The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -1.9) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A vehicle with ID 95 is 5.8 meters away at (-5.0, -3.0). A vehicle with ID 59 is 6.7 meters away at (0.8, 6.7). A pedestrian with ID 57 is 8.0 meters away at (0.1, -8.0). A pedestrian with ID 58 is 8.7 meters away at (0.3, -8.7). A vehicle with ID 93 is 10.5 meters away at (-10.4, -1.4). A vehicle with ID 90 is 15.3 meters away at (-15.3, 0.3). A vehicle with ID 99 is 22.0 meters away at (-17.9, 12.8). A pedestrian with ID 89 is 22.1 meters away at (-22.1, 0.2). A vehicle with ID 88 is 23.7 meters away at (-16.5, 16.9). A vehicle with ID 76 is 27.5 meters away at (6.8, -26.7).

The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-7.1838703  2.500358 ] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.9524243   0.65349495] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.8454816   0.70938826] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [-4.5469804  1.4076799] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.46993858  0.14713188] m/s.The vehicle with ID 88 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 [-1.9984396 -7.0419316] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -4.1) m/s. Its current heading (yaw) is -1.02

The most relevant actors are: A vehicle with ID 52 is 9.3 meters away at (5.3, 7.6). A pedestrian with ID 58 is 10.1 meters away at (-9.8, -2.4). A pedestrian with ID 57 is 10.4 meters away at (-10.3, -1.7). A vehicle with ID 95 is 13.4 meters away at (-13.1, 2.6). A pedestrian with ID 25 is 15.5 meters away at (6.1, -14.2). A vehicle with ID 93 is 19.2 meters away at (-18.7, 4.3). A vehicle with ID 59 is 24.0 meters away at (-18.0, 15.8). A pedestrian with ID 49 is 24.0 meters away at (22.3, 8.9). A vehicle with ID 12 is 24.2 meters away at (-5.4, -23.5). A vehicle with ID 90 is 24.3 meters away at (-23.5, 6.0).

The vehicle with ID 52 is traveling at a (x, y) velocity of [-7.298441  2.832048] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.1749601   0.21655604] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.2085454   0.23846404] m/s.The vehicle with ID 95 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 [-0.14244892 -0.3440721 ] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-3.932672  1.240297] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.0534889  -0.01094574] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -2.8) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 52 is 4.9 meters away at (2.5, -4.2). A vehicle with ID 57 is 9.7 meters away at (7.7, -6.0). A unknown object with ID 56 is 10.3 meters away at (9.6, 3.8). A vehicle with ID 62 is 14.7 meters away at (12.5, -7.7). A vehicle with ID 47 is 15.7 meters away at (15.7, 0.5). A vehicle with ID 67 is 20.1 meters away at (17.7, -9.5). A vehicle with ID 70 is 25.2 meters away at (22.6, -11.2). A vehicle with ID 49 is 28.8 meters away at (28.6, -3.7). A vehicle with ID 53 is 33.6 meters away at (-33.5, -1.4). A vehicle with ID 58 is 39.2 meters away at (-39.2, 0.3).

The vehicle with ID 52 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 unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -2.8) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 62 is 4.2 meters away at (-3.6, -2.2). A vehicle with ID 67 is 4.2 meters away at (1.4, -4.0). A vehicle with ID 47 is 6.1 meters away at (-0.4, 6.0). A vehicle with ID 70 is 8.4 meters away at (6.2, -5.6). A vehicle with ID 57 is 8.6 meters away at (-8.5, -0.4). A vehicle with ID 49 is 12.4 meters away at (12.3, 1.9). A vehicle with ID 52 is 13.7 meters away at (-13.6, 1.4). A vehicle with ID 42 is 14.3 meters away at (7.5, 12.2). A vehicle with ID 28 is 19.3 meters away at (-19.3, 1.1). A vehicle with ID 30 is 20.4 meters away at (12.0, 16.5).

The vehicle with ID 62 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -2.7) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 49 is 8.4 meters away at (-4.0, 7.4). A vehicle with ID 80 is 9.1 meters away at (6.9, -5.9). A vehicle with ID 70 is 10.0 meters away at (-10.0, -0.2). A vehicle with ID 48 is 10.1 meters away at (9.8, 2.5). A vehicle with ID 67 is 14.8 meters away at (-14.8, 1.5). A vehicle with ID 42 is 19.8 meters away at (-8.8, 17.7). A vehicle with ID 50 is 19.8 meters away at (19.8, -0.8). A vehicle with ID 62 is 20.2 meters away at (-20.0, 3.4). A vehicle with ID 47 is 20.3 meters away at (-16.7, 11.5). A unknown object with ID 35 is 23.5 meters away at (16.6, -16.6).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -2.4) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 50 is 6.3 meters away at (4.5, 4.4). A vehicle with ID 80 is 8.2 meters away at (-8.2, -0.7). A vehicle with ID 48 is 9.3 meters away at (-5.4, 7.7). A unknown object with ID 9 is 11.1 meters away at (2.0, -10.9). A unknown object with ID 35 is 11.6 meters away at (1.5, -11.5). A unknown object with ID 40 is 12.0 meters away at (1.9, -11.8). A vehicle with ID 51 is 12.0 meters away at (11.8, 2.0). A vehicle with ID 4 is 13.6 meters away at (11.5, -7.3). A vehicle with ID 3 is 18.0 meters away at (18.0, 0.1). A unknown object with ID 45 is 22.5 meters away at (-1.6, -22.4).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -1.1) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A unknown object with ID 12 is 6.1 meters away at (1.7, 5.9). A unknown object with ID 13 is 8.2 meters away at (-3.5, 7.4). A unknown object with ID 15 is 9.0 meters away at (-5.4, 7.1). A unknown object with ID 17 is 10.6 meters away at (-7.4, 7.5). A unknown object with ID 14 is 12.6 meters away at (-9.5, 8.4). A unknown object with ID 16 is 14.4 meters away at (-11.2, 9.1). A unknown object with ID 18 is 16.3 meters away at (-13.0, 9.9). A unknown object with ID 19 is 18.2 meters away at (-14.7, 10.7). A vehicle with ID 7 is 19.6 meters away at (17.4, -9.0). A unknown object with ID 20 is 20.1 meters away at (-16.4, 11.5).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0.01609894 7.4376335 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[18.056005  -8.624928 ]
 [16.331593  -3.5215225]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [1.6752701 5.8549023], 6.0898613929748535 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.1) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A unknown object with ID 12 is 6.9 meters away at (-0.4, 6.9). A unknown object with ID 13 is 10.1 meters away at (-5.6, 8.4). A unknown object with ID 15 is 11.1 meters away at (-7.6, 8.1). A unknown object with ID 17 is 12.8 meters away at (-9.5, 8.6). A unknown object with ID 14 is 14.8 meters away at (-11.5, 9.3). A unknown object with ID 16 is 16.8 meters away at (-13.4, 10.1). A vehicle with ID 7 is 17.3 meters away at (15.4, 7.9). A unknown object with ID 18 is 18.7 meters away at (-15.2, 10.9). A unknown object with ID 19 is 20.7 meters away at (-17.0, 11.8). A unknown object with ID 20 is 22.8 meters away at (-18.9, 12.7).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 14 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 7 is traveling at a (x, y) velocity of [0.09676042 8.312022  ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[18.056005  -8.624928 ]
 [16.331593  -3.5215225]]

