The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -5.6) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A unknown object with ID 16 is 13.2 meters away at (4.2, -12.5). A unknown object with ID 14 is 15.0 meters away at (3.8, -14.5). A unknown object with ID 25 is 22.3 meters away at (-19.3, -11.2). A pedestrian with ID 23 is 25.9 meters away at (-22.3, -13.2). A pedestrian with ID 22 is 26.5 meters away at (-22.4, -14.1). A pedestrian with ID 17 is 70.5 meters away at (-17.7, -68.2). A vehicle with ID 9 is 75.7 meters away at (-39.2, -64.7). A vehicle with ID 26 is 77.9 meters away at (-17.5, 75.9).

The unknown object with ID 16 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.7955884  -0.26819775] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.66806525 -0.24246183] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.02245064 -0.00130194] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [3.5926745 4.870774 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  4.2224674 -12.48851  ], 13.183023452758789 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -5.5) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A unknown object with ID 16 is 9.1 meters away at (9.0, -1.4). A unknown object with ID 14 is 9.2 meters away at (8.5, -3.4). A pedestrian with ID 23 is 16.4 meters away at (-16.2, -2.5). A pedestrian with ID 22 is 17.0 meters away at (-16.6, -3.5). A vehicle with ID 9 is 50.9 meters away at (-27.8, -42.7). A pedestrian with ID 17 is 58.6 meters away at (-12.8, -57.2). A vehicle with ID 4 is 75.0 meters away at (-36.4, -65.6).

The unknown object with ID 16 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 pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.5941447  -0.29928234] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.5626779  -0.31848064] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [2.7882218 6.0539827] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.07948033 -0.03538977] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [2.4505632 6.4784946] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 8.952282  -1.3962555], 9.06051254272461 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (11.2, -7.8) m/s. Its current heading (yaw) is -0.61

The most relevant actors are: A pedestrian with ID 57 is 21.5 meters away at (-20.7, 5.8). A pedestrian with ID 55 is 22.5 meters away at (-21.5, 6.7). A pedestrian with ID 53 is 24.6 meters away at (-23.4, 7.5). A pedestrian with ID 54 is 25.2 meters away at (-24.1, 7.4). A pedestrian with ID 70 is 29.9 meters away at (29.9, 0.6). A pedestrian with ID 71 is 32.9 meters away at (32.9, -2.0). A pedestrian with ID 72 is 36.0 meters away at (35.9, -2.3). A pedestrian with ID 61 is 41.9 meters away at (-19.2, 37.2). A pedestrian with ID 62 is 42.2 meters away at (-18.6, 37.8). A pedestrian with ID 65 is 43.0 meters away at (-21.4, 37.3).

The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.02251457 0.00750645] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.02457877 0.0092568 ] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.03491184 -0.0190318 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.12864727 -0.10611097] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 1.167841   -0.86575055] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.2514445 -0.7621822] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.182674  -0.8145594] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.0037256  0.8279537] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.0463035  0.7825471] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.0456572  -0.78589475] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.2, -7.4) m/s. Its current heading (yaw) is -0.63

The most relevant actors are: A pedestrian with ID 70 is 17.8 meters away at (10.7, 14.2). A pedestrian with ID 71 is 18.2 meters away at (14.0, 11.6). A pedestrian with ID 72 is 20.1 meters away at (17.1, 10.7). A pedestrian with ID 74 is 26.2 meters away at (26.0, 2.9). A pedestrian with ID 47 is 37.6 meters away at (37.5, -3.0). A pedestrian with ID 39 is 42.3 meters away at (30.0, -29.8). A pedestrian with ID 57 is 47.0 meters away at (-42.1, 20.9). A pedestrian with ID 55 is 48.1 meters away at (-42.9, 21.8). A pedestrian with ID 25 is 62.2 meters away at (45.4, -42.6). A pedestrian with ID 65 is 65.2 meters away at (-40.9, 50.8).

The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 1.2673628 -1.0288386] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.3287474 -0.901399 ] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.2944244 -0.9510945] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 0.9260445  -0.71201074] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-1.2057928   0.81390226] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.215293   0.8755499] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.02876674 -0.01914425] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 0.01556272 -0.00152218] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 1.277826   -0.91572046] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.1144551  -0.80593914] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.6, -6.9) m/s. Its current heading (yaw) is -0.62

The most relevant actors are: A pedestrian with ID 39 is 15.8 meters away at (7.7, -13.8). A pedestrian with ID 74 is 17.7 meters away at (8.4, 15.6). A pedestrian with ID 47 is 20.0 meters away at (15.1, 13.1). A pedestrian with ID 72 is 22.8 meters away at (0.1, 22.8). A pedestrian with ID 71 is 24.3 meters away at (-3.2, 24.0). A pedestrian with ID 70 is 27.5 meters away at (-6.5, 26.7). A pedestrian with ID 25 is 41.3 meters away at (28.1, -30.3). A pedestrian with ID 52 is 51.3 meters away at (37.3, -35.1). A pedestrian with ID 51 is 51.4 meters away at (36.9, -35.8). A vehicle with ID 32 is 56.7 meters away at (51.4, -23.8).

The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.2469918  0.916323 ] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 1.1784724 -0.7664781] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-1.2570456  0.9368901] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.3159124  -0.93858385] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.177231  -0.8681784] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 1.294102   -0.87461793] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 1.2592697  -0.96838975] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-1.0223047  0.7595426] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-1.0484947   0.80847746] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-9.15216    6.2433043] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.1, -6.5) m/s. Its current heading (yaw) is -0.62

The most relevant actors are: A pedestrian with ID 39 is 13.4 meters away at (-13.4, 1.5). A vehicle with ID 32 is 14.1 meters away at (13.8, 3.0). A pedestrian with ID 25 is 22.3 meters away at (12.1, -18.8). A pedestrian with ID 38 is 25.2 meters away at (15.9, -19.6). A pedestrian with ID 52 is 26.0 meters away at (16.5, -20.0). A pedestrian with ID 51 is 26.2 meters away at (16.0, -20.7). A pedestrian with ID 74 is 28.8 meters away at (-8.1, 27.6). A pedestrian with ID 47 is 29.2 meters away at (-6.0, 28.6). A pedestrian with ID 72 is 37.8 meters away at (-16.0, 34.2). A pedestrian with ID 71 is 40.7 meters away at (-19.7, 35.6).

The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0449532   0.87900466] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-9.90741   7.190388] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 1.4273   -1.058631] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.95463467  0.7326665 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.97866154  0.75678855] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.9205295  0.7207824] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 1.2012857  -0.73576117] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-1.1375762   0.86506134] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.365817 -1.103214] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.1058292 -0.9345158] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.6) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A unknown object with ID 24 is 3.0 meters away at (-0.8, -2.9). A unknown object with ID 26 is 3.5 meters away at (-2.8, -2.0). A unknown object with ID 22 is 4.3 meters away at (0.9, -4.2). A unknown object with ID 7 is 4.6 meters away at (-4.2, -1.8). A vehicle with ID 23 is 5.3 meters away at (-0.5, -5.2). A unknown object with ID 15 is 6.1 meters away at (-4.1, -4.6). A unknown object with ID 25 is 6.6 meters away at (-2.3, -6.2). A unknown object with ID 20 is 6.8 meters away at (1.4, -6.6). A unknown object with ID 9 is 7.3 meters away at (-0.8, -7.2). A unknown object with ID 21 is 7.8 meters away at (0.2, -7.8).

