at (36.3, 41.3). A unknown object with ID 4 is 58.5 meters away at (-12.0, -57.3). A pedestrian with ID 10 is 58.6 meters away at (-28.7, 51.1).

The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.44269064 -0.9613044 ] m/s.The unknown object with ID 22 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 [-0.11507168  0.30726594] m/s.The unknown object with ID 15 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 [-0.72420746  0.27174783] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.17362775 -0.01871546] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.181988  -0.4194957] m/s.The unknown object with ID 4 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 [-0.30558166  0.502937  ] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [9.428678 2.641159], 9.79161262512207 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -8.3) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A pedestrian with ID 8 is 5.4 meters away at (3.7, -3.9). A pedestrian with ID 9 is 7.2 meters away at (-5.7, -4.4). A pedestrian with ID 7 is 8.4 meters away at (6.6, -5.3). A unknown object with ID 22 is 11.7 meters away at (11.4, -2.5). A vehicle with ID 16 is 15.7 meters away at (-11.8, -10.4). A pedestrian with ID 17 is 23.0 meters away at (4.6, -22.6). A pedestrian with ID 25 is 23.6 meters away at (16.8, 16.6). A unknown object with ID 4 is 41.7 meters away at (-3.6, -41.5). A vehicle with ID 24 is 71.8 meters away at (-38.6, -60.5).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.5310218  -0.07159302] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.0289582  -0.04824776] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.9694745  -0.00768054] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 6.177468 15.118777] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.00819225 0.02023055] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.5011364 -1.0809867] m/s.The unknown object with ID 4 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 [5.4120955 3.8020332] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -8.5) m/s. Its current heading (yaw) is -2.00

The most relevant actors are: A pedestrian with ID 9 is 12.6 meters away at (2.5, 12.3). A pedestrian with ID 17 is 14.1 meters away at (12.8, -5.9). A pedestrian with ID 8 is 16.4 meters away at (9.8, 13.1). A pedestrian with ID 7 is 17.0 meters away at (12.7, 11.3). A unknown object with ID 18 is 22.6 meters away at (19.0, 12.3). A unknown object with ID 4 is 25.1 meters away at (4.5, -24.7). A vehicle with ID 24 is 38.6 meters away at (-21.6, -32.0). A vehicle with ID 16 is 39.1 meters away at (9.3, 38.0). A pedestrian with ID 25 is 39.8 meters away at (24.2, 31.7). A pedestrian with ID 19 is 47.9 meters away at (-1.4, -47.8).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00838542 -0.0462084 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.0129838 0.0011403] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.1833197   0.13547486] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.1735742  -0.24527334] 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 4 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 [3.4178078 7.461144 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 6.7471185 16.262451 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.4791172 -0.9419867] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.75738716  0.9955424 ] m/s.

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

The most relevant actors are: A vehicle with ID 24 is 7.4 meters away at (-7.3, 1.1). A unknown object with ID 4 is 14.3 meters away at (11.7, -8.1). A pedestrian with ID 17 is 22.8 meters away at (20.0, 10.9). A unknown object with ID 2 is 23.1 meters away at (6.0, -22.3). A pedestrian with ID 9 is 30.6 meters away at (9.8, 29.0). A pedestrian with ID 7 is 33.1 meters away at (17.5, 28.1). A pedestrian with ID 8 is 33.3 meters away at (14.9, 29.8). A pedestrian with ID 1 is 40.5 meters away at (3.9, -40.3). A unknown object with ID 13 is 42.9 meters away at (2.8, -42.8). A pedestrian with ID 25 is 55.7 meters away at (30.7, 46.5).

The vehicle with ID 24 is traveling at a (x, y) velocity of [3.7631166 9.015609 ] m/s.The unknown object with ID 4 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 [-0.06619451  0.01244627] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.09286966 -0.03887924] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2333233   0.28298375] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.0831665   0.05374022] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.2330514  -0.01144261] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.42366058 -1.0502424 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A vehicle with ID 12 is 9.9 meters away at (-4.1, -9.0). A vehicle with ID 17 is 16.5 meters away at (-14.9, 7.1). A unknown object with ID 19 is 17.6 meters away at (-17.5, -1.2). A unknown object with ID 21 is 17.6 meters away at (-14.1, 10.5). A unknown object with ID 20 is 17.7 meters away at (-17.7, 1.0). A pedestrian with ID 11 is 18.1 meters away at (-17.5, 4.9). A unknown object with ID 22 is 18.5 meters away at (-18.2, -3.3). A unknown object with ID 23 is 20.2 meters away at (-19.6, -5.1). A unknown object with ID 24 is 21.2 meters away at (-20.0, -7.1). A unknown object with ID 8 is 21.4 meters away at (-11.2, 18.2).

The vehicle with ID 12 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 unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 [-0.01117748 -0.00899523] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -2.3732421 -10.127548 ]
 [ -4.5214996  -9.340915 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A vehicle with ID 12 is 9.9 meters away at (-4.1, -9.0). A vehicle with ID 17 is 16.5 meters away at (-14.9, 7.1). A unknown object with ID 19 is 17.6 meters away at (-17.5, -1.2). A unknown object with ID 21 is 17.6 meters away at (-14.1, 10.5). A unknown object with ID 20 is 17.7 meters away at (-17.7, 1.0). A pedestrian with ID 11 is 18.0 meters away at (-17.3, 4.8). A unknown object with ID 22 is 18.5 meters away at (-18.2, -3.3). A unknown object with ID 23 is 20.2 meters away at (-19.6, -5.1). A unknown object with ID 24 is 21.2 meters away at (-20.0, -7.1). A unknown object with ID 27 is 24.0 meters away at (-22.2, -9.1).

The vehicle with ID 12 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 unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 [-0.08326413  0.03010134] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -2.3732421 -10.127548 ]
 [ -4.5214996  -9.340915 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A vehicle with ID 12 is 9.9 meters away at (-4.1, -9.0). A vehicle with ID 17 is 16.5 meters away at (-14.9, 7.1). A unknown object with ID 19 is 17.5 meters away at (-17.5, -1.2). A unknown object with ID 21 is 17.6 meters away at (-14.1, 10.5). A unknown object with ID 20 is 17.7 meters away at (-17.7, 1.0). A unknown object with ID 22 is 18.5 meters away at (-18.2, -3.3). A pedestrian with ID 11 is 18.8 meters away at (-18.0, 5.2). A vehicle with ID 28 is 18.8 meters away at (-16.8, -8.4). A unknown object with ID 23 is 20.2 meters away at (-19.6, -5.1). A unknown object with ID 24 is 21.2 meters away at (-20.0, -7.1).

The vehicle with ID 12 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 unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 11 is traveling at a (x, y) velocity of [-0.6382357   0.41203192] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [3.8634756 7.8069496] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -2.3732421 -10.127548 ]
 [ -4.5214996  -9.340915 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A vehicle with ID 12 is 9.9 meters away at (-4.1, -9.0). A vehicle with ID 28 is 13.1 meters away at (-9.6, 8.9). A vehicle with ID 17 is 16.5 meters away at (-14.9, 7.2). A unknown object with ID 19 is 17.6 meters away at (-17.5, -1.2). A unknown object with ID 21 is 17.6 meters away at (-14.1, 10.5). A unknown object with ID 20 is 17.7 meters away at (-17.7, 1.0). A unknown object with ID 22 is 18.5 meters away at (-18.2, -3.3). A pedestrian with ID 11 is 19.9 meters away at (-19.0, 6.0). A unknown object with ID 23 is 20.2 meters away at (-19.6, -5.1). A unknown object with ID 24 is 21.2 meters away at (-20.0, -7.1).