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A unknown object with ID 12 is 7.0 meters away at (-0.5, 7.0). A unknown object with ID 13 is 10.2 meters away at (-5.7, 8.5). A unknown object with ID 15 is 11.3 meters away at (-7.7, 8.2). A unknown object with ID 17 is 13.0 meters away at (-9.7, 8.6). A vehicle with ID 9 is 27.5 meters away at (27.4, -1.6). A vehicle with ID 7 is 29.7 meters away at (15.3, 25.5). A pedestrian with ID 35 is 35.3 meters away at (-32.6, 13.5). A unknown object with ID 44 is 37.7 meters away at (-29.0, 24.1). A unknown object with ID 45 is 38.9 meters away at (-30.7, 23.9). A unknown object with ID 47 is 48.0 meters away at (-44.4, 18.3).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 vehicle with ID 9 is traveling at a (x, y) velocity of [-0.10580708 -6.079598  ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0.08089019 8.7923975 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.74158245  1.1038857 ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[18.056005  -8.624928 ]
 [16.331593  -3.5215225]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-0.545938   6.9500666], 6.971475601196289 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 -0.41

The most relevant actors are: A unknown object with ID 12 is 7.0 meters away at (-0.6, 6.9). A unknown object with ID 13 is 10.2 meters away at (-5.7, 8.5). A unknown object with ID 15 is 11.3 meters away at (-7.8, 8.2). A unknown object with ID 17 is 13.0 meters away at (-9.7, 8.7). A vehicle with ID 9 is 30.9 meters away at (27.2, -14.7). A pedestrian with ID 35 is 37.5 meters away at (-33.7, 16.4). A unknown object with ID 44 is 37.7 meters away at (-29.0, 24.1). A unknown object with ID 45 is 39.0 meters away at (-30.7, 24.0). A unknown object with ID 47 is 48.1 meters away at (-44.4, 18.3). A unknown object with ID 48 is 48.6 meters away at (-41.9, 24.5).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 vehicle with ID 9 is traveling at a (x, y) velocity of [-6.9246143e-03 -6.9257970e+00] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.10088198  1.5699378 ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[18.056005  -8.624928 ]
 [16.331593  -3.5215225]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-0.58181334  6.9468966 ], 6.971218109130859 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -5.5) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 73 is 3.6 meters away at (-0.9, -3.5). A vehicle with ID 71 is 5.3 meters away at (-5.2, 0.6). A vehicle with ID 72 is 6.6 meters away at (6.2, 2.1). A vehicle with ID 86 is 6.6 meters away at (0.9, 6.5). A pedestrian with ID 90 is 9.7 meters away at (9.4, 2.3). A vehicle with ID 80 is 11.6 meters away at (-10.5, 5.0). A vehicle with ID 75 is 12.3 meters away at (7.0, -10.1). A vehicle with ID 70 is 16.1 meters away at (15.2, -5.4). A vehicle with ID 79 is 16.9 meters away at (-8.4, 14.6). A vehicle with ID 69 is 21.2 meters away at (19.2, -9.0).

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 [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.42764467 0.42436042] m/s.The vehicle with ID 80 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -5.0) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 75 is 5.2 meters away at (-5.2, 0.3). A vehicle with ID 70 is 5.8 meters away at (3.0, 5.0). A vehicle with ID 69 is 7.1 meters away at (6.9, 1.4). A vehicle with ID 74 is 7.8 meters away at (3.7, -6.9). A pedestrian with ID 90 is 12.9 meters away at (-2.1, 12.8). A vehicle with ID 20 is 13.3 meters away at (7.7, -10.8). A vehicle with ID 72 is 13.8 meters away at (-5.9, 12.5). A vehicle with ID 73 is 14.8 meters away at (-13.1, 7.0). A vehicle with ID 76 is 18.7 meters away at (12.0, -14.4). A vehicle with ID 86 is 20.4 meters away at (-11.4, 17.0).

The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.47500262 -0.31554875] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 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 86 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -4.7) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 20 is 3.9 meters away at (-3.7, -1.1). A vehicle with ID 76 is 4.6 meters away at (0.5, -4.6). A vehicle with ID 74 is 8.1 meters away at (-7.6, 2.7). A vehicle with ID 42 is 11.3 meters away at (11.1, -2.2). A vehicle with ID 69 is 12.1 meters away at (-4.6, 11.2). A unknown object with ID 56 is 14.3 meters away at (7.5, -12.2). A unknown object with ID 9 is 15.3 meters away at (15.2, 2.2). A unknown object with ID 10 is 15.5 meters away at (15.4, 2.0). A unknown object with ID 8 is 15.7 meters away at (15.6, 1.9). A unknown object with ID 53 is 16.1 meters away at (16.1, 0.2).

The vehicle with ID 20 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -3.8) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 77 is 4.1 meters away at (0.1, -4.1). A vehicle with ID 42 is 6.6 meters away at (0.9, 6.5). A vehicle with ID 78 is 8.1 meters away at (3.7, -7.2). A vehicle with ID 68 is 8.8 meters away at (8.8, -0.2). A vehicle with ID 76 is 10.4 meters away at (-9.6, 4.0). A unknown object with ID 53 is 10.7 meters away at (5.9, 9.0). A unknown object with ID 50 is 11.0 meters away at (9.6, 5.5). A unknown object with ID 54 is 11.1 meters away at (9.7, 5.3). A unknown object with ID 5 is 11.4 meters away at (6.3, 9.5). A unknown object with ID 8 is 11.8 meters away at (5.2, 10.6).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 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 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -4.5) m/s. Its current heading (yaw) is -0.63

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -4.5) m/s. Its current heading (yaw) is -0.69

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -3.6) m/s. Its current heading (yaw) is -0.71

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -1.9) m/s. Its current heading (yaw) is -0.54

The most relevant actors are: A vehicle with ID 17 is 45.8 meters away at (45.0, -8.4). A unknown object with ID 4 is 56.2 meters away at (56.0, 4.8). A vehicle with ID 11 is 72.5 meters away at (68.8, 23.0).

The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.3032255 -5.906996 ] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.8) m/s. Its current heading (yaw) is -2.31

The most relevant actors are: A cyclist with ID 9 is 23.4 meters away at (18.1, 14.9). A vehicle with ID 10 is 35.1 meters away at (24.0, 25.6). A pedestrian with ID 11 is 50.2 meters away at (33.6, 37.4).

The cyclist with ID 9 is traveling at a (x, y) velocity of [-0.01580808 -0.00388072] m/s.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 [-0.72487706 -0.8112693 ] 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 -2.35

The most relevant actors are: A cyclist with ID 9 is 23.8 meters away at (18.3, 15.2). A vehicle with ID 10 is 35.6 meters away at (24.4, 25.9). A pedestrian with ID 11 is 49.0 meters away at (32.7, 36.4).

The cyclist with ID 9 is traveling at a (x, y) velocity of [0.00509218 0.02296816] m/s.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 [-0.6104777  -0.61985177] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.2) m/s. Its current heading (yaw) is -2.30

The most relevant actors are: A cyclist with ID 9 is 27.0 meters away at (20.5, 17.6). A vehicle with ID 10 is 38.7 meters away at (26.4, 28.3). A pedestrian with ID 11 is 50.5 meters away at (34.1, 37.2).

The cyclist with ID 9 is traveling at a (x, y) velocity of [-0.01832829 -0.02767728] m/s.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 [-0.4844217  -0.58553827] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -3.1) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A cyclist with ID 9 is 35.4 meters away at (26.3, 23.6). A vehicle with ID 10 is 47.0 meters away at (32.2, 34.2). A unknown object with ID 4 is 66.7 meters away at (59.0, -31.2). A unknown object with ID 3 is 73.5 meters away at (64.6, -34.9).