The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 25 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-0.8383074 -2.9008026], 3.019505739212036 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 4.4) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A unknown object with ID 16 is 14.5 meters away at (8.7, -11.6). A unknown object with ID 18 is 14.8 meters away at (8.2, -12.3). A unknown object with ID 17 is 14.9 meters away at (9.3, -11.7). A unknown object with ID 26 is 15.2 meters away at (10.4, -11.1). A unknown object with ID 15 is 16.3 meters away at (9.1, -13.5). A unknown object with ID 24 is 17.2 meters away at (12.3, -12.0). A unknown object with ID 25 is 18.6 meters away at (10.9, -15.0). A vehicle with ID 23 is 19.3 meters away at (13.1, -14.2). A unknown object with ID 22 is 19.4 meters away at (14.2, -13.2). A unknown object with ID 12 is 37.3 meters away at (35.4, -11.7).

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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 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 [  8.730362 -11.632505], 14.544222831726074 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 4.4) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A unknown object with ID 16 is 30.0 meters away at (21.8, -20.6). A unknown object with ID 18 is 30.1 meters away at (21.4, -21.1). A unknown object with ID 26 is 30.9 meters away at (23.7, -19.8). A unknown object with ID 15 is 31.5 meters away at (22.2, -22.4). A unknown object with ID 24 is 33.0 meters away at (25.5, -20.9). A unknown object with ID 14 is 41.1 meters away at (-25.3, 32.3).

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 26 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 24 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 21.797764 -20.607788], 29.997058868408203 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 4.7) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A unknown object with ID 3 is 34.1 meters away at (-17.8, 29.1). A unknown object with ID 4 is 34.6 meters away at (-17.3, 29.9). A unknown object with ID 5 is 34.9 meters away at (-16.8, 30.6). A unknown object with ID 19 is 35.9 meters away at (-15.8, 32.3).

The unknown object with ID 3 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 5 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-17.793182  29.079147], 34.09096908569336 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 5.9) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 43 is 3.8 meters away at (3.6, -1.2). A vehicle with ID 45 is 7.4 meters away at (-7.4, 0.9). A pedestrian with ID 16 is 7.7 meters away at (4.8, -6.0). A vehicle with ID 41 is 9.3 meters away at (8.1, 4.7). A vehicle with ID 46 is 11.4 meters away at (-10.9, -3.4). A vehicle with ID 39 is 15.0 meters away at (11.9, 9.1). A vehicle with ID 47 is 17.9 meters away at (-13.3, -11.9). A vehicle with ID 48 is 18.5 meters away at (-15.9, -9.5). A vehicle with ID 49 is 24.6 meters away at (-19.8, -14.6). A vehicle with ID 50 is 26.3 meters away at (-18.8, -18.4).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [1.0385851 1.0287173] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 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 (5.0, 5.9) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 39 is 3.7 meters away at (2.4, -2.8). A vehicle with ID 41 is 7.5 meters away at (-1.5, -7.3). A vehicle with ID 44 is 11.6 meters away at (9.7, 6.4). A vehicle with ID 42 is 12.9 meters away at (2.0, 12.8). A vehicle with ID 43 is 14.6 meters away at (-6.1, -13.3). A pedestrian with ID 16 is 16.1 meters away at (-3.1, -15.8). A vehicle with ID 45 is 20.4 meters away at (-17.1, -11.1). A vehicle with ID 46 is 25.9 meters away at (-20.6, -15.6). A vehicle with ID 40 is 27.1 meters away at (11.5, 24.5). A vehicle with ID 48 is 33.5 meters away at (-25.6, -21.7).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 43 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 [1.0973547 1.0141199] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.5) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 44 is 4.7 meters away at (0.8, -4.6). A vehicle with ID 42 is 7.2 meters away at (-7.0, 1.7). A vehicle with ID 40 is 13.7 meters away at (2.4, 13.4). A vehicle with ID 39 is 15.4 meters away at (-6.6, -13.9). A vehicle with ID 41 is 21.4 meters away at (-10.7, -18.5). A pedestrian with ID 16 is 26.8 meters away at (-10.2, -24.7). A vehicle with ID 43 is 28.9 meters away at (-15.3, -24.5). A vehicle with ID 45 is 34.3 meters away at (-26.1, -22.3). A vehicle with ID 51 is 34.7 meters away at (29.2, 18.7). A vehicle with ID 1 is 38.3 meters away at (34.2, 17.2).

The vehicle with ID 44 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 [0.9530061 0.937923 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 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.

There are active red lights at the following coordinates: [[-19.452034 -15.914075]
 [-18.314896 -16.9134  ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 3.2) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 40 is 6.7 meters away at (-4.5, 4.9). A vehicle with ID 44 is 14.5 meters away at (-6.2, -13.1). A vehicle with ID 42 is 15.6 meters away at (-14.0, -6.8). A vehicle with ID 51 is 24.5 meters away at (22.2, 10.2). A vehicle with ID 39 is 26.2 meters away at (-13.6, -22.3). A vehicle with ID 1 is 28.6 meters away at (27.2, 8.7). A vehicle with ID 41 is 32.3 meters away at (-17.7, -27.1). A pedestrian with ID 16 is 34.5 meters away at (-15.5, -30.9). A vehicle with ID 3 is 38.9 meters away at (38.6, 5.0). A vehicle with ID 43 is 39.9 meters away at (-22.4, -33.0).

The vehicle with ID 40 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 42 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 [0.888409  1.2108138] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -1.3) m/s. Its current heading (yaw) is -0.16

The most relevant actors are: A pedestrian with ID 19 is 39.6 meters away at (-37.7, 12.1). A vehicle with ID 10 is 67.8 meters away at (60.2, -31.2).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-2.4135287   0.22915205] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.935317   2.0767648] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -1.4) m/s. Its current heading (yaw) is -0.18

The most relevant actors are: A unknown object with ID 7 is 11.4 meters away at (-9.5, 6.3). A unknown object with ID 14 is 14.0 meters away at (-12.2, 6.8). A vehicle with ID 10 is 47.8 meters away at (41.5, -23.7). A pedestrian with ID 19 is 59.7 meters away at (-57.8, 14.9). A vehicle with ID 5 is 62.2 meters away at (44.4, -43.6).

The unknown object with ID 7 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 vehicle with ID 10 is traveling at a (x, y) velocity of [-2.781424   2.7376804] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-2.0019734   0.26261356] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-9.465075  6.270789], 11.353873252868652 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -1.4) m/s. Its current heading (yaw) is -0.22

The most relevant actors are: A vehicle with ID 10 is 24.8 meters away at (18.4, -16.5). A unknown object with ID 7 is 25.5 meters away at (-23.8, 9.0). A pedestrian with ID 15 is 27.0 meters away at (17.4, -20.6). A pedestrian with ID 16 is 27.5 meters away at (17.7, -21.1). A vehicle with ID 5 is 50.6 meters away at (30.0, -40.8). A pedestrian with ID 6 is 70.8 meters away at (65.8, -26.0).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.5885124  1.4584904] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.01683751 -0.04546764] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.01101497 0.00441156] m/s.The vehicle with ID 5 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 [1.2210675  0.03812231] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -0.9) m/s. Its current heading (yaw) is -0.20

The most relevant actors are: A pedestrian with ID 12 is 6.6 meters away at (1.0, 6.5). A vehicle with ID 10 is 12.4 meters away at (-5.3, -11.3). A pedestrian with ID 15 is 19.0 meters away at (6.3, -17.9). A pedestrian with ID 16 is 19.7 meters away at (6.6, -18.6). A unknown object with ID 7 is 36.7 meters away at (-34.9, 11.4). A unknown object with ID 9 is 38.1 meters away at (-36.5, 11.0). A vehicle with ID 5 is 42.7 meters away at (18.8, -38.3). A pedestrian with ID 6 is 61.6 meters away at (57.1, -23.1).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.2784859   0.30559158] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-6.399241  1.294038] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.05281383 0.01828066] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.02789214  0.02576207] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 pedestrian with ID 6 is traveling at a (x, y) velocity of [1.0711758  0.09891454] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a pedestrian at [0.9778366 6.52444  ], 6.59730863571167 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.4) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A pedestrian with ID 7 is 9.8 meters away at (3.3, -9.3). A pedestrian with ID 12 is 24.6 meters away at (23.3, -7.8). A unknown object with ID 8 is 30.3 meters away at (-22.3, -20.5). A unknown object with ID 9 is 32.1 meters away at (-23.5, -21.9). A unknown object with ID 10 is 33.9 meters away at (-24.7, -23.2). A vehicle with ID 11 is 39.5 meters away at (30.4, -25.2). A vehicle with ID 13 is 58.0 meters away at (43.6, -38.4). A pedestrian with ID 5 is 65.4 meters away at (-23.7, -61.0).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.46559805 -1.3473152 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.23363033 -0.22906536] 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 unknown object with ID 10 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.9166781 -1.1633734] m/s.