The vehicle with ID 12 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 [3.2664185 9.437102 ] m/s.The vehicle with ID 17 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 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 [-0.11082284  0.07176982] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -2.3732421 -10.127548 ]
 [ -4.5214996  -9.340915 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 0.7) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A vehicle with ID 20 is 4.3 meters away at (-0.1, -4.3). A vehicle with ID 23 is 7.5 meters away at (-6.5, 3.7). A vehicle with ID 26 is 12.7 meters away at (-12.3, 3.0). A vehicle with ID 32 is 16.3 meters away at (-14.1, 8.3). A pedestrian with ID 24 is 20.6 meters away at (-10.0, -18.0). A pedestrian with ID 34 is 22.0 meters away at (-17.1, -13.8). A vehicle with ID 10 is 27.5 meters away at (-5.3, 27.0). A vehicle with ID 21 is 29.3 meters away at (20.7, -20.8). A unknown object with ID 29 is 42.0 meters away at (38.4, -17.2). A vehicle with ID 48 is 46.0 meters away at (41.4, -20.1).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.2190405   0.78841954] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3432053   0.82270694] m/s.The vehicle with ID 10 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 [ 6.5005236 -3.866312 ] m/s.The unknown object with ID 29 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 ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A vehicle with ID 20 is 4.6 meters away at (0.3, -4.6). A vehicle with ID 23 is 7.0 meters away at (-6.0, 3.4). A vehicle with ID 26 is 12.2 meters away at (-11.9, 2.8). A vehicle with ID 32 is 15.7 meters away at (-13.5, 7.9). A pedestrian with ID 24 is 20.6 meters away at (-11.7, -16.9). A pedestrian with ID 34 is 22.8 meters away at (-19.0, -12.6). A vehicle with ID 21 is 43.7 meters away at (33.4, -28.3). A vehicle with ID 35 is 45.5 meters away at (-30.7, 33.6). A vehicle with ID 48 is 46.5 meters away at (41.9, -20.3). A vehicle with ID 49 is 50.0 meters away at (33.7, -36.9).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.133521    0.67881644] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.2252979   0.81982535] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 5.526379  -3.2627447] m/s.The vehicle with ID 35 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A vehicle with ID 20 is 4.6 meters away at (0.4, -4.6). A vehicle with ID 23 is 6.9 meters away at (-6.0, 3.4). A vehicle with ID 26 is 12.2 meters away at (-11.9, 2.7). A vehicle with ID 32 is 15.6 meters away at (-13.5, 7.9). A pedestrian with ID 24 is 21.1 meters away at (-13.9, -15.9). A pedestrian with ID 34 is 24.2 meters away at (-21.4, -11.3). A vehicle with ID 35 is 45.4 meters away at (-30.6, 33.5). A vehicle with ID 48 is 46.5 meters away at (41.9, -20.3). A vehicle with ID 49 is 50.0 meters away at (33.7, -36.9). A pedestrian with ID 28 is 53.3 meters away at (-40.7, 34.3).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0309603   0.56651646] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.1963803   0.80855304] m/s.The vehicle with ID 35 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 pedestrian with ID 28 is traveling at a (x, y) velocity of [ 1.1088452  -0.63445616] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A vehicle with ID 20 is 4.6 meters away at (0.4, -4.6). A vehicle with ID 23 is 6.9 meters away at (-6.0, 3.4). A vehicle with ID 26 is 12.2 meters away at (-11.8, 2.7). A vehicle with ID 32 is 15.6 meters away at (-13.4, 7.9). A pedestrian with ID 24 is 21.7 meters away at (-16.0, -14.6). A pedestrian with ID 34 is 25.7 meters away at (-23.8, -9.8). A vehicle with ID 48 is 46.5 meters away at (41.8, -20.3). A vehicle with ID 49 is 50.0 meters away at (33.7, -36.9). A pedestrian with ID 28 is 50.6 meters away at (-38.4, 33.0). A vehicle with ID 33 is 53.6 meters away at (48.0, -23.9).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0593443  0.5916225] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.0720452  0.8282296] 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 pedestrian with ID 28 is traveling at a (x, y) velocity of [ 1.2249365 -0.6598349] m/s.The vehicle with ID 33 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 (-2.7, -3.8) m/s. Its current heading (yaw) is -2.19

The most relevant actors are: A vehicle with ID 19 is 4.8 meters away at (0.7, -4.7). A unknown object with ID 24 is 23.3 meters away at (-22.3, 6.7). A unknown object with ID 25 is 36.8 meters away at (-4.3, 36.6). A pedestrian with ID 12 is 44.6 meters away at (-40.2, 19.5). A unknown object with ID 27 is 47.0 meters away at (-1.3, 47.0). A vehicle with ID 28 is 48.0 meters away at (-40.6, 25.5). A unknown object with ID 16 is 53.2 meters away at (-19.2, -49.6). A pedestrian with ID 29 is 62.3 meters away at (60.5, 15.0).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.67935973 -0.11663063] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.7774702 -0.551039 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -3.8) m/s. Its current heading (yaw) is -2.01

The most relevant actors are: A vehicle with ID 19 is 5.9 meters away at (5.1, 2.9). A unknown object with ID 16 is 44.0 meters away at (-14.7, -41.5). A vehicle with ID 28 is 49.2 meters away at (-36.2, 33.3). A unknown object with ID 27 is 54.8 meters away at (3.2, 54.7).

The vehicle with ID 19 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.9) m/s. Its current heading (yaw) is -2.17

The most relevant actors are: A vehicle with ID 19 is 13.1 meters away at (8.8, 9.7). A cyclist with ID 10 is 31.5 meters away at (-16.1, -27.1). A unknown object with ID 5 is 40.7 meters away at (28.5, 29.0). A vehicle with ID 28 is 51.6 meters away at (-32.5, 40.1). A unknown object with ID 27 is 62.0 meters away at (6.8, 61.6).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [0.01214937 0.02644456] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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 (-1.1, -1.7) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A vehicle with ID 19 is 18.5 meters away at (11.9, 14.2). A cyclist with ID 10 is 26.1 meters away at (-13.0, -22.6). A unknown object with ID 5 is 46.1 meters away at (31.6, 33.5). A unknown object with ID 20 is 62.3 meters away at (-44.7, -43.5). A vehicle with ID 1 is 62.6 meters away at (20.7, 59.1). A unknown object with ID 27 is 66.9 meters away at (9.9, 66.2).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [-0.02511431  0.03026445] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 [ 4.5170875 -5.8272357] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -9.0) m/s. Its current heading (yaw) is -0.92

The most relevant actors are: A vehicle with ID 17 is 45.7 meters away at (26.4, -37.3). A vehicle with ID 16 is 46.6 meters away at (-29.3, 36.2). A vehicle with ID 6 is 67.8 meters away at (40.8, -54.2). A vehicle with ID 5 is 75.9 meters away at (46.2, -60.2).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (7.2, -8.7) m/s. Its current heading (yaw) is -0.88

The most relevant actors are: A vehicle with ID 17 is 23.1 meters away at (12.3, -19.6). A vehicle with ID 6 is 45.1 meters away at (26.7, -36.4). A vehicle with ID 5 is 53.2 meters away at (32.1, -42.4). A vehicle with ID 8 is 62.2 meters away at (44.8, -43.2). A vehicle with ID 16 is 69.2 meters away at (-43.4, 54.0).

The vehicle with ID 17 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.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -8.8) m/s. Its current heading (yaw) is -0.86

The most relevant actors are: A vehicle with ID 17 is 3.2 meters away at (-2.3, -2.2). A vehicle with ID 6 is 22.4 meters away at (12.0, -19.0). A vehicle with ID 5 is 30.4 meters away at (17.4, -25.0). A vehicle with ID 8 is 39.6 meters away at (30.1, -25.8). A vehicle with ID 15 is 74.1 meters away at (45.7, -58.3).