The cyclist with ID 9 is traveling at a (x, y) velocity of [-0.03995225  0.01944609] 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 unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 5.2) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 67 is 7.6 meters away at (-3.2, 6.8). A vehicle with ID 69 is 19.8 meters away at (1.6, -19.8). A vehicle with ID 73 is 36.0 meters away at (-4.1, -35.8). A pedestrian with ID 79 is 39.2 meters away at (-35.3, 17.0). A vehicle with ID 71 is 40.3 meters away at (25.8, -30.9). A unknown object with ID 68 is 40.7 meters away at (-29.1, 28.5). A unknown object with ID 6 is 40.9 meters away at (-28.1, 29.7). A vehicle with ID 72 is 43.0 meters away at (30.2, -30.6). A vehicle with ID 74 is 47.3 meters away at (31.3, -35.4). A vehicle with ID 75 is 48.0 meters away at (40.8, -25.3).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 1.2922506 -1.1404043] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.0) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 67 is 8.8 meters away at (8.2, -3.2). A unknown object with ID 49 is 15.3 meters away at (-13.6, -6.8). A unknown object with ID 56 is 20.9 meters away at (5.3, -20.2). A pedestrian with ID 79 is 21.5 meters away at (-21.0, 4.5). A unknown object with ID 68 is 25.3 meters away at (-17.5, 18.3). A unknown object with ID 6 is 25.5 meters away at (-16.6, 19.5). A vehicle with ID 69 is 32.9 meters away at (13.1, -30.2). A pedestrian with ID 81 is 44.3 meters away at (-27.5, 34.8). A vehicle with ID 64 is 51.0 meters away at (-41.2, 30.0). A pedestrian with ID 2 is 53.5 meters away at (-47.2, 25.2).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 1.2538546 -1.1750379] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.11177102  0.05266682] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 4.048546  -3.4621122] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.7209106 -1.0852073] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.2) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A pedestrian with ID 79 is 11.1 meters away at (-8.2, -7.5). A unknown object with ID 68 is 11.2 meters away at (-6.8, 8.9). A unknown object with ID 6 is 11.6 meters away at (-5.9, 10.0). A unknown object with ID 40 is 13.9 meters away at (-7.0, 12.0). A unknown object with ID 49 is 16.4 meters away at (-3.0, -16.1). A unknown object with ID 44 is 17.7 meters away at (-7.8, -15.9). A vehicle with ID 67 is 22.7 meters away at (18.9, -12.7). A vehicle with ID 64 is 24.3 meters away at (-20.9, 12.3). A unknown object with ID 42 is 35.6 meters away at (-34.0, -10.6). A pedestrian with ID 2 is 37.3 meters away at (-34.8, 13.5).

The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.8851676 -1.5083435] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 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 [ 5.4993615 -4.8221745] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.0874563 -1.1476468] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 2.5) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 68 is 2.2 meters away at (1.0, 2.0). A unknown object with ID 6 is 3.7 meters away at (2.0, 3.1). A vehicle with ID 64 is 5.1 meters away at (-0.9, -5.1). A pedestrian with ID 2 is 24.7 meters away at (-24.3, 4.5). A unknown object with ID 1 is 29.8 meters away at (-18.7, 23.2). A unknown object with ID 50 is 30.5 meters away at (-10.4, 28.7). A vehicle with ID 5 is 31.1 meters away at (-31.1, 0.4). A unknown object with ID 66 is 33.0 meters away at (-29.9, 14.0). A vehicle with ID 67 is 33.2 meters away at (26.8, -19.5). A vehicle with ID 12 is 34.5 meters away at (-34.4, -3.2).

The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 6.486351 -5.52189 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.1748456 -1.0102003] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [1.008503  1.9919014], 2.2326552867889404 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 4.7) m/s. Its current heading (yaw) is 1.44

The most relevant actors are: A vehicle with ID 5 is 10.4 meters away at (-1.6, -10.3). A vehicle with ID 31 is 16.1 meters away at (10.7, -12.1). A vehicle with ID 36 is 18.9 meters away at (13.9, 12.9). A unknown object with ID 32 is 23.4 meters away at (6.6, 22.5). A unknown object with ID 33 is 25.2 meters away at (7.3, 24.2). A unknown object with ID 35 is 25.5 meters away at (7.4, 24.4). A vehicle with ID 34 is 25.7 meters away at (-2.6, 25.5). A vehicle with ID 30 is 26.5 meters away at (-9.4, -24.8). A pedestrian with ID 37 is 27.8 meters away at (-5.0, 27.4). A vehicle with ID 38 is 33.5 meters away at (13.8, 30.5).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0.80601865 4.452216  ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-2.0930135 -9.277924 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.52439475 -5.133165  ] 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.01323759 -0.01139267] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.05583583 -6.5203404 ] m/s.

There are active red lights at the following coordinates: [[14.801266 13.650258]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 5.5) m/s. Its current heading (yaw) is 1.50

The most relevant actors are: A vehicle with ID 5 is 10.5 meters away at (-1.2, -10.4). A unknown object with ID 32 is 13.5 meters away at (5.5, 12.3). A vehicle with ID 38 is 14.7 meters away at (12.5, 7.7). A unknown object with ID 33 is 15.3 meters away at (6.3, 13.9). A unknown object with ID 35 is 15.4 meters away at (6.3, 14.1). A vehicle with ID 34 is 15.7 meters away at (-3.7, 15.3). A vehicle with ID 36 is 17.2 meters away at (16.0, -6.5). A pedestrian with ID 37 is 18.1 meters away at (-6.1, 17.1). A vehicle with ID 30 is 36.4 meters away at (-10.5, -34.9). A vehicle with ID 11 is 40.4 meters away at (-2.9, 40.3).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0.64032  5.484158] m/s.The unknown object with ID 32 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 [-0.0341043 -5.8096657] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 2.7124774 -3.8529599] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00758782  0.020151  ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[14.801266 13.650258]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 6.2) m/s. Its current heading (yaw) is 1.55

The most relevant actors are: A unknown object with ID 32 is 5.0 meters away at (5.0, 0.8). A vehicle with ID 34 is 5.7 meters away at (-4.3, 3.7). A unknown object with ID 35 is 6.2 meters away at (5.7, 2.6). A vehicle with ID 5 is 11.5 meters away at (-0.8, -11.5). A vehicle with ID 38 is 19.3 meters away at (13.0, -14.3). A vehicle with ID 11 is 28.8 meters away at (-3.5, 28.6). A vehicle with ID 36 is 32.8 meters away at (22.2, -24.1). A vehicle with ID 30 is 47.8 meters away at (-11.0, -46.5). A unknown object with ID 25 is 61.0 meters away at (44.1, -42.2). A pedestrian with ID 14 is 62.2 meters away at (44.3, -43.6).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 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 [0.31630313 5.443964  ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 1.5980315 -4.7029257] m/s.The vehicle with ID 11 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 [ 3.8543992 -2.310942 ] m/s.The vehicle with ID 30 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 14 is traveling at a (x, y) velocity of [0.00743778 0.03038142] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [4.973289  0.8428707], 5.04420804977417 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 6.7) m/s. Its current heading (yaw) is 1.58

The most relevant actors are: A pedestrian with ID 15 is 9.8 meters away at (-6.7, -7.1). A vehicle with ID 34 is 10.0 meters away at (-4.4, -9.0). A unknown object with ID 35 is 11.5 meters away at (5.6, -10.1). A unknown object with ID 32 is 12.7 meters away at (4.9, -11.7). A vehicle with ID 5 is 12.7 meters away at (-0.4, -12.7). A vehicle with ID 11 is 16.5 meters away at (-3.6, 16.1). A vehicle with ID 38 is 39.2 meters away at (18.1, -34.7). A vehicle with ID 36 is 50.3 meters away at (30.4, -40.1). A vehicle with ID 30 is 60.3 meters away at (-11.1, -59.2).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.01821783 -0.00265172] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 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 [0.18526345 6.2115173 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0.00774458 0.6179315 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 3.3254032 -2.7207973] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 4.250365  -0.8927208] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -3.2) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A cyclist with ID 78 is 6.6 meters away at (-2.8, 6.0). A pedestrian with ID 79 is 7.8 meters away at (-7.0, -3.4). A cyclist with ID 85 is 9.9 meters away at (4.7, 8.7). A pedestrian with ID 41 is 11.1 meters away at (-0.5, 11.1). A vehicle with ID 13 is 11.7 meters away at (-11.6, 1.6). A unknown object with ID 74 is 20.3 meters away at (-14.5, 14.2). A unknown object with ID 75 is 22.2 meters away at (-16.4, 14.9). A pedestrian with ID 87 is 23.1 meters away at (-19.0, -13.1). A unknown object with ID 81 is 23.3 meters away at (-13.4, 19.1). A unknown object with ID 76 is 24.3 meters away at (-18.4, 15.9).