Instruction: right u-turn approaching.

(The closest actor is a pedestrian at [ 3.2906106 -9.28119  ], 9.847264289855957 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 3.2) m/s. Its current heading (yaw) is 1.32

The most relevant actors are: A pedestrian with ID 7 is 16.5 meters away at (-0.1, -16.5). A pedestrian with ID 12 is 24.3 meters away at (20.6, -12.8). A unknown object with ID 8 is 35.5 meters away at (-25.1, -25.2). A unknown object with ID 9 is 37.3 meters away at (-26.2, -26.6). A unknown object with ID 10 is 39.1 meters away at (-27.6, -27.7). A vehicle with ID 11 is 40.8 meters away at (27.6, -30.1). A vehicle with ID 13 is 59.6 meters away at (40.8, -43.5). A vehicle with ID 6 is 70.3 meters away at (48.5, -50.8). A vehicle with ID 1 is 75.3 meters away at (-35.7, -66.3).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.22448948 -1.1094898 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.09231583 -0.0183458 ] 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 unknown object with ID 10 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 3.5) m/s. Its current heading (yaw) is 1.90

The most relevant actors are: A pedestrian with ID 7 is 25.8 meters away at (-0.4, -25.8). A pedestrian with ID 12 is 28.8 meters away at (20.4, -20.4). A unknown object with ID 8 is 40.7 meters away at (-24.7, -32.3). A unknown object with ID 9 is 42.5 meters away at (-26.1, -33.5). A unknown object with ID 10 is 44.2 meters away at (-27.3, -34.8). A vehicle with ID 11 is 46.4 meters away at (28.0, -37.0). A vehicle with ID 13 is 65.0 meters away at (41.1, -50.4). A vehicle with ID 6 is 75.7 meters away at (49.0, -57.7). A vehicle with ID 1 is 81.4 meters away at (-35.3, -73.4).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.4761197 -1.1012948] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.615661  -0.4705248] 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 unknown object with ID 10 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 (-2.1, 3.7) m/s. Its current heading (yaw) is 2.08

The most relevant actors are: A pedestrian with ID 7 is 34.7 meters away at (1.6, -34.7). A pedestrian with ID 12 is 36.5 meters away at (22.7, -28.6). A unknown object with ID 8 is 44.7 meters away at (-21.2, -39.4). A unknown object with ID 9 is 46.5 meters away at (-22.5, -40.7). A vehicle with ID 11 is 54.1 meters away at (31.6, -44.0). A vehicle with ID 13 is 72.7 meters away at (44.6, -57.4).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.76715434 -0.7813889 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.5260743  -0.57052404] 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.2) m/s. Its current heading (yaw) is 0.55

The most relevant actors are: A vehicle with ID 32 is 4.1 meters away at (-1.5, 3.8). A vehicle with ID 35 is 8.1 meters away at (-8.1, -0.2). A vehicle with ID 37 is 9.1 meters away at (-8.4, 3.7). A vehicle with ID 33 is 9.3 meters away at (-8.2, -4.4). A pedestrian with ID 41 is 12.2 meters away at (12.2, -0.8). A pedestrian with ID 42 is 12.8 meters away at (12.7, -1.2). A unknown object with ID 45 is 13.3 meters away at (10.5, -8.2). A pedestrian with ID 44 is 13.4 meters away at (13.4, -1.0). A pedestrian with ID 46 is 13.5 meters away at (13.2, -3.1). A vehicle with ID 43 is 13.7 meters away at (-13.3, -3.0).

The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [0.0030854  0.01614795] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-4.3322518e-05 -2.2031534e-03] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.11255981 -0.09085348] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.07981963 -0.02670735] m/s.The vehicle with ID 43 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 (0.0, 0.0) m/s. Its current heading (yaw) is 0.55

The most relevant actors are: A vehicle with ID 32 is 4.1 meters away at (-1.7, 3.8). A vehicle with ID 31 is 8.0 meters away at (-2.4, 7.6). A vehicle with ID 35 is 8.3 meters away at (-8.3, -0.3). A vehicle with ID 37 is 9.3 meters away at (-8.5, 3.6). A vehicle with ID 33 is 9.3 meters away at (-8.3, -4.4). A pedestrian with ID 41 is 12.1 meters away at (12.1, -0.9). A pedestrian with ID 42 is 12.7 meters away at (12.7, -1.3). A unknown object with ID 45 is 13.2 meters away at (10.4, -8.2). A pedestrian with ID 46 is 13.4 meters away at (13.0, -3.2). A pedestrian with ID 44 is 13.4 meters away at (13.3, -1.4).

The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.31881818 0.19403777] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.01886159  0.01219497] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.00946439 0.00399861] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.00195961  0.00157504] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.01457901 0.00746767] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.55

The most relevant actors are: A vehicle with ID 32 is 4.1 meters away at (-1.7, 3.7). A vehicle with ID 31 is 8.0 meters away at (-2.4, 7.6). A vehicle with ID 33 is 8.0 meters away at (-7.1, -3.7). A vehicle with ID 35 is 8.3 meters away at (-8.3, -0.2). A vehicle with ID 37 is 9.2 meters away at (-8.5, 3.6). A pedestrian with ID 41 is 12.1 meters away at (12.0, -0.8). A pedestrian with ID 42 is 12.7 meters away at (12.6, -1.2). A unknown object with ID 45 is 13.2 meters away at (10.4, -8.2). A pedestrian with ID 44 is 13.3 meters away at (13.2, -1.3). A pedestrian with ID 46 is 13.3 meters away at (13.0, -3.2).

The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.63967246 0.40263793] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.0011556  -0.00334733] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.00125737 -0.00125622] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.01865871 -0.00824506] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.00073642  0.00634165] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.55

The most relevant actors are: A vehicle with ID 32 is 4.1 meters away at (-1.7, 3.8). A vehicle with ID 33 is 7.1 meters away at (-6.4, -3.2). A vehicle with ID 31 is 7.9 meters away at (-2.4, 7.6). A vehicle with ID 35 is 8.3 meters away at (-8.3, -0.3). A vehicle with ID 37 is 9.3 meters away at (-8.5, 3.6). A pedestrian with ID 41 is 12.1 meters away at (12.0, -0.8). A pedestrian with ID 42 is 12.7 meters away at (12.7, -1.2). A unknown object with ID 45 is 13.2 meters away at (10.3, -8.3). A pedestrian with ID 44 is 13.2 meters away at (13.2, -1.3). A pedestrian with ID 46 is 13.3 meters away at (12.9, -3.2).

The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.00135009  0.00184398] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.00169656 -0.00012275] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.00935319 -0.00239937] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.01463329 -0.00583505] m/s.

Instruction: Slight left turn approaching.