The vehicle with ID 17 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.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -8.8) m/s. Its current heading (yaw) is -0.85

The most relevant actors are: A vehicle with ID 6 is 3.4 meters away at (-3.1, -1.5). A vehicle with ID 5 is 7.7 meters away at (2.2, -7.4). A vehicle with ID 8 is 17.2 meters away at (15.0, -8.3). A vehicle with ID 17 is 23.2 meters away at (-17.4, 15.3). A vehicle with ID 15 is 51.0 meters away at (30.7, -40.7). A vehicle with ID 10 is 57.9 meters away at (35.5, -45.7). A unknown object with ID 4 is 61.4 meters away at (45.8, -40.9). A vehicle with ID 2 is 76.8 meters away at (54.6, -54.0).

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.The vehicle with ID 8 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 15 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 unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.19

The most relevant actors are: A vehicle with ID 11 is 3.6 meters away at (-3.4, -1.1). A vehicle with ID 13 is 6.3 meters away at (5.8, -2.5). A vehicle with ID 14 is 7.1 meters away at (1.3, -7.0). A pedestrian with ID 15 is 7.6 meters away at (-1.1, 7.6). A pedestrian with ID 17 is 8.1 meters away at (-1.6, 7.9). A pedestrian with ID 19 is 8.5 meters away at (-1.3, 8.4). A vehicle with ID 22 is 8.9 meters away at (5.4, -7.1). A vehicle with ID 23 is 10.9 meters away at (8.9, -6.4). A vehicle with ID 32 is 15.9 meters away at (-15.3, 4.4). A vehicle with ID 28 is 15.9 meters away at (7.1, -14.3).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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 [-0.00744105  0.00438513] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00257439  0.00091868] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [3.3993032e-03 8.7491069e-05] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.23705234  0.31605378] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 6.480489 -8.949499] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-9.560741  8.842278]
 [-5.580983 11.900865]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.19

The most relevant actors are: A vehicle with ID 11 is 3.6 meters away at (-3.5, -1.1). A vehicle with ID 13 is 6.4 meters away at (5.9, -2.5). A vehicle with ID 14 is 7.1 meters away at (1.3, -7.0). A pedestrian with ID 15 is 7.7 meters away at (-1.1, 7.6). A pedestrian with ID 17 is 8.1 meters away at (-1.6, 7.9). A pedestrian with ID 19 is 8.5 meters away at (-1.3, 8.4). A vehicle with ID 22 is 8.7 meters away at (5.3, -6.9). A vehicle with ID 23 is 10.9 meters away at (8.9, -6.4). A vehicle with ID 32 is 13.9 meters away at (-2.2, -13.8). A vehicle with ID 28 is 15.9 meters away at (7.1, -14.3).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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 [0.01114511 0.03434131] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00329546  0.00506429] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00608471  0.00419031] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 6.6115108 -9.094262 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-9.560741  8.842278]
 [-5.580983 11.900865]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.19

The most relevant actors are: A vehicle with ID 11 is 3.6 meters away at (-3.5, -1.1). A vehicle with ID 13 is 6.4 meters away at (5.9, -2.5). A vehicle with ID 14 is 7.1 meters away at (1.3, -7.0). A pedestrian with ID 17 is 8.0 meters away at (-1.7, 7.8). A pedestrian with ID 15 is 8.1 meters away at (-0.9, 8.0). A pedestrian with ID 19 is 8.6 meters away at (-1.3, 8.5). A vehicle with ID 22 is 8.8 meters away at (5.3, -7.0). A vehicle with ID 23 is 10.9 meters away at (8.9, -6.4). A vehicle with ID 28 is 15.9 meters away at (7.1, -14.3). A vehicle with ID 30 is 16.7 meters away at (12.5, -11.1).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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 [ 0.00386669 -0.01777878] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.0112043  0.00338578] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00098848 -0.00534163] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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.

There are active red lights at the following coordinates: [[-9.560741  8.842278]
 [-5.580983 11.900865]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.19

The most relevant actors are: A vehicle with ID 11 is 3.6 meters away at (-3.4, -1.1). A vehicle with ID 13 is 6.4 meters away at (5.9, -2.5). A vehicle with ID 14 is 7.1 meters away at (1.3, -7.0). A pedestrian with ID 17 is 7.9 meters away at (-1.6, 7.7). A pedestrian with ID 15 is 8.0 meters away at (-1.0, 8.0). A pedestrian with ID 19 is 8.5 meters away at (-1.3, 8.4). A vehicle with ID 22 is 8.8 meters away at (5.3, -7.0). A vehicle with ID 23 is 10.9 meters away at (8.9, -6.4). A vehicle with ID 2 is 14.0 meters away at (-12.9, 5.4). A vehicle with ID 28 is 15.9 meters away at (7.1, -14.3).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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 [ 0.00085515 -0.01793965] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.00283653 0.00267611] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00831734 -0.00625896] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [  7.5512013 -10.1403055] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-9.560741  8.842278]
 [-5.580983 11.900865]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.7) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A unknown object with ID 31 is 10.7 meters away at (-7.6, -7.5). A unknown object with ID 32 is 14.2 meters away at (-8.8, -11.1). A pedestrian with ID 36 is 16.5 meters away at (-1.2, 16.4). A vehicle with ID 42 is 16.9 meters away at (16.9, -0.5). A vehicle with ID 47 is 19.3 meters away at (18.7, 4.7). A unknown object with ID 57 is 24.1 meters away at (19.8, 13.7). A pedestrian with ID 56 is 25.6 meters away at (23.5, 10.2). A pedestrian with ID 23 is 25.8 meters away at (24.7, 7.7). A unknown object with ID 45 is 26.3 meters away at (22.3, 14.0). A pedestrian with ID 58 is 26.7 meters away at (25.4, 8.4).

The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.89541817 -0.4840594 ] m/s.The vehicle with ID 42 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 unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.10996097  0.03231695] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.91658765  0.39333996] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.90075606  0.30692074] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-7.578666  -7.5373735], 10.68869400024414 meters away.)


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 unknown object with ID 31 is 10.4 meters away at (-7.5, -7.2). A unknown object with ID 32 is 13.8 meters away at (-8.6, -10.7). A pedestrian with ID 36 is 16.0 meters away at (0.8, 15.9). A vehicle with ID 42 is 17.0 meters away at (17.0, -0.1). A vehicle with ID 47 is 19.5 meters away at (18.8, 5.1). A vehicle with ID 20 is 24.0 meters away at (3.4, 23.7). A unknown object with ID 57 is 24.5 meters away at (20.0, 14.1). A pedestrian with ID 37 is 25.0 meters away at (23.3, 9.0). A pedestrian with ID 58 is 25.6 meters away at (23.7, 9.6). A pedestrian with ID 56 is 25.7 meters away at (23.4, 10.7).

The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.0231878  -0.40867907] m/s.The vehicle with ID 42 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 20 is traveling at a (x, y) velocity of [11.198841 -3.460822] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.82617354  0.41856602] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.8148539   0.33493364] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.4345285   0.08044079] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-7.4774466 -7.172643 ], 10.361419677734375 meters away.)


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 unknown object with ID 31 is 10.3 meters away at (-7.4, -7.1). A unknown object with ID 32 is 13.7 meters away at (-8.6, -10.6). A pedestrian with ID 36 is 15.3 meters away at (3.2, 15.0). A vehicle with ID 42 is 17.1 meters away at (17.1, 0.1). A vehicle with ID 47 is 19.5 meters away at (18.8, 5.2). A pedestrian with ID 37 is 23.7 meters away at (21.7, 9.7). A vehicle with ID 26 is 24.2 meters away at (3.3, 23.9). A pedestrian with ID 58 is 24.4 meters away at (22.1, 10.3). A unknown object with ID 57 is 24.6 meters away at (20.0, 14.2). A pedestrian with ID 56 is 25.0 meters away at (22.4, 11.1).