The cyclist with ID 78 is traveling at a (x, y) velocity of [ 0.01050457 -0.02871352] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.03343969 -0.03312811] m/s.The cyclist with ID 85 is traveling at a (x, y) velocity of [ 1.5982472 -0.6616962] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.4292314 -1.051005 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 9.589239 -4.197439] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [1.4717637 1.0970049] m/s.The unknown object with ID 81 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.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -3.2) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A vehicle with ID 13 is 7.7 meters away at (-7.7, -0.4). A cyclist with ID 85 is 13.4 meters away at (-4.8, 12.5). A vehicle with ID 93 is 15.2 meters away at (9.7, 11.6). A vehicle with ID 73 is 18.5 meters away at (16.0, 9.4). A cyclist with ID 78 is 21.4 meters away at (-17.6, 12.1). A pedestrian with ID 79 is 22.0 meters away at (-21.8, 2.9). A pedestrian with ID 41 is 22.4 meters away at (-16.2, 15.5). A vehicle with ID 72 is 22.9 meters away at (14.0, 18.2). A unknown object with ID 46 is 23.2 meters away at (-22.9, 3.7). A cyclist with ID 42 is 24.6 meters away at (-18.3, 16.4).

The vehicle with ID 13 is traveling at a (x, y) velocity of [ 9.480079 -4.238021] m/s.The cyclist with ID 85 is traveling at a (x, y) velocity of [ 3.2773886 -1.4940997] m/s.The vehicle with ID 93 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 cyclist with ID 78 is traveling at a (x, y) velocity of [ 0.0119224  -0.03347627] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [0.00012583 0.00907246] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.5289445 -0.8934539] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 0.9057575  -0.18266307] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 42 is traveling at a (x, y) velocity of [ 0.02798962 -0.01689141] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, -3.1) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A vehicle with ID 13 is 4.2 meters away at (-3.5, -2.3). A vehicle with ID 73 is 15.6 meters away at (1.1, 15.6). A vehicle with ID 93 is 18.6 meters away at (-5.1, 17.9). A cyclist with ID 85 is 19.0 meters away at (-10.3, 15.9). A vehicle with ID 94 is 20.4 meters away at (8.0, 18.8). A vehicle with ID 25 is 21.5 meters away at (-20.8, 5.2). A vehicle with ID 72 is 23.8 meters away at (1.0, 23.8). A unknown object with ID 22 is 26.0 meters away at (25.2, -6.4). A unknown object with ID 21 is 27.2 meters away at (26.8, -4.6). A unknown object with ID 20 is 27.3 meters away at (26.4, -6.9).

The vehicle with ID 13 is traveling at a (x, y) velocity of [ 9.1892395 -3.935602 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 85 is traveling at a (x, y) velocity of [ 5.5248713 -1.8735356] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [ 1.3586771 -1.32541  ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 9.442845  -4.0253353] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 0.9600317 -0.4182951] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -3.3) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A vehicle with ID 13 is 3.9 meters away at (-0.3, -3.9). A unknown object with ID 22 is 10.6 meters away at (10.6, -0.2). A unknown object with ID 20 is 11.9 meters away at (11.8, -0.7). A unknown object with ID 48 is 12.0 meters away at (12.0, 0.3). A unknown object with ID 21 is 12.3 meters away at (12.2, 1.5). A unknown object with ID 18 is 12.6 meters away at (12.6, -0.2). A unknown object with ID 19 is 13.0 meters away at (13.0, 0.9). A vehicle with ID 25 is 17.4 meters away at (-17.1, 3.5). A cyclist with ID 85 is 21.4 meters away at (-13.0, 17.1). A vehicle with ID 94 is 22.2 meters away at (-4.3, 21.8).

The vehicle with ID 13 is traveling at a (x, y) velocity of [ 8.481646  -3.8968291] 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 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 [ 9.007601  -4.0041294] m/s.The cyclist with ID 85 is traveling at a (x, y) velocity of [ 5.687234  -2.8456278] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [ 1.201925  -2.0103166] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.2, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A pedestrian with ID 91 is 9.4 meters away at (4.2, 8.4). A vehicle with ID 83 is 11.8 meters away at (-6.3, -10.0). A vehicle with ID 82 is 15.2 meters away at (-11.4, -10.0). A vehicle with ID 81 is 17.5 meters away at (-14.2, -10.1). A vehicle with ID 102 is 18.7 meters away at (15.4, 10.5). A vehicle with ID 75 is 21.2 meters away at (18.2, 10.9). A vehicle with ID 95 is 22.5 meters away at (-0.5, -22.5). A vehicle with ID 105 is 23.6 meters away at (21.1, 10.4). A vehicle with ID 106 is 26.0 meters away at (23.9, 10.2). A vehicle with ID 88 is 27.0 meters away at (-14.0, -23.1).

The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.5016358   0.02558726] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [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 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 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.

Instruction: Sharp left turn approaching

(The closest actor is a pedestrian at [4.219845 8.419315], 9.417640686035156 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.7, 0.0) m/s. Its current heading (yaw) is 0.00

The most relevant actors are: A vehicle with ID 105 is 10.6 meters away at (1.2, 10.5). A vehicle with ID 106 is 11.0 meters away at (3.8, 10.4). A vehicle with ID 75 is 11.2 meters away at (-1.7, 11.0). A vehicle with ID 102 is 11.5 meters away at (-4.6, 10.6). A vehicle with ID 108 is 12.0 meters away at (6.6, 10.0). A vehicle with ID 110 is 14.3 meters away at (9.6, 10.6). A vehicle with ID 111 is 15.9 meters away at (12.3, 10.2). A vehicle with ID 112 is 20.5 meters away at (18.0, 9.8). A pedestrian with ID 91 is 20.5 meters away at (-18.6, 8.7). A vehicle with ID 66 is 23.0 meters away at (20.8, 10.0).

The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 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 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.3148036   0.10712958] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.3, -0.1) m/s. Its current heading (yaw) is -0.01

The most relevant actors are: A vehicle with ID 113 is 9.8 meters away at (0.3, -9.8). A vehicle with ID 66 is 10.0 meters away at (-0.3, 10.0). A vehicle with ID 112 is 10.3 meters away at (-3.0, 9.8). A vehicle with ID 114 is 10.4 meters away at (2.3, 10.2). A vehicle with ID 115 is 10.5 meters away at (3.0, -10.1). A vehicle with ID 58 is 11.3 meters away at (5.2, 10.1). A vehicle with ID 116 is 11.6 meters away at (5.8, -10.1). A vehicle with ID 117 is 12.8 meters away at (8.1, 9.9). A vehicle with ID 118 is 13.4 meters away at (8.7, -10.2). A vehicle with ID 111 is 13.5 meters away at (-8.7, 10.2).