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

The most relevant actors are: A pedestrian with ID 38 is 8.5 meters away at (-7.8, -3.5). A vehicle with ID 1 is 8.7 meters away at (3.8, 7.9). A unknown object with ID 37 is 11.5 meters away at (7.2, 9.0). A unknown object with ID 40 is 13.7 meters away at (7.4, 11.5). A unknown object with ID 41 is 14.8 meters away at (-11.4, 9.4). A vehicle with ID 3 is 17.5 meters away at (6.6, 16.2). A unknown object with ID 42 is 19.0 meters away at (9.4, 16.6). A unknown object with ID 44 is 21.9 meters away at (-6.5, 20.9). A vehicle with ID 45 is 23.3 meters away at (14.4, -18.3). A unknown object with ID 46 is 25.2 meters away at (11.5, 22.4).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [1.3981742 0.6133078] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 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 unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -1.9) m/s. Its current heading (yaw) is -2.00

The most relevant actors are: A pedestrian with ID 38 is 4.4 meters away at (-4.3, -0.7). A vehicle with ID 1 is 10.2 meters away at (4.4, 9.2). A unknown object with ID 37 is 13.0 meters away at (7.8, 10.4). A unknown object with ID 40 is 15.2 meters away at (8.1, 12.9). A unknown object with ID 41 is 15.3 meters away at (-10.7, 10.9). A vehicle with ID 3 is 19.0 meters away at (7.2, 17.5). A unknown object with ID 42 is 20.6 meters away at (10.0, 18.0). A pedestrian with ID 28 is 21.4 meters away at (-7.6, 20.1). A vehicle with ID 45 is 22.5 meters away at (15.0, -16.9). A unknown object with ID 44 is 23.1 meters away at (-5.9, 22.3).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [1.4069253  0.69115925] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.01075018 0.01758237] m/s.The vehicle with ID 45 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -4.0) m/s. Its current heading (yaw) is -2.07

The most relevant actors are: A pedestrian with ID 38 is 7.4 meters away at (0.6, 7.4). A vehicle with ID 1 is 14.3 meters away at (6.4, 12.8). A unknown object with ID 41 is 18.7 meters away at (-7.7, 17.1). A unknown object with ID 37 is 20.0 meters away at (10.9, 16.7). A vehicle with ID 45 is 21.0 meters away at (18.2, -10.6). A unknown object with ID 40 is 22.2 meters away at (11.2, 19.2). A pedestrian with ID 5 is 22.3 meters away at (-5.5, -21.6). A vehicle with ID 3 is 24.0 meters away at (9.5, 22.1). A pedestrian with ID 28 is 26.7 meters away at (-4.6, 26.3). A unknown object with ID 34 is 27.4 meters away at (-4.5, 27.0).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.7119287 1.0554569] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.048134  -2.5269413] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.9619693 -0.2045742] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.7483052 -1.8189068] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.02982505 -0.02606927] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [0.6224704 7.355418 ], 7.381710529327393 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -5.2) m/s. Its current heading (yaw) is -2.13

The most relevant actors are: A pedestrian with ID 5 is 12.6 meters away at (-0.5, -12.6). A vehicle with ID 1 is 17.1 meters away at (8.7, 14.7). A pedestrian with ID 38 is 20.1 meters away at (7.7, 18.6). A vehicle with ID 45 is 23.8 meters away at (23.7, -1.5). A unknown object with ID 21 is 23.9 meters away at (-0.6, 23.8). A unknown object with ID 41 is 26.3 meters away at (-2.0, 26.2). A vehicle with ID 39 is 26.3 meters away at (-26.3, -1.3). A vehicle with ID 3 is 28.1 meters away at (12.6, 25.1). A unknown object with ID 44 is 37.8 meters away at (2.7, 37.7). A unknown object with ID 42 is 38.3 meters away at (18.8, 33.4).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.0022299  -0.00619678] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.3367686 -4.9281597] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.855091  0.8349172] m/s.The vehicle with ID 45 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.6944706 -4.1809874] 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 7.7) m/s. Its current heading (yaw) is 1.46

The most relevant actors are: A pedestrian with ID 19 is 6.2 meters away at (6.2, 0.2). A unknown object with ID 8 is 10.2 meters away at (6.5, -7.8). A unknown object with ID 15 is 16.1 meters away at (4.5, -15.5). A pedestrian with ID 12 is 17.9 meters away at (0.1, -17.9). A pedestrian with ID 16 is 18.1 meters away at (4.7, -17.5). A pedestrian with ID 13 is 20.1 meters away at (0.9, -20.1). A vehicle with ID 14 is 21.0 meters away at (-0.4, -21.0). A unknown object with ID 6 is 35.9 meters away at (-7.1, 35.2). A pedestrian with ID 20 is 57.5 meters away at (-17.1, -55.0). A pedestrian with ID 21 is 59.4 meters away at (-17.5, -56.8).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.07814185  0.07031064] 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.02384283 -0.00339564] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.03684257 -0.02313225] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.02521924 -0.09676543] m/s.The vehicle with ID 14 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 pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.00190383 -0.00264586] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.05118934  0.01135083] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 7.3) m/s. Its current heading (yaw) is 1.51

The most relevant actors are: A pedestrian with ID 19 is 15.6 meters away at (4.9, -14.8). A unknown object with ID 6 is 21.8 meters away at (-8.5, 20.1). A unknown object with ID 15 is 30.5 meters away at (3.1, -30.3). A pedestrian with ID 16 is 32.7 meters away at (3.4, -32.5). A pedestrian with ID 12 is 33.0 meters away at (-1.1, -33.0). A pedestrian with ID 13 is 35.3 meters away at (-0.3, -35.3). A vehicle with ID 14 is 36.2 meters away at (-1.7, -36.2).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.0049547   0.01111732] 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 15 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 [0.00391802 0.02325224] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.07078306  0.01728976] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.03722594 -0.00582758] m/s.The vehicle with ID 14 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 (-0.1, 6.8) m/s. Its current heading (yaw) is 1.59

The most relevant actors are: A unknown object with ID 6 is 10.2 meters away at (-8.5, 5.7). A pedestrian with ID 19 is 29.2 meters away at (4.4, -28.8). A pedestrian with ID 16 is 46.6 meters away at (2.9, -46.5). A pedestrian with ID 12 is 46.8 meters away at (-1.9, -46.7). A pedestrian with ID 13 is 49.3 meters away at (-0.8, -49.3). A vehicle with ID 14 is 50.3 meters away at (-2.3, -50.2).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01663697  0.00660848] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.00160392  0.05969061] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.03629612  0.01309013] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.02568307 -0.00894998] m/s.The vehicle with ID 14 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 [-8.497845  5.704296], 10.234859466552734 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 6.3) m/s. Its current heading (yaw) is 1.72

The most relevant actors are: A pedestrian with ID 19 is 42.2 meters away at (4.9, -41.9). A unknown object with ID 5 is 43.2 meters away at (0.0, 43.2). A pedestrian with ID 12 is 59.7 meters away at (-1.5, -59.7). A vehicle with ID 10 is 63.2 meters away at (-1.9, -63.2).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01977386 -0.02940517] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.03834992 -0.01552438] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -3.0) m/s. Its current heading (yaw) is -0.73

The most relevant actors are: A vehicle with ID 15 is 7.5 meters away at (-7.3, 2.0). A vehicle with ID 16 is 13.4 meters away at (-12.0, 6.1). A vehicle with ID 17 is 17.3 meters away at (15.0, -8.6). A vehicle with ID 18 is 35.6 meters away at (-22.3, 27.7). A unknown object with ID 22 is 37.6 meters away at (34.9, -13.8). A vehicle with ID 19 is 41.5 meters away at (-26.7, 31.7). A vehicle with ID 20 is 46.1 meters away at (-41.2, 20.7). A vehicle with ID 21 is 48.9 meters away at (-32.6, 36.5). A vehicle with ID 23 is 56.7 meters away at (-38.5, 41.5). A vehicle with ID 24 is 62.6 meters away at (-43.1, 45.4).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.426305   -0.04449369] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -3.2) m/s. Its current heading (yaw) is -0.97