The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.3755239  -0.49720043] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.82013357  0.30452257] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [11.306004  -3.3449175] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.77443993  0.32319602] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.7789838  0.2977749] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-7.448721 -7.073865], 10.272439002990723 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.7) m/s. Its current heading (yaw) is -1.85

The most relevant actors are: A unknown object with ID 31 is 7.9 meters away at (-6.7, -4.3). A unknown object with ID 32 is 11.1 meters away at (-7.8, -7.9). A vehicle with ID 42 is 18.1 meters away at (17.8, 2.8). A pedestrian with ID 36 is 18.1 meters away at (6.8, 16.8). A vehicle with ID 47 is 21.2 meters away at (19.6, 7.9). A pedestrian with ID 37 is 24.5 meters away at (20.8, 12.9). A pedestrian with ID 58 is 25.2 meters away at (21.3, 13.5). A pedestrian with ID 56 is 25.8 meters away at (21.5, 14.3). A unknown object with ID 57 is 26.9 meters away at (20.8, 17.0). A vehicle with ID 25 is 28.6 meters away at (0.2, 28.6).

The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 [ 1.2195591  -0.44646826] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.0249401  0.425794 ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.92339754  0.4028641 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9306051   0.38304222] m/s.The unknown object with ID 57 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 [11.952594  -3.8367574] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-6.651078 -4.293235], 7.916357040405273 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.3) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A vehicle with ID 70 is 6.2 meters away at (3.3, 5.2). A vehicle with ID 68 is 7.1 meters away at (-1.9, 6.8). A vehicle with ID 65 is 8.6 meters away at (-8.6, -0.5). A vehicle with ID 64 is 17.0 meters away at (-13.4, 10.5). A vehicle with ID 66 is 22.0 meters away at (-18.4, 12.1). A vehicle with ID 75 is 24.8 meters away at (9.0, -23.1). A vehicle with ID 74 is 26.7 meters away at (-25.5, 7.8). A vehicle with ID 67 is 27.6 meters away at (-23.9, 13.7). A vehicle with ID 77 is 29.7 meters away at (16.5, -24.7). A vehicle with ID 69 is 30.0 meters away at (-29.3, 6.2).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 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 [ 8.94304   -2.9039712] m/s.The vehicle with ID 67 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 69 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 (2.8, -0.9) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 70 is 10.1 meters away at (-5.9, 8.2). A vehicle with ID 68 is 14.8 meters away at (-11.2, 9.8). A vehicle with ID 65 is 18.2 meters away at (-18.0, 2.6). A vehicle with ID 75 is 20.1 meters away at (-0.5, -20.1). A vehicle with ID 74 is 20.3 meters away at (-19.4, 6.0). A vehicle with ID 77 is 22.8 meters away at (7.0, -21.7). A vehicle with ID 21 is 22.9 meters away at (15.2, -17.2). A vehicle with ID 47 is 23.6 meters away at (18.8, 14.3). A vehicle with ID 64 is 26.4 meters away at (-22.7, 13.6). A vehicle with ID 82 is 28.1 meters away at (27.6, -5.5).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 6.5441318 -2.136736 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0.63096625 1.7052457 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-5.0467772  1.5756167] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 74 is 11.5 meters away at (-11.1, 3.2). A vehicle with ID 70 is 12.0 meters away at (-8.1, 8.9). A vehicle with ID 82 is 12.8 meters away at (12.8, -0.5). A vehicle with ID 68 is 17.1 meters away at (-13.4, 10.6). A vehicle with ID 21 is 19.6 meters away at (15.5, -12.1). A vehicle with ID 75 is 19.6 meters away at (-2.7, -19.5). A vehicle with ID 65 is 20.4 meters away at (-20.2, 3.4). A vehicle with ID 77 is 21.5 meters away at (4.8, -20.9). A vehicle with ID 47 is 22.4 meters away at (16.7, 15.0). A vehicle with ID 32 is 27.9 meters away at (18.3, 21.1).

The vehicle with ID 74 is traveling at a (x, y) velocity of [ 3.5258024 -1.1831234] m/s.The vehicle with ID 70 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 [-7.0915847  2.3265667] m/s.The vehicle with ID 68 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 [2.446335  2.7022984] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.6) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A vehicle with ID 82 is 5.8 meters away at (-3.7, 4.5). A vehicle with ID 74 is 8.0 meters away at (-7.7, 2.2). A vehicle with ID 70 is 12.8 meters away at (-9.0, 9.2). A vehicle with ID 68 is 17.9 meters away at (-14.3, 10.8). A vehicle with ID 75 is 19.7 meters away at (-3.6, -19.3). A vehicle with ID 77 is 21.0 meters away at (3.8, -20.7). A vehicle with ID 65 is 21.3 meters away at (-21.0, 3.6). A vehicle with ID 47 is 21.9 meters away at (15.7, 15.3). A vehicle with ID 21 is 24.1 meters away at (22.6, -8.2). A vehicle with ID 32 is 27.6 meters away at (17.4, 21.5).

The vehicle with ID 82 is traveling at a (x, y) velocity of [-8.829651   2.4836674] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 1.1494297 -0.3988307] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 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 65 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 21 is traveling at a (x, y) velocity of [5.2117367 0.2026312] m/s.The vehicle with ID 32 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, 2.8) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 67 is 12.4 meters away at (11.5, -4.7). A vehicle with ID 76 is 13.3 meters away at (-12.3, 5.1). A vehicle with ID 27 is 14.3 meters away at (-10.7, 9.5). A vehicle with ID 6 is 16.2 meters away at (12.0, -11.0). A vehicle with ID 71 is 25.9 meters away at (-19.5, 17.1). A vehicle with ID 54 is 28.7 meters away at (-24.8, 14.5). A vehicle with ID 73 is 30.9 meters away at (-29.3, -10.0). A vehicle with ID 58 is 31.5 meters away at (23.9, -20.5). A vehicle with ID 74 is 34.5 meters away at (28.7, -19.2). A vehicle with ID 63 is 35.0 meters away at (-23.4, 26.0).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 5.368244 -4.222119] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-3.2979074  2.841402 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.1653287  1.8623664] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-3.9182048  3.3711643] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 5.5779076 -4.17728  ] m/s.The vehicle with ID 73 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 74 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.

There are active red lights at the following coordinates: [[ 48.053444 -44.179356]
 [ 47.67647  -44.74059 ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 2.8) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 54 is 7.4 meters away at (-7.3, 0.7). A vehicle with ID 76 is 10.5 meters away at (4.9, -9.3). A vehicle with ID 27 is 15.3 meters away at (-11.5, 10.2). A vehicle with ID 94 is 16.9 meters away at (-16.5, 3.6). A vehicle with ID 6 is 17.7 meters away at (13.1, -12.0). A vehicle with ID 67 is 20.8 meters away at (18.0, -10.4). A cyclist with ID 50 is 20.9 meters away at (15.3, -14.3). A vehicle with ID 63 is 26.4 meters away at (-16.9, 20.3). A vehicle with ID 73 is 27.7 meters away at (-22.8, -15.7). A vehicle with ID 71 is 30.0 meters away at (-22.6, 19.7).

The vehicle with ID 54 is traveling at a (x, y) velocity of [ 5.312395  -4.0825086] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 5.0280833 -4.1634703] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-4.237343  3.714777] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [ 7.2357025 -7.710135 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-3.1638274  2.782782 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [-3.011139   2.5776486] m/s.The vehicle with ID 63 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 71 is traveling at a (x, y) velocity of [-5.341153  4.620414] m/s.