The vehicle with ID 113 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 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 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 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.1, -0.2) m/s. Its current heading (yaw) is -0.02

The most relevant actors are: A vehicle with ID 77 is 9.7 meters away at (-0.9, -9.7). A vehicle with ID 47 is 10.0 meters away at (1.7, 9.9). A vehicle with ID 62 is 10.0 meters away at (-0.9, 10.0). A vehicle with ID 80 is 10.2 meters away at (-3.6, 9.5). A vehicle with ID 55 is 10.3 meters away at (-3.6, -9.7). A vehicle with ID 43 is 10.7 meters away at (4.7, -9.6). A vehicle with ID 119 is 11.3 meters away at (-6.3, -9.4). A vehicle with ID 44 is 11.3 meters away at (4.4, 10.5). A vehicle with ID 79 is 12.0 meters away at (-6.5, 10.1). A vehicle with ID 41 is 12.4 meters away at (7.0, 10.2).

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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 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.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 4.7) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 39 is 7.9 meters away at (-7.8, -1.4). A vehicle with ID 38 is 11.5 meters away at (-2.2, -11.2). A vehicle with ID 34 is 22.5 meters away at (9.1, -20.6). A vehicle with ID 33 is 22.9 meters away at (12.7, -19.1). A vehicle with ID 26 is 25.7 meters away at (-24.5, 7.6). A vehicle with ID 42 is 26.1 meters away at (-23.4, 11.6). A vehicle with ID 31 is 34.5 meters away at (19.0, -28.8). A vehicle with ID 11 is 37.1 meters away at (-33.6, -15.8). A vehicle with ID 32 is 48.8 meters away at (-37.3, 31.6). A vehicle with ID 22 is 50.0 meters away at (-43.9, 23.9).

The vehicle with ID 39 is traveling at a (x, y) velocity of [ 8.627081 -7.357129] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [10.908791 -9.139944] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 9.915518 -8.423689] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 8.396441  -7.0706563] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [10.306406 -8.783054] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 9.438559 -8.002763] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 9.740312 -8.31788 ] m/s.The vehicle with ID 11 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.4) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 42 is 13.4 meters away at (5.0, -12.4). A vehicle with ID 26 is 20.2 meters away at (6.9, -19.0). A vehicle with ID 16 is 26.8 meters away at (-24.0, 11.9). A vehicle with ID 39 is 32.0 meters away at (20.1, -24.9). A vehicle with ID 11 is 33.8 meters away at (-22.8, -25.0). A vehicle with ID 32 is 34.6 meters away at (-26.3, 22.4). A vehicle with ID 38 is 47.1 meters away at (28.9, -37.2). A unknown object with ID 27 is 52.4 meters away at (29.3, -43.4). A vehicle with ID 5 is 56.1 meters away at (-29.9, 47.4). A vehicle with ID 33 is 58.1 meters away at (40.1, -42.1).

The vehicle with ID 42 is traveling at a (x, y) velocity of [ 8.370377 -7.039413] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 9.901443 -8.374028] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 11.975556 -10.210122] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 8.276761 -7.025933] m/s.The vehicle with ID 11 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 38 is traveling at a (x, y) velocity of [ 9.525019  -7.9065547] m/s.The unknown object with ID 27 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 33 is traveling at a (x, y) velocity of [ 8.1736355 -6.9234576] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 3.4) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 16 is 17.3 meters away at (8.1, -15.3). A vehicle with ID 32 is 22.4 meters away at (-17.0, 14.5). A vehicle with ID 11 is 35.5 meters away at (-13.6, -32.8). A vehicle with ID 5 is 44.7 meters away at (-20.5, 39.7). A vehicle with ID 42 is 46.0 meters away at (30.9, -34.1). A vehicle with ID 1 is 47.1 meters away at (-16.6, 44.1). A vehicle with ID 26 is 55.4 meters away at (35.2, -42.7). A pedestrian with ID 9 is 55.8 meters away at (-37.4, 41.3). A vehicle with ID 39 is 64.9 meters away at (45.4, -46.4). A pedestrian with ID 8 is 71.7 meters away at (-62.5, 35.2).

The vehicle with ID 16 is traveling at a (x, y) velocity of [10.392126 -8.747544] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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 [ 8.052172 -6.720739] m/s.The vehicle with ID 1 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 [ 9.277105  -7.6618304] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.41710752 -1.2198399 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 7.791917 -6.583696] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 1.2749708  -0.94774604] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 2.1) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 32 is 14.1 meters away at (-10.7, 9.2). A vehicle with ID 5 is 37.2 meters away at (-14.3, 34.3). A vehicle with ID 25 is 38.2 meters away at (-7.1, 37.5). A vehicle with ID 11 is 38.7 meters away at (-7.4, -38.0). A vehicle with ID 1 is 40.1 meters away at (-10.4, 38.8). A pedestrian with ID 9 is 45.5 meters away at (-30.8, 33.5). A vehicle with ID 16 is 48.6 meters away at (32.7, -36.0). A pedestrian with ID 8 is 60.3 meters away at (-53.6, 27.7). A vehicle with ID 13 is 65.4 meters away at (-53.6, 37.5). A vehicle with ID 42 is 74.8 meters away at (53.0, -52.8).

The vehicle with ID 32 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 [ 0.02952132 -1.2520214 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 8.061874  -6.7654896] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 1.3269157 -1.0495404] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 5.215994 -4.397212] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 7.885782  -6.7391315] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 7.2) m/s. Its current heading (yaw) is 2.20

The most relevant actors are: A vehicle with ID 11 is 12.4 meters away at (4.6, -11.5). A vehicle with ID 13 is 16.0 meters away at (-12.2, 10.3). A vehicle with ID 6 is 74.3 meters away at (-51.5, 53.6).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0.24078019 0.17976077] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 3.456235  -4.1853476] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 7.115816  -7.1089187] m/s.

There are active red lights at the following coordinates: [[-1.9006393  -8.137109  ]
 [ 0.72900957 -6.199095  ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 8.1) m/s. Its current heading (yaw) is 2.22

The most relevant actors are: A vehicle with ID 13 is 13.2 meters away at (5.2, -12.1). A vehicle with ID 11 is 31.4 meters away at (16.6, -26.6). A vehicle with ID 6 is 35.1 meters away at (-25.7, 23.9). A vehicle with ID 9 is 67.4 meters away at (-47.6, 47.7).

The vehicle with ID 13 is traveling at a (x, y) velocity of [ 2.224344  -2.6805837] m/s.The vehicle with ID 11 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 [ 6.519222 -6.653675] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.7014136 -8.73335  ] m/s.

There are active red lights at the following coordinates: [[-1.9006393  -8.137109  ]
 [ 0.72900957 -6.199095  ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 8.4) m/s. Its current heading (yaw) is 2.24

The most relevant actors are: A vehicle with ID 6 is 4.5 meters away at (-1.2, -4.4). A vehicle with ID 9 is 25.9 meters away at (-20.3, 16.1). A vehicle with ID 13 is 38.6 meters away at (21.5, -32.0). A vehicle with ID 11 is 52.2 meters away at (30.1, -42.6).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.9643    -5.2311463] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.3739543 -6.4585433] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.94785994 -0.79305893] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-1.9006393  -8.137109  ]
 [ 0.72900957 -6.199095  ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 8.8) m/s. Its current heading (yaw) is 2.25

The most relevant actors are: A vehicle with ID 8 is 10.4 meters away at (2.8, -10.0). A vehicle with ID 9 is 13.6 meters away at (5.2, -12.6). A vehicle with ID 6 is 37.6 meters away at (21.6, -30.8). A vehicle with ID 3 is 40.2 meters away at (-30.4, 26.3). A vehicle with ID 13 is 61.7 meters away at (36.3, -49.9).