The most relevant actors are: A vehicle with ID 15 is 15.4 meters away at (-13.2, 7.8). A vehicle with ID 17 is 17.4 meters away at (17.4, -0.1). A vehicle with ID 16 is 21.5 meters away at (-17.9, 11.9). A unknown object with ID 22 is 30.2 meters away at (29.2, -7.9). A vehicle with ID 18 is 43.8 meters away at (-28.3, 33.4). A vehicle with ID 19 is 49.8 meters away at (-32.8, 37.4). A vehicle with ID 20 is 54.0 meters away at (-47.2, 26.3). A vehicle with ID 21 is 57.1 meters away at (-38.6, 42.1). A vehicle with ID 14 is 59.7 meters away at (56.8, -18.4). A unknown object with ID 5 is 61.9 meters away at (56.8, -24.7).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.0323095 2.7794902] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 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 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 14 is traveling at a (x, y) velocity of [-8.471386   1.2523042] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 17.903416 -14.223363]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -4.1) m/s. Its current heading (yaw) is -1.76

The most relevant actors are: A vehicle with ID 15 is 21.3 meters away at (-15.2, 15.0). A unknown object with ID 22 is 27.2 meters away at (27.2, -0.5). A vehicle with ID 16 is 27.5 meters away at (-20.0, 18.9). A vehicle with ID 17 is 28.3 meters away at (24.0, 15.0). A vehicle with ID 14 is 40.2 meters away at (39.2, -9.1). A vehicle with ID 18 is 50.6 meters away at (-30.3, 40.5). A vehicle with ID 19 is 56.5 meters away at (-34.8, 44.5). A unknown object with ID 5 is 57.6 meters away at (55.0, -17.1). A vehicle with ID 20 is 59.5 meters away at (-49.2, 33.5). A vehicle with ID 21 is 63.8 meters away at (-40.6, 49.2).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.6651835 4.6641145] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.9874873  1.2925689] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 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.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -4.5) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A vehicle with ID 15 is 25.5 meters away at (-10.1, 23.4). A vehicle with ID 16 is 31.2 meters away at (-15.0, 27.3). A vehicle with ID 14 is 32.7 meters away at (32.6, 3.1). A unknown object with ID 22 is 33.1 meters away at (32.2, 7.7). A vehicle with ID 17 is 51.3 meters away at (38.9, 33.4). A pedestrian with ID 1 is 53.9 meters away at (-23.2, -48.7). A pedestrian with ID 13 is 68.9 meters away at (68.8, 3.3).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-4.219983   2.6407092] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.766127 5.270338] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.9204754 1.1925262] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.2577436   0.36455935] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 4.7) m/s. Its current heading (yaw) is 2.10

The most relevant actors are: A unknown object with ID 49 is 15.5 meters away at (-9.4, 12.3). A unknown object with ID 23 is 19.5 meters away at (19.3, 2.4). A vehicle with ID 46 is 23.3 meters away at (-15.9, 17.0). A pedestrian with ID 47 is 26.1 meters away at (16.2, -20.5). A vehicle with ID 56 is 28.9 meters away at (-20.5, 20.4). A vehicle with ID 58 is 34.0 meters away at (-25.1, 23.0). A pedestrian with ID 51 is 38.1 meters away at (-12.4, -36.0). A pedestrian with ID 52 is 38.8 meters away at (-11.9, -36.9). A pedestrian with ID 15 is 39.8 meters away at (8.6, -38.9). A vehicle with ID 54 is 40.4 meters away at (1.1, -40.4).

The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [1.268834   0.40712395] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.90554297 -0.5861451 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.9628559 -0.6038963] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-0.9412509  0.8672332] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-9.406937 12.344057], 15.519865036010742 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 3.9) m/s. Its current heading (yaw) is 2.49

The most relevant actors are: A unknown object with ID 49 is 4.3 meters away at (-0.9, 4.2). A vehicle with ID 46 is 11.7 meters away at (-7.5, 8.9). A vehicle with ID 56 is 17.2 meters away at (-12.1, 12.2). A vehicle with ID 58 is 22.3 meters away at (-16.7, 14.8). A pedestrian with ID 33 is 25.2 meters away at (-18.0, 17.6). A unknown object with ID 23 is 28.4 meters away at (27.8, -5.7). A pedestrian with ID 47 is 38.7 meters away at (27.5, -27.3). A unknown object with ID 45 is 42.9 meters away at (-42.5, -5.8). A pedestrian with ID 51 is 45.2 meters away at (-5.8, -44.8). A pedestrian with ID 52 is 46.1 meters away at (-5.4, -45.8).

The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.05076095  0.00953164] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [1.3570787 1.0920477] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.9699957   0.12360562] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-1.025537    0.14197206] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-0.9054642  4.2313805], 4.327175617218018 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 3.9) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A vehicle with ID 46 is 3.9 meters away at (3.6, 1.6). A vehicle with ID 56 is 5.0 meters away at (-0.8, 4.9). A vehicle with ID 58 is 9.2 meters away at (-5.4, 7.5). A unknown object with ID 37 is 9.3 meters away at (-7.2, -5.9). A pedestrian with ID 33 is 12.1 meters away at (-6.8, 9.9). A vehicle with ID 24 is 34.5 meters away at (-24.7, 24.1). A unknown object with ID 25 is 38.5 meters away at (37.3, -9.6). A unknown object with ID 23 is 41.3 meters away at (39.2, -12.8). A pedestrian with ID 64 is 45.9 meters away at (-38.9, -24.5). A cyclist with ID 28 is 46.3 meters away at (-38.9, -25.1).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.01945494 0.02529397] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.01925868 -0.0036857 ] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [ 0.00120288 -0.00099378] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.2) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A vehicle with ID 58 is 7.4 meters away at (7.4, -0.2). A pedestrian with ID 42 is 7.6 meters away at (4.8, 5.8). A vehicle with ID 56 is 12.5 meters away at (12.1, -2.9). A vehicle with ID 46 is 17.6 meters away at (16.5, -6.1). A vehicle with ID 24 is 20.0 meters away at (-11.7, 16.3). A pedestrian with ID 64 is 41.8 meters away at (-25.7, -32.9). A pedestrian with ID 6 is 41.8 meters away at (-27.8, -31.2). A cyclist with ID 28 is 41.9 meters away at (-25.9, -32.9). A vehicle with ID 4 is 49.6 meters away at (-44.0, -22.8). A vehicle with ID 11 is 50.0 meters away at (-44.6, 22.6).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.09447604 0.17045662] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.00820409 0.04358278] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.0093103  0.02454289] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [0.14740027 0.02105314] m/s.The vehicle 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 [10.366097  -5.7947288] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -1.9) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A vehicle with ID 83 is 8.2 meters away at (-5.4, -6.1). A vehicle with ID 88 is 8.7 meters away at (-0.9, -8.7). A vehicle with ID 86 is 10.1 meters away at (3.8, 9.4). A vehicle with ID 82 is 10.9 meters away at (-10.4, -3.2). A vehicle with ID 92 is 11.4 meters away at (9.1, 6.9). A vehicle with ID 84 is 12.0 meters away at (-10.1, 6.6). A vehicle with ID 85 is 12.7 meters away at (-1.4, 12.6). A vehicle with ID 95 is 12.7 meters away at (4.2, -12.0). A vehicle with ID 97 is 14.9 meters away at (14.5, 3.5). A vehicle with ID 90 is 15.9 meters away at (11.5, -11.0).

The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 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 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 2.813246  -1.5985792] m/s.The vehicle with ID 85 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 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [ 4.4146047 -2.4207692] m/s.