There are active red lights at the following coordinates: [[ 48.053444 -44.179356]
 [ 47.67647  -44.74059 ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 3.3) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 95 is 12.6 meters away at (-12.0, 3.8). A vehicle with ID 54 is 16.6 meters away at (9.7, -13.5). A vehicle with ID 63 is 17.6 meters away at (-10.1, 14.4). A vehicle with ID 6 is 18.0 meters away at (13.3, -12.1). A vehicle with ID 27 is 19.1 meters away at (-14.4, 12.6). A vehicle with ID 94 is 20.4 meters away at (7.2, -19.1). A vehicle with ID 72 is 24.7 meters away at (-23.5, -7.6). A vehicle with ID 73 is 26.9 meters away at (-16.0, -21.7). A vehicle with ID 67 is 29.6 meters away at (24.7, -16.4). A vehicle with ID 82 is 29.7 meters away at (-27.3, -11.5).

The vehicle with ID 95 is traveling at a (x, y) velocity of [ 6.2701735 -4.6748314] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 4.79356   -3.9645455] m/s.The vehicle with ID 63 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 [-3.2075105  2.7923234] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.3711166  4.5392456] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [ 9.167711 -8.457998] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-55.41854   35.127884]
 [-43.568096  41.27125 ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 4.0) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 63 is 7.2 meters away at (-1.5, 7.0). A vehicle with ID 46 is 12.0 meters away at (-11.9, 0.9). A vehicle with ID 95 is 15.6 meters away at (8.8, -12.9). A pedestrian with ID 1 is 20.6 meters away at (-10.4, 17.8). A vehicle with ID 72 is 21.2 meters away at (-15.1, -14.9). A vehicle with ID 6 is 21.2 meters away at (15.8, -14.2). A pedestrian with ID 33 is 21.4 meters away at (-11.1, 18.3). A vehicle with ID 27 is 22.9 meters away at (-17.3, 15.0). A vehicle with ID 82 is 26.7 meters away at (-18.8, -19.0). A vehicle with ID 84 is 29.7 meters away at (-20.4, -21.6).

The vehicle with ID 63 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 [ 6.2299747 -5.4887714] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [ 5.7199745 -4.528894 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.42763397 -0.44961387] m/s.The vehicle with ID 72 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 [-3.0383396  2.6101613] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.39664817 -0.44562858] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-6.1118608  5.122192 ] 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.

There are active red lights at the following coordinates: [[-55.41854   35.127884]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 16 is 4.1 meters away at (0.5, -4.1). A unknown object with ID 20 is 9.1 meters away at (-8.6, -3.2). A vehicle with ID 23 is 10.2 meters away at (-3.7, -9.5). A vehicle with ID 24 is 17.2 meters away at (8.5, 14.9). A vehicle with ID 38 is 18.2 meters away at (-4.3, 17.7). A vehicle with ID 17 is 20.8 meters away at (19.5, -7.1). A vehicle with ID 31 is 20.9 meters away at (20.1, 5.7). A vehicle with ID 41 is 22.8 meters away at (-12.2, -19.3). A vehicle with ID 42 is 25.6 meters away at (-25.3, -3.9). A unknown object with ID 43 is 25.7 meters away at (14.2, -21.4).

The vehicle with ID 16 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.455387   5.5309505] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [10.817986 -9.018051] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [10.2178755 -8.716083 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-6.874898  5.861736] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [1.9512002 2.3525138] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 16 is 4.1 meters away at (0.5, -4.1). A unknown object with ID 20 is 9.1 meters away at (-8.6, -3.2). A vehicle with ID 23 is 10.2 meters away at (-3.7, -9.5). A vehicle with ID 38 is 17.2 meters away at (17.1, -0.3). A vehicle with ID 31 is 18.4 meters away at (6.6, 17.2). A vehicle with ID 41 is 19.0 meters away at (-9.8, -16.3). A vehicle with ID 42 is 25.6 meters away at (-25.3, -3.9). A unknown object with ID 43 is 25.7 meters away at (14.3, -21.4). A vehicle with ID 44 is 26.1 meters away at (26.1, 0.1). A vehicle with ID 24 is 26.5 meters away at (-4.5, 26.1).

The vehicle with ID 16 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [10.365489 -8.88322 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-6.7255554  5.6716166] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0.507237  0.6310266] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-6.5551467  5.8865733] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.584907  5.712987] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 16 is 4.1 meters away at (0.5, -4.1). A unknown object with ID 20 is 9.1 meters away at (-8.6, -3.2). A vehicle with ID 23 is 10.2 meters away at (-3.7, -9.5). A vehicle with ID 13 is 14.5 meters away at (-0.9, 14.5). A vehicle with ID 44 is 17.5 meters away at (12.7, 12.0). A vehicle with ID 41 is 18.6 meters away at (-9.5, -16.0). A vehicle with ID 42 is 25.6 meters away at (-25.3, -3.9). A unknown object with ID 43 is 25.7 meters away at (14.2, -21.4). A vehicle with ID 31 is 29.2 meters away at (-6.7, 28.4). A vehicle with ID 68 is 29.8 meters away at (29.7, -2.9).

The vehicle with ID 16 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 23 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 [ 8.779732 -7.325858] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-6.738594   5.7577043] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 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 [-6.28829    5.3070745] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-6.487257   5.6045976] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 16 is 4.1 meters away at (0.4, -4.1). A unknown object with ID 20 is 9.1 meters away at (-8.6, -3.2). A vehicle with ID 23 is 10.2 meters away at (-3.7, -9.5). A vehicle with ID 13 is 17.1 meters away at (17.1, -0.2). A vehicle with ID 41 is 18.6 meters away at (-9.5, -16.0). A vehicle with ID 68 is 18.7 meters away at (16.7, 8.3). A vehicle with ID 44 is 23.1 meters away at (-0.7, 23.1). A vehicle with ID 42 is 25.6 meters away at (-25.3, -3.9). A unknown object with ID 43 is 25.7 meters away at (14.3, -21.4). A vehicle with ID 47 is 30.1 meters away at (30.0, 2.3).

The vehicle with ID 16 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 23 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 [ 9.190105  -7.3917828] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-6.4851484  5.4760585] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-6.6216183  5.4499364] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.5) m/s. Its current heading (yaw) is 1.34

The most relevant actors are: A unknown object with ID 11 is 16.2 meters away at (2.2, 16.0). A vehicle with ID 17 is 49.8 meters away at (19.9, 45.6). A vehicle with ID 19 is 52.7 meters away at (51.3, 12.0). A pedestrian with ID 7 is 68.1 meters away at (-68.1, -2.8).

The unknown object with ID 11 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 19 is traveling at a (x, y) velocity of [13.166694    0.50011563] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.9782027  0.31306398] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 2.1972923 16.035751 ], 16.185592651367188 meters away.)


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 1.35

The most relevant actors are: A unknown object with ID 11 is 15.5 meters away at (2.0, 15.3). A vehicle with ID 17 is 48.9 meters away at (19.8, 44.7).

The unknown object with ID 11 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.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 2.0324817 15.322359 ], 15.456573486328125 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.4) m/s. Its current heading (yaw) is 1.33

The most relevant actors are: A unknown object with ID 14 is 47.1 meters away at (12.0, 45.5). A vehicle with ID 17 is 48.1 meters away at (19.5, 43.9).

The unknown object with ID 14 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.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [12.029702 45.508804], 47.0719108581543 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 4.3) m/s. Its current heading (yaw) is 1.16

The most relevant actors are: A unknown object with ID 14 is 40.8 meters away at (9.9, 39.6). A vehicle with ID 17 is 42.0 meters away at (17.5, 38.2). A vehicle with ID 3 is 67.9 meters away at (67.9, 1.7).