The vehicle with ID 8 is traveling at a (x, y) velocity of [ 5.428994 -5.289802] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 5.1960845 -4.881445 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 3.5766056 -3.7231095] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 8.8152075 -9.625852 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-1.9006393  -8.137109  ]
 [ 0.72900957 -6.199095  ]]

Instruction: Continue straight.


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

The most relevant actors are: A unknown object with ID 7 is 1.9 meters away at (-0.8, -1.7). A unknown object with ID 8 is 2.4 meters away at (-2.2, -0.8). A unknown object with ID 9 is 3.0 meters away at (0.8, -2.9). A vehicle with ID 10 is 3.5 meters away at (1.5, 3.2). A unknown object with ID 11 is 4.2 meters away at (-4.1, 0.8). A unknown object with ID 12 is 4.6 meters away at (2.3, -4.0). A unknown object with ID 13 is 6.1 meters away at (-5.8, 2.1). A unknown object with ID 14 is 6.8 meters away at (-6.3, 2.6). A unknown object with ID 15 is 6.8 meters away at (4.1, -5.4). A vehicle with ID 16 is 7.2 meters away at (7.1, -1.4).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-0.8012591 -1.7386618], 1.914408802986145 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 2.47

The most relevant actors are: A unknown object with ID 7 is 1.9 meters away at (-0.8, -1.7). A unknown object with ID 8 is 2.4 meters away at (-2.2, -0.8). A unknown object with ID 9 is 3.0 meters away at (0.8, -2.9). A vehicle with ID 10 is 3.5 meters away at (1.5, 3.2). A unknown object with ID 11 is 4.2 meters away at (-4.1, 0.8). A unknown object with ID 12 is 4.6 meters away at (2.3, -4.0). A unknown object with ID 13 is 6.1 meters away at (-5.8, 2.1). A unknown object with ID 14 is 6.6 meters away at (-6.1, 2.4). A unknown object with ID 15 is 6.8 meters away at (4.1, -5.4). A vehicle with ID 16 is 7.3 meters away at (7.1, -1.4).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A unknown object with ID 7 is 1.9 meters away at (-0.8, -1.8). A unknown object with ID 8 is 2.4 meters away at (-2.2, -0.8). A unknown object with ID 9 is 3.0 meters away at (0.8, -2.9). A vehicle with ID 10 is 3.5 meters away at (1.5, 3.2). A unknown object with ID 11 is 4.2 meters away at (-4.1, 0.8). A unknown object with ID 12 is 4.6 meters away at (2.3, -4.0). A unknown object with ID 13 is 6.1 meters away at (-5.8, 2.1). A unknown object with ID 14 is 6.8 meters away at (-6.3, 2.6). A unknown object with ID 15 is 6.8 meters away at (4.1, -5.4). A vehicle with ID 16 is 7.3 meters away at (7.1, -1.4).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A unknown object with ID 7 is 1.9 meters away at (-0.8, -1.7). A unknown object with ID 8 is 2.4 meters away at (-2.2, -0.8). A unknown object with ID 9 is 3.0 meters away at (0.8, -2.9). A vehicle with ID 10 is 3.5 meters away at (1.5, 3.2). A unknown object with ID 11 is 4.2 meters away at (-4.1, 0.8). A unknown object with ID 12 is 4.6 meters away at (2.3, -4.0). A unknown object with ID 13 is 6.1 meters away at (-5.8, 2.1). A unknown object with ID 14 is 6.8 meters away at (-6.3, 2.6). A unknown object with ID 15 is 6.8 meters away at (4.1, -5.4). A vehicle with ID 16 is 7.3 meters away at (7.1, -1.4).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -7.1) m/s. Its current heading (yaw) is -1.11

The most relevant actors are: A unknown object with ID 29 is 6.9 meters away at (2.4, 6.5). A unknown object with ID 31 is 11.7 meters away at (-6.9, 9.5). A pedestrian with ID 34 is 16.7 meters away at (-16.7, -0.3). A pedestrian with ID 32 is 25.6 meters away at (-20.2, 15.6). A vehicle with ID 35 is 31.6 meters away at (-31.5, 2.5). A vehicle with ID 36 is 37.7 meters away at (13.3, -35.3). A vehicle with ID 9 is 43.9 meters away at (15.8, -40.9).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.4032218  0.4469083] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.07784222  0.97479546] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [2.3772202 6.5196996], 6.939571857452393 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -8.2) m/s. Its current heading (yaw) is -1.11

The most relevant actors are: A vehicle with ID 36 is 21.0 meters away at (5.5, -20.2). A pedestrian with ID 17 is 26.5 meters away at (2.2, 26.4). A vehicle with ID 9 is 27.1 meters away at (7.9, -25.9). A pedestrian with ID 34 is 31.6 meters away at (-27.3, 15.9). A vehicle with ID 7 is 36.4 meters away at (11.4, -34.6). A vehicle with ID 35 is 43.0 meters away at (-39.4, 17.4). A vehicle with ID 19 is 62.3 meters away at (62.2, 3.4). A vehicle with ID 21 is 64.3 meters away at (64.2, -2.1).

The vehicle with ID 36 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 [-0.8293358  -0.21564592] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.2586695  0.6611088] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -9.1) m/s. Its current heading (yaw) is -1.17

The most relevant actors are: A vehicle with ID 36 is 3.8 meters away at (-2.2, -3.1). A vehicle with ID 9 is 8.6 meters away at (0.2, -8.6). A vehicle with ID 7 is 17.8 meters away at (3.6, -17.4). A pedestrian with ID 17 is 44.0 meters away at (-8.2, 43.3). A pedestrian with ID 34 is 50.9 meters away at (-37.5, 34.5).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.1929202  -0.27750134] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.0905334   0.71067876] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -9.2) m/s. Its current heading (yaw) is -1.19

The most relevant actors are: A vehicle with ID 7 is 4.0 meters away at (-3.9, 0.9). A vehicle with ID 9 is 12.1 meters away at (-7.3, 9.6). A vehicle with ID 36 is 18.2 meters away at (-9.8, 15.3). A pedestrian with ID 17 is 64.1 meters away at (-18.3, 61.5).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.2433711  -0.09155409] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -4.7) m/s. Its current heading (yaw) is -1.00

The most relevant actors are: A vehicle with ID 36 is 14.7 meters away at (-9.6, 11.1). A pedestrian with ID 39 is 16.7 meters away at (-13.0, -10.4). A vehicle with ID 37 is 25.4 meters away at (-9.5, 23.5). A pedestrian with ID 40 is 28.6 meters away at (3.3, 28.4). A pedestrian with ID 13 is 33.5 meters away at (31.0, 12.6). A vehicle with ID 38 is 34.4 meters away at (-19.0, -28.7). A unknown object with ID 42 is 35.1 meters away at (17.5, -30.4). A vehicle with ID 43 is 43.0 meters away at (-34.4, 25.8). A pedestrian with ID 41 is 49.2 meters away at (-23.0, 43.4). A vehicle with ID 35 is 49.4 meters away at (49.4, 0.9).