There are active red lights at the following coordinates: [[ 61.20146  -32.015354]
 [ 61.220245 -32.060234]]

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -2.8) m/s. Its current heading (yaw) is -0.56

The most relevant actors are: A vehicle with ID 95 is 8.3 meters away at (-3.7, -7.4). A vehicle with ID 88 is 9.7 meters away at (-8.8, -4.0). A vehicle with ID 102 is 10.1 meters away at (1.1, -10.0). A vehicle with ID 97 is 10.4 meters away at (6.5, 8.2). A vehicle with ID 77 is 10.9 meters away at (10.9, -1.4). A vehicle with ID 92 is 11.5 meters away at (1.2, 11.5). A vehicle with ID 118 is 12.8 meters away at (-6.0, 11.3). A vehicle with ID 84 is 12.9 meters away at (-10.8, 7.1). A vehicle with ID 103 is 13.0 meters away at (12.0, 5.0). A vehicle with ID 83 is 13.4 meters away at (-13.3, -1.5).

The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-7.9400125  4.4089775] m/s.The vehicle with ID 92 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 [-9.513177   5.5985475] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 4.3555455 -2.5280855] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 61.20146  -32.015354]
 [ 61.220245 -32.060234]]

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -3.4) m/s. Its current heading (yaw) is -0.55

The most relevant actors are: A vehicle with ID 76 is 4.7 meters away at (4.0, 2.4). A vehicle with ID 106 is 8.0 meters away at (-3.4, -7.2). A vehicle with ID 102 is 9.7 meters away at (-8.8, -4.1). A vehicle with ID 107 is 10.5 meters away at (7.0, 7.8). A vehicle with ID 103 is 11.1 meters away at (2.1, 10.9). A vehicle with ID 90 is 12.8 meters away at (8.7, -9.3). A vehicle with ID 109 is 13.1 meters away at (12.3, 4.7). A vehicle with ID 84 is 13.6 meters away at (-11.3, 7.6). A vehicle with ID 95 is 13.9 meters away at (-13.8, -1.4). A pedestrian with ID 112 is 13.9 meters away at (-3.7, -13.4).

The vehicle with ID 76 is traveling at a (x, y) velocity of [-8.593375  4.841333] m/s.The vehicle with ID 106 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 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [ 3.1446881 -2.1737988] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 5.199184  -3.0819337] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [-1.0652721  0.5427136] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -3.8) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A vehicle with ID 90 is 6.6 meters away at (2.1, -6.3). A vehicle with ID 109 is 11.8 meters away at (0.0, 11.8). A vehicle with ID 84 is 15.3 meters away at (-12.7, 8.4). A vehicle with ID 106 is 15.8 meters away at (-15.8, -0.1). A vehicle with ID 107 is 15.9 meters away at (-5.3, 15.0). A pedestrian with ID 112 is 18.5 meters away at (-17.8, -5.0). A vehicle with ID 103 is 20.8 meters away at (-10.2, 18.1). A vehicle with ID 102 is 21.5 meters away at (-21.2, 3.2). A pedestrian with ID 63 is 22.3 meters away at (5.6, -21.6). A vehicle with ID 56 is 22.4 meters away at (13.6, 17.7).

The vehicle with ID 90 is traveling at a (x, y) velocity of [ 2.6684911 -2.1691315] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 5.481178  -3.1611552] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [-0.75504994  0.5514705 ] m/s.The vehicle with ID 103 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 pedestrian with ID 63 is traveling at a (x, y) velocity of [-1.2672333  0.6076297] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.35

The most relevant actors are: A vehicle with ID 20 is 6.4 meters away at (-6.1, -1.7). A vehicle with ID 21 is 13.7 meters away at (-13.4, -2.9). A vehicle with ID 28 is 18.4 meters away at (8.5, 16.4). A vehicle with ID 26 is 20.5 meters away at (-20.3, -2.5). A vehicle with ID 23 is 25.4 meters away at (3.9, 25.1). A vehicle with ID 27 is 34.2 meters away at (0.6, 34.2). A pedestrian with ID 32 is 40.1 meters away at (-11.2, 38.5). A vehicle with ID 33 is 43.8 meters away at (-3.1, 43.7). A vehicle with ID 5 is 55.9 meters away at (-55.9, 0.7). A pedestrian with ID 3 is 61.1 meters away at (-8.6, 60.5).

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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.6012227 -1.2489015] m/s.The vehicle with ID 33 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 [-9.571727   3.7840488] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.14211972 -1.3793215 ] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.35

The most relevant actors are: A vehicle with ID 20 is 6.4 meters away at (-6.1, -1.7). A vehicle with ID 21 is 12.9 meters away at (-12.6, -2.9). A vehicle with ID 28 is 18.4 meters away at (8.5, 16.4). A vehicle with ID 26 is 20.5 meters away at (-20.4, -2.5). A vehicle with ID 23 is 25.4 meters away at (3.9, 25.1). A vehicle with ID 27 is 34.3 meters away at (0.6, 34.3). A pedestrian with ID 32 is 37.2 meters away at (-10.3, 35.7). A vehicle with ID 33 is 43.4 meters away at (-2.9, 43.3). A vehicle with ID 14 is 62.3 meters away at (-8.2, 61.7). A vehicle with ID 5 is 73.9 meters away at (-73.4, 8.3).

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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.48725513 -1.47117   ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.667114   4.1016583] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.35

The most relevant actors are: A vehicle with ID 20 is 6.4 meters away at (-6.2, -1.7). A vehicle with ID 21 is 12.9 meters away at (-12.5, -2.9). A vehicle with ID 28 is 16.5 meters away at (9.5, 13.5). A vehicle with ID 26 is 20.5 meters away at (-20.4, -2.5). A vehicle with ID 23 is 24.6 meters away at (4.2, 24.3). A pedestrian with ID 32 is 34.1 meters away at (-9.5, 32.7). A vehicle with ID 27 is 34.3 meters away at (0.5, 34.3). A vehicle with ID 33 is 43.3 meters away at (-2.8, 43.2). A vehicle with ID 17 is 51.7 meters away at (-5.1, 51.5). A vehicle with ID 14 is 62.2 meters away at (-8.3, 61.6).

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 28 is traveling at a (x, y) velocity of [ 0.79226756 -2.8272161 ] m/s.The vehicle with ID 26 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 [ 0.6384413 -1.487753 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.47335657 -1.4197072 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[11.166786   1.7059458]
 [10.580123   5.0448084]]

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.35

The most relevant actors are: A vehicle with ID 20 is 6.4 meters away at (-6.1, -1.7). A vehicle with ID 28 is 11.4 meters away at (9.9, 5.7). A vehicle with ID 21 is 12.8 meters away at (-12.5, -2.9). A vehicle with ID 23 is 20.4 meters away at (6.5, 19.3). A vehicle with ID 26 is 20.5 meters away at (-20.3, -2.5). A pedestrian with ID 32 is 31.1 meters away at (-8.4, 29.9). A vehicle with ID 27 is 32.5 meters away at (1.3, 32.5). A vehicle with ID 19 is 42.0 meters away at (-41.6, 6.1). A vehicle with ID 33 is 43.2 meters away at (-2.8, 43.1).

The vehicle with ID 20 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 [-0.72247535 -4.016569  ] m/s.The vehicle with ID 21 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 [ 1.4348598 -3.249946 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.52621615 -1.4344958 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 0.9248284 -2.4656873] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 6.7487435 -2.3038404] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 0.11185112 -0.292666  ] m/s.