The unknown object with ID 14 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 3 is traveling at a (x, y) velocity of [-11.537725   1.931783] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [ 9.927645 39.583504], 40.8094596862793 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, 4.5) m/s. Its current heading (yaw) is 0.55

The most relevant actors are: A vehicle with ID 4 is 5.8 meters away at (-2.2, 5.3). A pedestrian with ID 82 is 14.5 meters away at (-8.7, -11.6). A pedestrian with ID 81 is 14.7 meters away at (-9.5, -11.2). A pedestrian with ID 72 is 17.3 meters away at (-9.3, 14.6). A cyclist with ID 69 is 17.4 meters away at (-9.3, 14.8). A pedestrian with ID 90 is 20.5 meters away at (20.5, 0.7). A pedestrian with ID 83 is 21.1 meters away at (-13.7, -16.0). A cyclist with ID 85 is 23.5 meters away at (-23.4, 1.4). A pedestrian with ID 84 is 25.1 meters away at (-17.2, -18.3). A pedestrian with ID 44 is 27.3 meters away at (-19.2, -19.4).

The vehicle with ID 4 is traveling at a (x, y) velocity of [8.962905  5.6202836] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.0728439  -0.79050404] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-1.083661  -0.7642867] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.27465597 -0.7828711 ] m/s.The cyclist with ID 69 is traveling at a (x, y) velocity of [-0.22362052 -0.30830923] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.02060027 -0.01101064] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [0.0029744  0.02941858] m/s.The cyclist with ID 85 is traveling at a (x, y) velocity of [-1.6657425 -1.3222661] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [0.01480739 0.01479333] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.00981419 -0.00858352] 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, 4.8) m/s. Its current heading (yaw) is 0.57

The most relevant actors are: A vehicle with ID 4 is 7.7 meters away at (1.3, 7.6). A pedestrian with ID 90 is 10.4 meters away at (5.8, -8.6). A pedestrian with ID 66 is 15.3 meters away at (14.2, -5.8). A vehicle with ID 37 is 20.0 meters away at (18.7, 6.9). A cyclist with ID 69 is 25.8 meters away at (-25.6, 2.9). A vehicle with ID 36 is 26.0 meters away at (24.6, 8.4). A vehicle with ID 29 is 30.1 meters away at (-27.0, -13.3). A vehicle with ID 95 is 31.3 meters away at (28.8, 12.2). A pedestrian with ID 71 is 34.0 meters away at (-24.9, -23.1). A pedestrian with ID 82 is 34.1 meters away at (-25.8, -22.3).

The vehicle with ID 4 is traveling at a (x, y) velocity of [9.180786 5.790284] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.0109835  0.00231351] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.5966474   0.24014476] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 69 is traveling at a (x, y) velocity of [-0.86958146 -1.1316122 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0.19754508 0.2719778 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [8.704605  5.3628383] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.28992984 -0.13371669] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.1158546 -0.560291 ] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a vehicle at [1.3161163 7.6190968], 7.73193359375 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, 4.4) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A vehicle with ID 37 is 4.8 meters away at (4.3, -2.1). A vehicle with ID 36 is 10.1 meters away at (10.1, -0.6). A vehicle with ID 4 is 10.6 meters away at (4.5, 9.5). A vehicle with ID 95 is 14.7 meters away at (14.3, 3.0). A pedestrian with ID 66 is 15.4 meters away at (0.0, -15.4). A pedestrian with ID 64 is 17.2 meters away at (13.8, -10.3). A vehicle with ID 29 is 26.5 meters away at (-24.0, -11.4). A pedestrian with ID 58 is 32.5 meters away at (31.3, 8.6). A cyclist with ID 69 is 43.1 meters away at (-42.2, -8.9). A pedestrian with ID 70 is 45.8 meters away at (31.5, 33.2).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [8.563526 5.344207] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.05365416  0.00173086] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.00431226  0.01243325] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [8.5262165 5.365    ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.0922174 -1.1434058] m/s.The cyclist with ID 69 is traveling at a (x, y) velocity of [-0.8544467 -1.0310215] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-1.0597892  -0.69374675] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, 4.1) m/s. Its current heading (yaw) is 0.54

The most relevant actors are: A vehicle with ID 95 is 5.6 meters away at (0.6, -5.5). A vehicle with ID 36 is 9.8 meters away at (-3.7, -9.0). A vehicle with ID 4 is 13.2 meters away at (6.9, 11.2). A vehicle with ID 37 is 14.2 meters away at (-9.5, -10.6). A pedestrian with ID 58 is 15.4 meters away at (15.2, -2.2). A pedestrian with ID 64 is 18.9 meters away at (-0.1, -18.9). A vehicle with ID 29 is 24.1 meters away at (-22.0, -10.0). A pedestrian with ID 66 is 27.6 meters away at (-13.8, -23.9). A pedestrian with ID 70 is 28.0 meters away at (15.5, 23.3). A pedestrian with ID 14 is 28.5 meters away at (15.1, 24.2).

The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [7.8253365 4.969888 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.2511798 -1.0571291] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.03381824 -0.00739058] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [7.3010235 4.6301656] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.02769462  0.01560274] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-1.1680301  -0.64557016] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.1396831  -0.56073934] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -5.5) m/s. Its current heading (yaw) is -0.84

The most relevant actors are: A vehicle with ID 10 is 47.4 meters away at (31.5, -35.4). A pedestrian with ID 11 is 67.0 meters away at (3.0, 66.9).

The vehicle with ID 10 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 [-0.06073316  0.02629539] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -5.3) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A vehicle with ID 10 is 32.0 meters away at (20.4, -24.7).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -5.4) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A vehicle with ID 10 is 15.9 meters away at (7.7, -13.9).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -5.1) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A vehicle with ID 10 is 6.1 meters away at (-5.0, -3.5). A pedestrian with ID 7 is 23.0 meters away at (-11.4, -19.9).

The vehicle with ID 10 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 [-3.3663993e-05  5.2380028e-06] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 8.2) m/s. Its current heading (yaw) is 1.20

The most relevant actors are: A unknown object with ID 30 is 4.2 meters away at (-3.1, 2.8). A pedestrian with ID 29 is 5.9 meters away at (-5.3, 2.4). A unknown object with ID 17 is 6.9 meters away at (-5.2, 4.6). A unknown object with ID 20 is 8.1 meters away at (-4.4, 6.8). A unknown object with ID 15 is 8.7 meters away at (-1.6, 8.5). A unknown object with ID 10 is 8.9 meters away at (-0.4, 8.9). A unknown object with ID 27 is 9.9 meters away at (-7.2, -6.8). A unknown object with ID 32 is 10.5 meters away at (-0.5, 10.5). A unknown object with ID 26 is 11.3 meters away at (-6.9, -8.9). A unknown object with ID 8 is 11.6 meters away at (-2.7, 11.3).

The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.04399476 0.8699671 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-13.392959 -27.582502]
 [-13.150012 -27.74892 ]]

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-3.1180289  2.8398943], 4.217475891113281 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 9.2) m/s. Its current heading (yaw) is 1.28

The most relevant actors are: A unknown object with ID 32 is 9.5 meters away at (-6.6, -6.8). A unknown object with ID 10 is 10.6 meters away at (-6.6, -8.3). A unknown object with ID 20 is 15.0 meters away at (-10.6, -10.6). A unknown object with ID 17 is 17.0 meters away at (-11.4, -12.6). A unknown object with ID 30 is 17.1 meters away at (-9.3, -14.4). A pedestrian with ID 29 is 17.8 meters away at (-11.1, -13.9). A unknown object with ID 27 is 27.6 meters away at (-13.4, -24.2). A unknown object with ID 26 is 29.3 meters away at (-13.0, -26.3). A unknown object with ID 23 is 31.5 meters away at (-13.7, -28.4). A unknown object with ID 22 is 33.6 meters away at (-15.0, -30.0).