The vehicle with ID 36 is traveling at a (x, y) velocity of [ 4.28356   -4.2472544] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.01091068 -0.00656217] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-9.405564  4.744819] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.2869693  -0.74811774] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.15357922 -0.2933126 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.61817  -9.843156] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 9.01506  -5.892204] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [0.33405206 0.16505447] m/s.The vehicle with ID 35 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 (3.9, -3.1) m/s. Its current heading (yaw) is -0.67

The most relevant actors are: A vehicle with ID 36 is 13.1 meters away at (-8.6, 9.8). A pedestrian with ID 39 is 19.6 meters away at (-19.5, -2.1). A unknown object with ID 42 is 24.8 meters away at (10.8, -22.4). A pedestrian with ID 13 is 32.9 meters away at (26.3, 19.8). A vehicle with ID 43 is 34.8 meters away at (-25.4, 23.8). A pedestrian with ID 40 is 35.0 meters away at (-0.3, 35.0). A vehicle with ID 44 is 39.6 meters away at (34.0, -20.4). A vehicle with ID 35 is 43.7 meters away at (42.8, 9.1). A vehicle with ID 21 is 49.8 meters away at (39.6, -30.3). A vehicle with ID 37 is 54.5 meters away at (-34.9, 41.8).

The vehicle with ID 36 is traveling at a (x, y) velocity of [ 3.2393415 -5.074811 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00147326  0.01922811] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.93942714 -0.27269405] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 6.1624923 -4.4234962] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.3443271  -0.69292206] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-9.530612   5.3466616] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 0.7) m/s. Its current heading (yaw) is 0.15

The most relevant actors are: A vehicle with ID 36 is 11.4 meters away at (-10.9, 3.2). A pedestrian with ID 13 is 29.3 meters away at (19.7, 21.7). A vehicle with ID 43 is 31.0 meters away at (-24.7, 18.7). A vehicle with ID 44 is 31.0 meters away at (25.4, -17.9). A vehicle with ID 35 is 36.0 meters away at (34.1, 11.5). A pedestrian with ID 40 is 36.9 meters away at (-6.2, 36.4). A unknown object with ID 15 is 41.9 meters away at (6.3, -41.4).

The vehicle with ID 36 is traveling at a (x, y) velocity of [ 3.6125722 -3.7373905] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.9253351  -0.28849483] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 3.2037437 -4.007818 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.1931094 -0.5515778] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 2.5) m/s. Its current heading (yaw) is 0.61

The most relevant actors are: A vehicle with ID 36 is 12.0 meters away at (-10.4, -5.8). A pedestrian with ID 13 is 21.6 meters away at (12.7, 17.5). A vehicle with ID 35 is 27.2 meters away at (26.1, 7.7). A vehicle with ID 44 is 27.5 meters away at (17.1, -21.6). A vehicle with ID 43 is 29.3 meters away at (-29.1, 3.6). A pedestrian with ID 40 is 33.6 meters away at (-12.5, 31.2). A unknown object with ID 15 is 45.2 meters away at (-1.5, -45.1). A vehicle with ID 1 is 55.2 meters away at (32.4, 44.6).

The vehicle with ID 36 is traveling at a (x, y) velocity of [ 4.951179  -1.0010004] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.5116189 -0.377388 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 0.11916312 -6.192684  ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.1005011  -0.87183565] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, 0.2) m/s. Its current heading (yaw) is 3.12

The most relevant actors are: A vehicle with ID 17 is 7.7 meters away at (-2.4, 7.4). A unknown object with ID 25 is 14.4 meters away at (12.2, 7.5). A unknown object with ID 24 is 19.3 meters away at (18.3, 6.0). A vehicle with ID 27 is 24.8 meters away at (8.5, -23.3). A vehicle with ID 26 is 25.6 meters away at (11.5, -22.9). A pedestrian with ID 28 is 26.2 meters away at (1.4, -26.2). A vehicle with ID 29 is 27.7 meters away at (1.3, -27.7). A pedestrian with ID 16 is 28.1 meters away at (7.6, -27.0). A vehicle with ID 32 is 37.2 meters away at (5.7, -36.8). A vehicle with ID 30 is 38.2 meters away at (11.3, -36.5).

The vehicle with ID 17 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 unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.02773996 -0.43266812] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.11369143 -0.12384852] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.09676703 -0.02720437] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.4, 0.0) m/s. Its current heading (yaw) is 3.14

The most relevant actors are: A vehicle with ID 22 is 26.3 meters away at (-24.3, -10.2). A unknown object with ID 25 is 31.4 meters away at (30.5, 7.3). A vehicle with ID 23 is 31.5 meters away at (-29.7, -10.3). A vehicle with ID 29 is 34.0 meters away at (19.4, -27.9). A vehicle with ID 27 is 35.5 meters away at (26.7, -23.4). A unknown object with ID 24 is 37.0 meters away at (36.5, 5.7). A pedestrian with ID 16 is 38.2 meters away at (26.6, -27.3). A vehicle with ID 30 is 47.1 meters away at (29.5, -36.7). A pedestrian with ID 9 is 64.1 meters away at (-63.8, -6.7). A vehicle with ID 31 is 66.7 meters away at (62.3, -23.6).

The vehicle with ID 22 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 vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.23128046 -0.02194467] m/s.The vehicle with ID 30 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 [-1.3716182   0.20673664] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.4, -0.0) m/s. Its current heading (yaw) is -3.14

The most relevant actors are: A vehicle with ID 22 is 11.7 meters away at (-5.6, -10.3). A vehicle with ID 23 is 15.2 meters away at (-11.0, -10.5). A pedestrian with ID 9 is 47.9 meters away at (-47.4, -6.8). A vehicle with ID 27 is 51.2 meters away at (45.4, -23.5). A pedestrian with ID 7 is 52.6 meters away at (-52.0, -7.7). A pedestrian with ID 6 is 54.9 meters away at (-54.4, -7.1). A pedestrian with ID 5 is 55.7 meters away at (-55.3, -6.5). A pedestrian with ID 4 is 55.9 meters away at (-55.6, -5.6). A vehicle with ID 10 is 55.9 meters away at (-54.9, -10.4). A pedestrian with ID 3 is 56.9 meters away at (-56.4, -7.0).

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 pedestrian with ID 9 is traveling at a (x, y) velocity of [-1.128079    0.13688709] m/s.The vehicle with ID 27 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 [-1.3726078   0.41089493] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.217833    0.19226202] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.2507646  0.0206941] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.3090793   0.01429874] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.3114399  -0.13134491] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 0.0) m/s. Its current heading (yaw) is 3.14

The most relevant actors are: A vehicle with ID 23 is 13.1 meters away at (7.7, -10.5). A vehicle with ID 22 is 16.7 meters away at (13.1, -10.3). A pedestrian with ID 9 is 31.7 meters away at (-31.0, -6.7). A pedestrian with ID 7 is 36.4 meters away at (-35.7, -7.0). A vehicle with ID 10 is 37.5 meters away at (-36.1, -10.3). A pedestrian with ID 6 is 38.5 meters away at (-37.8, -7.3). A pedestrian with ID 5 is 39.4 meters away at (-38.8, -6.8). A pedestrian with ID 4 is 39.5 meters away at (-39.1, -5.8). A pedestrian with ID 3 is 40.7 meters away at (-40.0, -7.5). A vehicle with ID 8 is 43.0 meters away at (-41.6, -10.9).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-1.390654    0.14447339] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.3186613   0.14628623] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.3142141  -0.20722026] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.3215084  -0.17144759] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.2925977  -0.11133854] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.2743903  -0.26270273] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -7.6) m/s. Its current heading (yaw) is -0.74