There are active red lights at the following coordinates: [[11.166786   1.7059458]
 [10.580123   5.0448084]]

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 1.1) m/s. Its current heading (yaw) is 1.01

The most relevant actors are: A pedestrian with ID 31 is 5.9 meters away at (-4.3, 4.0). A pedestrian with ID 33 is 6.1 meters away at (-5.9, 1.8). A pedestrian with ID 32 is 6.4 meters away at (-5.6, 3.0). A unknown object with ID 30 is 6.8 meters away at (-4.4, 5.2). A pedestrian with ID 34 is 6.8 meters away at (-6.3, 2.6). A vehicle with ID 2 is 7.0 meters away at (2.3, 6.6). A pedestrian with ID 28 is 7.1 meters away at (-3.5, 6.1). A vehicle with ID 29 is 8.9 meters away at (2.2, -8.6). A pedestrian with ID 1 is 10.5 meters away at (1.1, 10.4). A unknown object with ID 16 is 24.1 meters away at (22.1, 9.6).

The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00013217  0.0022734 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.01294679 -0.02152539] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.0023681  0.00050058] m/s.The unknown object with ID 30 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 [ 0.06520225 -0.00993555] m/s.The vehicle with ID 2 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 [0.00991253 0.0016194 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.9315175   0.94785094] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.57874703 0.9539305 ] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a pedestrian at [-4.338505  4.003138], 5.903197288513184 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 2.4) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 2 is 3.5 meters away at (-0.5, 3.5). A pedestrian with ID 28 is 7.0 meters away at (-6.4, 2.9). A pedestrian with ID 31 is 7.3 meters away at (-7.2, 0.8). A unknown object with ID 30 is 7.5 meters away at (-7.3, 2.0). A pedestrian with ID 32 is 8.7 meters away at (-8.7, -0.1). A pedestrian with ID 33 is 8.8 meters away at (-8.6, -1.5). A pedestrian with ID 1 is 9.1 meters away at (-0.6, 9.1). A pedestrian with ID 34 is 9.2 meters away at (-9.2, -0.6). A vehicle with ID 29 is 10.2 meters away at (-2.0, -10.0). A pedestrian with ID 7 is 13.8 meters away at (-4.1, -13.2).

The vehicle with ID 2 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 [-0.01154222  0.00074669] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00153513 -0.00991112] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.06539964  0.01476794] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00615937 -0.03963787] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.64029783 0.88980126] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.02381036 -0.0093885 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.5862197  1.2031085] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.00174628 -0.00316893] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 2.2) m/s. Its current heading (yaw) is 1.09

The most relevant actors are: A vehicle with ID 2 is 3.9 meters away at (-3.8, -1.0). A pedestrian with ID 1 is 6.6 meters away at (-2.4, 6.1). A pedestrian with ID 28 is 9.8 meters away at (-9.7, -1.7). A unknown object with ID 30 is 10.9 meters away at (-10.5, -2.6). A pedestrian with ID 31 is 11.2 meters away at (-10.5, -3.8). A pedestrian with ID 32 is 12.9 meters away at (-12.0, -4.7). A pedestrian with ID 33 is 13.4 meters away at (-12.0, -6.0). A vehicle with ID 29 is 13.4 meters away at (-6.1, -11.9). A pedestrian with ID 34 is 13.6 meters away at (-12.6, -5.2). A unknown object with ID 25 is 22.6 meters away at (-4.6, -22.1).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.8692708 0.8067507] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.01190058 0.01360177] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.01143675 0.00429673] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00024474  0.01925259] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.01779897 0.00757258] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.13683227  1.5400546 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.01436532  0.02496118] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 2.0) m/s. Its current heading (yaw) is 1.23

The most relevant actors are: A pedestrian with ID 1 is 4.3 meters away at (-2.6, 3.5). A vehicle with ID 2 is 7.4 meters away at (-5.3, -5.2). A pedestrian with ID 28 is 12.6 meters away at (-11.2, -5.8). A unknown object with ID 30 is 13.7 meters away at (-12.0, -6.7). A pedestrian with ID 31 is 14.4 meters away at (-11.8, -8.1). A unknown object with ID 3 is 14.6 meters away at (13.4, 5.8). A vehicle with ID 29 is 15.1 meters away at (-7.3, -13.2). A pedestrian with ID 32 is 16.2 meters away at (-13.5, -8.8). A pedestrian with ID 33 is 16.9 meters away at (-13.5, -10.1). A pedestrian with ID 34 is 17.0 meters away at (-14.1, -9.5).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.62019557 0.71061856] m/s.The vehicle with ID 2 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 [-0.00942518 -0.00996361] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.03342898 -0.02028335] m/s.The unknown object with ID 3 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 [0.39741066 1.2534754 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [1.3160135e-02 4.6839319e-05] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.0210943  -0.02011914] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.01437307 -0.02254187] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -0.3) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A vehicle with ID 27 is 9.6 meters away at (-9.0, 3.2). A vehicle with ID 79 is 10.6 meters away at (-10.6, 0.8). A vehicle with ID 80 is 12.5 meters away at (4.7, -11.6). A vehicle with ID 82 is 12.9 meters away at (12.6, 2.7). A vehicle with ID 45 is 16.5 meters away at (3.1, -16.2). A unknown object with ID 91 is 19.9 meters away at (14.9, -13.2). A vehicle with ID 88 is 20.2 meters away at (-19.3, 6.1). A vehicle with ID 85 is 20.3 meters away at (13.9, 14.8). A pedestrian with ID 84 is 20.3 meters away at (18.7, 7.8). A unknown object with ID 92 is 20.3 meters away at (12.4, -16.0).

The vehicle with ID 27 is traveling at a (x, y) velocity of [ 2.3984034 -0.8406118] m/s.The vehicle with ID 79 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 82 is traveling at a (x, y) velocity of [-1.4276834 -4.587348 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 2.4741433 -1.1260617] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [0.3577347 1.178522 ] m/s.The unknown object with ID 92 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 -0.38

The most relevant actors are: A vehicle with ID 27 is 6.7 meters away at (-6.3, 2.3). A vehicle with ID 79 is 10.8 meters away at (-10.8, 0.9). A vehicle with ID 80 is 12.3 meters away at (4.5, -11.5). A vehicle with ID 82 is 12.8 meters away at (8.4, -9.7). A vehicle with ID 88 is 15.8 meters away at (-15.2, 4.2). A vehicle with ID 45 is 16.3 meters away at (2.8, -16.1). A unknown object with ID 91 is 19.7 meters away at (14.7, -13.1). A unknown object with ID 92 is 20.2 meters away at (12.4, -16.0). A vehicle with ID 85 is 20.3 meters away at (13.7, 15.0). A vehicle with ID 18 is 20.4 meters away at (16.5, 12.1).

The vehicle with ID 27 is traveling at a (x, y) velocity of [ 0.515077   -0.20780693] m/s.The vehicle with ID 79 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 82 is traveling at a (x, y) velocity of [-2.5780785 -7.7447777] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 2.036151   -0.75377315] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.87474334 -2.218148  ] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 27 is 8.9 meters away at (-8.4, 3.1). A vehicle with ID 80 is 10.3 meters away at (1.3, -10.2). A vehicle with ID 79 is 14.2 meters away at (-14.0, 2.1). A vehicle with ID 45 is 14.9 meters away at (-0.3, -14.9). A vehicle with ID 18 is 14.9 meters away at (11.8, 9.1). A vehicle with ID 88 is 16.1 meters away at (-15.4, 4.7). A unknown object with ID 91 is 16.5 meters away at (11.5, -11.9). A unknown object with ID 92 is 17.3 meters away at (9.1, -14.7). A unknown object with ID 51 is 18.0 meters away at (11.5, -13.8). A vehicle with ID 85 is 19.4 meters away at (10.5, 16.3).