The unknown object with ID 32 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 unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.42345703 0.7052512 ] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-13.392959 -27.582502]
 [-13.150012 -27.74892 ]]

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-6.5632615 -6.8331394], 9.474608421325684 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 7.7) m/s. Its current heading (yaw) is 1.37

The most relevant actors are: A vehicle with ID 13 is 19.2 meters away at (12.4, 14.6). A pedestrian with ID 29 is 33.7 meters away at (-15.3, -30.0). A unknown object with ID 2 is 45.8 meters away at (2.4, 45.8). A unknown object with ID 26 is 47.5 meters away at (-17.7, -44.1). A vehicle with ID 19 is 71.8 meters away at (57.4, 43.1). A pedestrian with ID 31 is 73.9 meters away at (-9.4, -73.3).

The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.45018458 -2.605174  ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.38980272 1.0309726 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [11.13453     0.14159016] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.01239662 0.03136784] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 3.6) m/s. Its current heading (yaw) is 1.42

The most relevant actors are: A vehicle with ID 1 is 9.8 meters away at (9.5, -2.2). A vehicle with ID 13 is 9.8 meters away at (9.5, -2.4). A unknown object with ID 2 is 34.7 meters away at (0.3, 34.7). A vehicle with ID 28 is 50.2 meters away at (15.4, 47.8). A unknown object with ID 5 is 52.2 meters away at (35.6, 38.1).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.54971707 -2.9388921 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.54185647 -3.0254965 ] m/s.The unknown object with ID 2 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 [ 3.0559175 -7.9582977] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[21.126041 79.011986]
 [24.3295   79.46278 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.3) m/s. Its current heading (yaw) is -2.30

The most relevant actors are: A vehicle with ID 36 is 4.2 meters away at (4.2, -0.3). A vehicle with ID 37 is 6.9 meters away at (6.3, -2.9). A vehicle with ID 38 is 7.4 meters away at (-4.6, -5.7). A vehicle with ID 34 is 10.0 meters away at (-1.9, -9.8). A vehicle with ID 39 is 10.5 meters away at (10.2, 2.2). A vehicle with ID 13 is 16.2 meters away at (14.7, 6.9). A vehicle with ID 41 is 22.7 meters away at (18.7, 12.9). A vehicle with ID 45 is 24.3 meters away at (17.6, 16.8). A vehicle with ID 43 is 30.7 meters away at (23.9, 19.3). A vehicle with ID 46 is 31.6 meters away at (-14.1, -28.3).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.9219517 -2.5575933] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.46516302 -0.5837413 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-1.1976277 -4.210924 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-4.1303515 -5.0098047] 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.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -1.9) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 36 is 5.2 meters away at (1.7, -4.9). A vehicle with ID 37 is 8.0 meters away at (7.9, -1.0). A vehicle with ID 39 is 12.4 meters away at (11.7, 4.1). A vehicle with ID 38 is 12.9 meters away at (-8.0, -10.1). A vehicle with ID 45 is 14.2 meters away at (11.0, 8.9). A vehicle with ID 34 is 18.0 meters away at (1.0, -18.0). A vehicle with ID 13 is 18.5 meters away at (16.3, 8.9). A vehicle with ID 41 is 25.2 meters away at (20.3, 14.8). A vehicle with ID 52 is 27.5 meters away at (-8.6, -26.1). A vehicle with ID 46 is 29.2 meters away at (-12.5, -26.3).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.7238485 -4.4357567] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-4.4255314 -5.5900464] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-4.070364 -4.800586] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 2.6081862 -4.8317094] m/s.The vehicle with ID 13 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -2.3) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 45 is 9.0 meters away at (8.1, 4.0). A vehicle with ID 36 is 11.5 meters away at (5.9, -9.9). A vehicle with ID 37 is 13.1 meters away at (12.4, 4.2). A vehicle with ID 39 is 18.9 meters away at (16.3, 9.5). A vehicle with ID 52 is 21.2 meters away at (-3.9, -20.8). A vehicle with ID 46 is 22.5 meters away at (-7.8, -21.1). A vehicle with ID 34 is 25.1 meters away at (13.5, -21.2). A vehicle with ID 13 is 25.2 meters away at (20.7, 14.3). A vehicle with ID 38 is 25.7 meters away at (-15.4, -20.6). A vehicle with ID 53 is 26.8 meters away at (19.2, 18.8).

The vehicle with ID 45 is traveling at a (x, y) velocity of [-3.0433624 -5.373201 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 1.4777714 -5.393657 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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 34 is traveling at a (x, y) velocity of [ 5.5116262 -4.2584424] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.6316195 -8.888939 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-4.331791 -5.06681 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 1.2) m/s. Its current heading (yaw) is 2.86

The most relevant actors are: A vehicle with ID 45 is 13.7 meters away at (12.5, -5.5). A vehicle with ID 52 is 19.2 meters away at (3.1, -19.0). A vehicle with ID 46 is 19.3 meters away at (-0.8, -19.3). A vehicle with ID 53 is 19.9 meters away at (17.3, 9.7). A vehicle with ID 37 is 20.3 meters away at (19.3, 6.1). A vehicle with ID 47 is 25.2 meters away at (-5.3, -24.7). A vehicle with ID 36 is 25.8 meters away at (19.1, -17.3). A vehicle with ID 39 is 25.8 meters away at (23.2, 11.4). A vehicle with ID 13 is 32.0 meters away at (27.7, 16.1). A vehicle with ID 49 is 32.3 meters away at (-10.0, -30.7).

The vehicle with ID 45 is traveling at a (x, y) velocity of [ 0.8508552 -5.7409883] m/s.The vehicle with ID 52 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 [-4.256924 -5.600122] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 4.3105803 -3.4470248] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.4) m/s. Its current heading (yaw) is 2.11

The most relevant actors are: A vehicle with ID 56 is 4.9 meters away at (1.6, 4.7). A vehicle with ID 6 is 6.6 meters away at (3.5, -5.5). A vehicle with ID 8 is 7.7 meters away at (-4.2, 6.4). A vehicle with ID 64 is 7.7 meters away at (6.1, -4.7). A vehicle with ID 53 is 10.1 meters away at (-2.2, 9.9). A vehicle with ID 17 is 14.2 meters away at (-8.2, 11.6). A vehicle with ID 66 is 16.0 meters away at (-5.7, 15.0). A unknown object with ID 23 is 16.9 meters away at (-15.5, -6.8). A vehicle with ID 61 is 17.1 meters away at (-12.1, 12.0). A pedestrian with ID 67 is 20.3 meters away at (-3.2, -20.1).

The vehicle with ID 56 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-1.1824913  1.5925367] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.99965924 -1.0295683 ] m/s.

There are active red lights at the following coordinates: [[-26.630173  41.87444 ]
 [-30.609932  38.81585 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.11

The most relevant actors are: A vehicle with ID 56 is 4.7 meters away at (1.8, 4.4). A vehicle with ID 6 is 6.3 meters away at (3.4, -5.3). A vehicle with ID 8 is 7.4 meters away at (-4.0, 6.2). A vehicle with ID 64 is 8.0 meters away at (6.3, -5.0). A vehicle with ID 53 is 9.8 meters away at (-2.0, 9.6). A vehicle with ID 17 is 13.9 meters away at (-8.0, 11.4). A vehicle with ID 66 is 15.6 meters away at (-5.4, 14.6). A vehicle with ID 61 is 18.5 meters away at (-13.0, 13.2). A vehicle with ID 19 is 21.0 meters away at (-9.0, 19.0). A pedestrian with ID 67 is 22.5 meters away at (-1.1, -22.5).