The most relevant actors are: A unknown object with ID 11 is 10.1 meters away at (9.1, -4.3). A unknown object with ID 6 is 17.8 meters away at (17.8, 0.5). A unknown object with ID 1 is 40.8 meters away at (32.7, -24.3).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 9.13056  -4.266547], 10.078221321105957 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.5, -7.5) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A unknown object with ID 11 is 13.1 meters away at (-7.5, 10.8). A vehicle with ID 7 is 17.4 meters away at (-1.5, -17.4).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-11.854391  10.770596] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-7.45751  10.797043], 13.122140884399414 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -7.2) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A unknown object with ID 11 is 35.0 meters away at (-24.2, 25.3). A pedestrian with ID 8 is 71.0 meters away at (-46.6, 53.5).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.8756195  -0.53922254] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-24.165285  25.34874 ], 35.02170181274414 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -6.8) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 5 is 39.5 meters away at (17.3, -35.5). A unknown object with ID 11 is 56.6 meters away at (-40.4, 39.6).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.323211  8.761642] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 31 is 6.7 meters away at (-1.4, 6.6). A vehicle with ID 26 is 31.4 meters away at (-7.0, 30.6). A pedestrian with ID 28 is 31.5 meters away at (-8.4, 30.4). A vehicle with ID 27 is 32.8 meters away at (-10.2, 31.1). A vehicle with ID 35 is 57.5 meters away at (19.5, 54.1). A unknown object with ID 34 is 59.3 meters away at (59.2, 3.9). A vehicle with ID 37 is 62.0 meters away at (11.7, 60.9). A vehicle with ID 38 is 75.0 meters away at (15.7, 73.3).

The vehicle with ID 31 is traveling at a (x, y) velocity of [2.1868236 5.413238 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.10574236 -0.3151473 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.0) m/s. Its current heading (yaw) is 1.30

The most relevant actors are: A vehicle with ID 31 is 13.8 meters away at (1.5, 13.7). A unknown object with ID 17 is 15.4 meters away at (7.0, 13.7). A vehicle with ID 26 is 30.7 meters away at (-7.1, 29.8). A pedestrian with ID 28 is 30.8 meters away at (-8.7, 29.5). A vehicle with ID 27 is 32.1 meters away at (-10.3, 30.4). A vehicle with ID 20 is 45.1 meters away at (-8.3, 44.4). A vehicle with ID 35 is 56.7 meters away at (19.3, 53.3). A unknown object with ID 5 is 56.8 meters away at (55.2, -13.4). A vehicle with ID 37 is 61.2 meters away at (11.6, 60.1). A vehicle with ID 38 is 74.1 meters away at (15.6, 72.5).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0.94924784 2.3328853 ] m/s.The unknown object with ID 17 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 pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.02640654 -0.05639556] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 2.0) m/s. Its current heading (yaw) is 1.44

The most relevant actors are: A unknown object with ID 17 is 12.3 meters away at (6.4, 10.5). A unknown object with ID 6 is 13.3 meters away at (2.3, -13.1). A vehicle with ID 31 is 14.2 meters away at (2.3, 14.0). A vehicle with ID 15 is 16.4 meters away at (3.0, -16.1). A pedestrian with ID 28 is 27.6 meters away at (-8.5, 26.3). A vehicle with ID 26 is 27.8 meters away at (-7.8, 26.6). A pedestrian with ID 2 is 29.0 meters away at (-7.0, 28.1). A vehicle with ID 27 is 29.4 meters away at (-10.9, 27.3). A vehicle with ID 20 is 41.9 meters away at (-9.2, 40.9). A vehicle with ID 22 is 45.5 meters away at (-15.9, 42.6).

The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0.8053087 2.0677135] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.20008639 -0.1253909 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.18161206 -0.87067455] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 [ 6.394295 10.471064], 12.269074440002441 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 2.7) m/s. Its current heading (yaw) is 1.48

The most relevant actors are: A vehicle with ID 31 is 15.2 meters away at (3.9, 14.6). A unknown object with ID 6 is 18.0 meters away at (1.9, -17.9). A vehicle with ID 26 is 23.4 meters away at (-8.2, 21.9). A pedestrian with ID 2 is 23.7 meters away at (-7.5, 22.5). A vehicle with ID 27 is 25.2 meters away at (-11.5, 22.5). A vehicle with ID 18 is 27.9 meters away at (-15.0, 23.5). A vehicle with ID 20 is 37.5 meters away at (-10.2, 36.1). A vehicle with ID 21 is 38.9 meters away at (-13.2, 36.5). A vehicle with ID 22 is 41.2 meters away at (-16.4, 37.8). A vehicle with ID 35 is 48.6 meters away at (18.1, 45.1).

The vehicle with ID 31 is traveling at a (x, y) velocity of [1.3087388 3.6659586] m/s.The unknown object with ID 6 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 pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.08318295 -0.6561892 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 (6.7, -4.4) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A vehicle with ID 59 is 13.5 meters away at (-7.5, -11.3). A vehicle with ID 58 is 18.6 meters away at (-15.4, -10.4). A vehicle with ID 63 is 20.5 meters away at (-8.7, -18.6). A pedestrian with ID 56 is 22.2 meters away at (-21.6, -4.9). A vehicle with ID 62 is 25.2 meters away at (-17.3, -18.3). A pedestrian with ID 57 is 32.0 meters away at (-13.6, 29.0). A pedestrian with ID 60 is 34.9 meters away at (-31.9, 14.2). A pedestrian with ID 61 is 36.0 meters away at (-32.8, 14.8). A vehicle with ID 37 is 43.3 meters away at (23.6, 36.3). A vehicle with ID 45 is 44.0 meters away at (31.7, 30.5).

The vehicle with ID 59 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 63 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 [-0.99606305 -0.68854487] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.8442742 1.0602111] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.0267522  -0.72955817] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 1.0114844 -0.7104069] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -4.3) m/s. Its current heading (yaw) is -0.59

The most relevant actors are: A vehicle with ID 59 is 20.8 meters away at (-20.7, -2.6). A vehicle with ID 63 is 24.3 meters away at (-22.0, -10.3). A pedestrian with ID 56 is 37.0 meters away at (-36.9, 2.8). A vehicle with ID 45 is 43.5 meters away at (18.6, 39.3). A vehicle with ID 65 is 45.7 meters away at (41.3, 19.5). A pedestrian with ID 57 is 47.3 meters away at (-25.3, 40.0). A pedestrian with ID 60 is 48.2 meters away at (-43.1, 21.6). A vehicle with ID 66 is 49.1 meters away at (46.2, 16.6). A pedestrian with ID 61 is 49.3 meters away at (-44.0, 22.2). A pedestrian with ID 4 is 66.5 meters away at (64.3, -17.2).

The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-1.0056779 -0.573284 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.80781984 1.1768516 ] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.0251395 -0.6772922] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 1.0192422 -0.7390913] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.81426924 -0.73343265] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -4.1) m/s. Its current heading (yaw) is -0.61

The most relevant actors are: A unknown object with ID 31 is 8.2 meters away at (1.9, 7.9). A pedestrian with ID 49 is 21.1 meters away at (-20.3, 5.7). A vehicle with ID 65 is 40.2 meters away at (28.9, 27.9). A vehicle with ID 66 is 42.1 meters away at (33.8, 25.1). A vehicle with ID 45 is 48.1 meters away at (6.1, 47.7). A pedestrian with ID 4 is 51.4 meters away at (50.3, -10.6). A pedestrian with ID 5 is 52.2 meters away at (50.9, -11.7). A vehicle with ID 48 is 53.7 meters away at (-2.1, 53.6). A pedestrian with ID 60 is 60.8 meters away at (-53.6, 28.8). A pedestrian with ID 61 is 62.0 meters away at (-54.5, 29.5).

The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.00266375  0.00176124] m/s.The vehicle with ID 65 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.70935774 -0.87548715] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.69939977 -0.8172302 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.0178428 -0.6034704] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.9557629  -0.59361196] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [1.9054756 7.9258995], 8.151731491088867 meters away.)