The vehicle with ID 27 is traveling at a (x, y) velocity of [ 1.406271   -0.54316837] m/s.The vehicle with ID 80 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.55671185 -1.5033655 ] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 0.5360663  -0.11926581] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.2) m/s. Its current heading (yaw) is -0.50

The most relevant actors are: A unknown object with ID 91 is 8.1 meters away at (2.2, -7.8). A unknown object with ID 46 is 9.3 meters away at (7.6, 5.4). A vehicle with ID 80 is 9.9 meters away at (-7.8, -6.1). A vehicle with ID 18 is 11.8 meters away at (1.9, 11.6). A vehicle with ID 72 is 12.5 meters away at (1.3, -12.4). A vehicle with ID 77 is 12.7 meters away at (12.7, -0.1). A vehicle with ID 45 is 14.2 meters away at (-9.3, -10.7). A vehicle with ID 27 is 14.6 meters away at (-13.4, 5.7). A vehicle with ID 23 is 14.7 meters away at (3.6, -14.3). A vehicle with ID 76 is 17.3 meters away at (16.9, -3.6).

The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 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 [-0.1251758 -0.5991749] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 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 [ 1.7816447 -0.7039394] m/s.The vehicle with ID 23 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 2.2050266 -7.7575297], 8.064826011657715 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 1.5) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 46 is 15.4 meters away at (12.1, -9.6). A unknown object with ID 47 is 26.0 meters away at (21.9, -14.0). A unknown object with ID 48 is 27.8 meters away at (23.3, -15.2). A pedestrian with ID 50 is 29.6 meters away at (-27.9, 9.9). A pedestrian with ID 12 is 36.2 meters away at (-34.5, -10.9). A pedestrian with ID 49 is 36.4 meters away at (-34.9, -10.2). A unknown object with ID 56 is 42.5 meters away at (-25.0, 34.4). A pedestrian with ID 55 is 45.7 meters away at (-41.9, -18.0). A vehicle with ID 57 is 56.7 meters away at (-52.2, -22.1). A vehicle with ID 9 is 58.1 meters away at (-56.8, -12.3).

The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.321613   2.0561135] 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.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.9731653  0.4131675] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.92778325 -0.87328166] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.88789105 -1.0028012 ] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.7244121 -1.0676131] m/s.The vehicle with ID 57 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 ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 3.2) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 46 is 16.7 meters away at (13.1, -10.2). A pedestrian with ID 16 is 22.4 meters away at (-1.5, 22.3). A pedestrian with ID 50 is 25.5 meters away at (-24.8, 6.1). A unknown object with ID 47 is 33.3 meters away at (27.5, -18.7). A unknown object with ID 38 is 33.6 meters away at (-15.9, 29.6). A unknown object with ID 48 is 35.0 meters away at (28.9, -19.9). A pedestrian with ID 12 is 35.1 meters away at (-30.4, -17.5). A pedestrian with ID 49 is 35.2 meters away at (-31.0, -16.7). A unknown object with ID 56 is 35.5 meters away at (-19.3, 29.7). A pedestrian with ID 39 is 41.4 meters away at (-35.6, -21.0).

The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.2476778  2.0977595] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.01710713 0.00147127] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.1668782   0.24199459] 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 38 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 pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.78447413 -0.9296644 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.74100566 -0.90449744] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.7495928 -1.018747 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.8) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 22 is 14.7 meters away at (2.8, 14.4). A pedestrian with ID 50 is 18.9 meters away at (-18.9, -0.7). A vehicle with ID 46 is 21.0 meters away at (16.6, -12.9). A unknown object with ID 56 is 25.4 meters away at (-11.0, 22.9). A pedestrian with ID 49 is 34.9 meters away at (-24.1, -25.2). A pedestrian with ID 12 is 35.2 meters away at (-23.6, -26.0). A pedestrian with ID 39 is 41.2 meters away at (-29.1, -29.2). A vehicle with ID 43 is 43.7 meters away at (-32.8, 28.8). A pedestrian with ID 55 is 46.3 meters away at (-31.8, -33.7). A vehicle with ID 9 is 48.8 meters away at (-42.7, -23.6).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.2526935  -0.00412805] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.513827   2.3056629] m/s.The unknown object with ID 56 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 [-0.84550285 -0.7944451 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.85887986 -0.8033007 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.8382627  -0.78553635] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.8282169 -1.025551 ] 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 [ 2.7710152 14.386686 ], 14.651118278503418 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.8) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A pedestrian with ID 50 is 15.2 meters away at (-12.5, -8.6). A vehicle with ID 46 is 25.5 meters away at (20.0, -15.7). A vehicle with ID 43 is 32.2 meters away at (-24.0, 21.5). A vehicle with ID 44 is 37.9 meters away at (-28.5, 25.0). A pedestrian with ID 49 is 38.1 meters away at (-17.1, -34.0). A pedestrian with ID 12 is 38.7 meters away at (-16.6, -34.9). A vehicle with ID 45 is 43.9 meters away at (-33.7, 28.0). A pedestrian with ID 39 is 44.2 meters away at (-22.1, -38.2). A vehicle with ID 9 is 45.8 meters away at (-33.9, -30.8). A pedestrian with ID 55 is 49.6 meters away at (-24.6, -43.1).

The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.136735   -0.37177777] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.4741619  2.1948867] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.8380552  -0.74231297] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.9171267  -0.69601995] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.874349   -0.85855395] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.80556506 -0.9701331 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.6) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A pedestrian with ID 60 is 9.4 meters away at (-0.4, 9.4). A vehicle with ID 58 is 14.1 meters away at (13.0, -5.4). A unknown object with ID 55 is 15.3 meters away at (-7.0, -13.6). A vehicle with ID 61 is 18.3 meters away at (-10.7, 14.8). A unknown object with ID 31 is 18.9 meters away at (-18.6, -3.5). A vehicle with ID 64 is 24.0 meters away at (-15.4, 18.4). A vehicle with ID 59 is 24.5 meters away at (21.1, -12.5). A vehicle with ID 67 is 29.9 meters away at (-19.9, 22.3). A vehicle with ID 73 is 36.7 meters away at (-25.1, 26.7). A vehicle with ID 63 is 41.4 meters away at (-17.6, -37.4).

The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.00240013  0.00300084] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 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 63 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 (-6.5, 5.5) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 61 is 4.2 meters away at (2.4, 3.5). A vehicle with ID 64 is 7.5 meters away at (-2.3, 7.1). A pedestrian with ID 60 is 12.9 meters away at (12.7, -1.9). A vehicle with ID 67 is 12.9 meters away at (-6.7, 11.0). A vehicle with ID 73 is 19.5 meters away at (-11.9, 15.4). A vehicle with ID 58 is 31.1 meters away at (26.2, -16.8). A vehicle with ID 78 is 32.3 meters away at (-21.8, 23.8). A vehicle with ID 59 is 41.7 meters away at (34.2, -23.8). A pedestrian with ID 49 is 46.5 meters away at (-31.3, 34.3). A vehicle with ID 63 is 48.9 meters away at (-4.5, -48.7).

The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.01155778 0.02133496] m/s.The vehicle with ID 67 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 58 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 59 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 [ 0.0168941 -0.0270699] m/s.The vehicle with ID 63 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 (-6.1, 5.1) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 73 is 4.9 meters away at (0.6, 4.8). A vehicle with ID 67 is 5.7 meters away at (5.7, 0.4). A vehicle with ID 64 is 10.7 meters away at (10.1, -3.4). A vehicle with ID 78 is 16.1 meters away at (-9.3, 13.2). A vehicle with ID 61 is 16.5 meters away at (14.8, -7.2). A pedestrian with ID 36 is 26.9 meters away at (-12.9, 23.6). A pedestrian with ID 60 is 28.1 meters away at (25.2, -12.5). A pedestrian with ID 49 is 30.2 meters away at (-18.7, 23.6). A vehicle with ID 52 is 43.9 meters away at (-25.5, 35.7). A vehicle with ID 58 is 47.4 meters away at (38.6, -27.5).

The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.00914915 -0.01968635] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.05515536 -0.00519952] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.00365477 0.00131521] m/s.The vehicle with ID 52 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 left turn approaching.