The vehicle with ID 56 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-0.24196613  0.34313747] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 1.0138764 -1.10938  ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.11

The most relevant actors are: A vehicle with ID 56 is 4.7 meters away at (1.8, 4.3). A vehicle with ID 6 is 6.4 meters away at (3.4, -5.4). A vehicle with ID 8 is 7.4 meters away at (-4.0, 6.2). A vehicle with ID 64 is 8.1 meters away at (6.3, -5.1). A vehicle with ID 53 is 9.7 meters away at (-2.0, 9.5). A vehicle with ID 17 is 14.7 meters away at (-8.5, 12.0). A vehicle with ID 66 is 15.5 meters away at (-5.4, 14.5). A vehicle with ID 61 is 19.7 meters away at (-13.7, 14.2). A vehicle with ID 19 is 21.0 meters away at (-9.0, 18.9). A pedestrian with ID 67 is 24.7 meters away at (0.6, -24.6).

The vehicle with ID 56 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 [-0.6789553   0.94991755] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-0.74043775  0.9961474 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.895281  -1.1394832] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.6) m/s. Its current heading (yaw) is 2.11

The most relevant actors are: A vehicle with ID 56 is 4.4 meters away at (2.0, 3.9). A vehicle with ID 6 is 6.9 meters away at (3.7, -5.8). A vehicle with ID 64 is 8.6 meters away at (6.6, -5.5). A vehicle with ID 8 is 8.9 meters away at (-4.9, 7.4). A vehicle with ID 53 is 9.3 meters away at (-1.7, 9.1). A vehicle with ID 66 is 15.0 meters away at (-5.1, 14.1). A unknown object with ID 29 is 18.1 meters away at (-14.7, -10.6). A vehicle with ID 17 is 18.8 meters away at (-10.8, 15.4). A vehicle with ID 19 is 20.5 meters away at (-8.8, 18.6). A vehicle with ID 61 is 23.8 meters away at (-16.2, 17.4).

The vehicle with ID 56 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 64 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 [-1.277542   1.7699662] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 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 [-1.9133037  2.7009933] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-2.0082428  2.6748836] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -1.5) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 7 is 7.4 meters away at (3.9, 6.3). A vehicle with ID 57 is 8.2 meters away at (8.0, 1.6). A vehicle with ID 68 is 11.5 meters away at (-7.8, -8.5). A vehicle with ID 61 is 13.0 meters away at (11.3, 6.6). A vehicle with ID 53 is 15.9 meters away at (8.0, 13.7). A vehicle with ID 14 is 16.2 meters away at (7.2, -14.6). A vehicle with ID 63 is 18.2 meters away at (14.2, 11.4). A vehicle with ID 65 is 18.3 meters away at (-18.3, 1.4). A pedestrian with ID 18 is 20.0 meters away at (-17.9, 9.0). A pedestrian with ID 75 is 20.2 meters away at (16.4, 11.9).

The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.712365  -1.1765568] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-2.629588   2.3186576] m/s.The vehicle with ID 61 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 [-0.49425754 -0.8268648 ] m/s.The vehicle with ID 14 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 [-0.33184108  0.30739155] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.02243536 -0.02489964] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.9025667 -1.43885  ] m/s.

There are active red lights at the following coordinates: [[-30.72008     3.8621686]
 [-29.215464    7.2378616]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -1.3) m/s. Its current heading (yaw) is -2.08

The most relevant actors are: A vehicle with ID 7 is 7.2 meters away at (3.8, 6.1). A vehicle with ID 68 is 9.9 meters away at (-9.6, -2.6). A vehicle with ID 57 is 10.7 meters away at (9.8, 4.4). A vehicle with ID 14 is 14.7 meters away at (8.9, -11.7). A vehicle with ID 61 is 16.1 meters away at (13.0, 9.4). A vehicle with ID 53 is 16.2 meters away at (8.2, 14.0). A vehicle with ID 65 is 17.3 meters away at (-16.8, 4.4). A vehicle with ID 13 is 19.9 meters away at (12.9, -15.2). A pedestrian with ID 62 is 20.0 meters away at (-16.6, 11.2). A pedestrian with ID 75 is 20.2 meters away at (16.3, 11.9).

The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.000582  -1.7720482] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-1.0794162   0.96093035] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 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 [-0.9409688 -1.6460763] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.00337036 -0.0692993 ] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.81681585 -1.4033535 ] m/s.

There are active red lights at the following coordinates: [[-30.72008     3.8621686]
 [-29.215464    7.2378616]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -2.6) m/s. Its current heading (yaw) is -1.84

The most relevant actors are: A vehicle with ID 7 is 7.3 meters away at (3.5, 6.4). A vehicle with ID 68 is 9.1 meters away at (-8.8, 2.2). A vehicle with ID 14 is 13.2 meters away at (10.6, -8.0). A vehicle with ID 57 is 14.2 meters away at (11.6, 8.2). A vehicle with ID 53 is 16.0 meters away at (7.8, 13.9). A vehicle with ID 65 is 17.2 meters away at (-15.0, 8.4). A vehicle with ID 13 is 18.5 meters away at (14.5, -11.4). A pedestrian with ID 82 is 19.6 meters away at (-18.6, -6.4). A vehicle with ID 61 is 19.9 meters away at (14.9, 13.2). A pedestrian with ID 75 is 20.7 meters away at (16.4, 12.6).

The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.0697694 -1.7398694] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-1.2280543 -2.1462662] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 0.03275742 -0.03000664] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.81805784 -1.360278  ] m/s.

There are active red lights at the following coordinates: [[-30.72008     3.8621686]
 [-29.215464    7.2378616]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -4.1) m/s. Its current heading (yaw) is -1.21

The most relevant actors are: A vehicle with ID 7 is 9.4 meters away at (0.7, 9.4). A vehicle with ID 14 is 10.4 meters away at (10.3, -1.1). A vehicle with ID 68 is 12.9 meters away at (-9.1, 9.1). A vehicle with ID 13 is 15.0 meters away at (14.3, -4.6). A vehicle with ID 58 is 15.0 meters away at (3.9, -14.5). A vehicle with ID 53 is 17.4 meters away at (5.1, 16.7). A vehicle with ID 57 is 18.8 meters away at (11.4, 15.0). A pedestrian with ID 82 is 18.8 meters away at (-18.8, 0.6). A vehicle with ID 87 is 20.0 meters away at (-0.6, -20.0). A vehicle with ID 65 is 21.6 meters away at (-15.2, 15.3).

The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.4873685 -2.4505858] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 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 53 is traveling at a (x, y) velocity of [-1.3576554 -2.2606025] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [0.00679283 0.03282404] m/s.The vehicle with ID 87 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.

There are active red lights at the following coordinates: [[-30.72008     3.8621686]
 [-29.215464    7.2378616]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.5) m/s. Its current heading (yaw) is 2.70

The most relevant actors are: A unknown object with ID 82 is 2.9 meters away at (0.0, -2.9). A unknown object with ID 86 is 3.0 meters away at (-2.3, -2.0). A unknown object with ID 77 is 3.9 meters away at (1.4, -3.6). A unknown object with ID 89 is 4.6 meters away at (-4.5, -1.0). A unknown object with ID 76 is 5.1 meters away at (2.9, -4.2). A unknown object with ID 80 is 5.8 meters away at (0.5, -5.7). A unknown object with ID 92 is 7.2 meters away at (-7.2, 0.2). A unknown object with ID 94 is 10.7 meters away at (-10.6, 1.5). A vehicle with ID 88 is 10.9 meters away at (5.1, 9.7). A vehicle with ID 81 is 13.4 meters away at (11.7, 6.6).

The unknown object with ID 82 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 89 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 80 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 unknown object with ID 94 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 81 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.