The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -6.5) m/s. Its current heading (yaw) is -1.63

The most relevant actors are: A vehicle with ID 19 is 36.4 meters away at (2.2, -36.3). A pedestrian with ID 45 is 39.8 meters away at (-7.2, 39.1). A vehicle with ID 46 is 45.1 meters away at (3.5, 44.9). A unknown object with ID 33 is 47.6 meters away at (-0.9, 47.6). A pedestrian with ID 50 is 49.8 meters away at (-0.7, 49.7). A pedestrian with ID 47 is 51.8 meters away at (-2.2, 51.8). A pedestrian with ID 27 is 52.0 meters away at (-3.3, 51.9). A pedestrian with ID 48 is 53.0 meters away at (-1.9, 53.0). A pedestrian with ID 49 is 53.2 meters away at (-2.6, 53.1). A pedestrian with ID 51 is 55.2 meters away at (-0.8, 55.2).

The vehicle with ID 19 is traveling at a (x, y) velocity of [ 1.4139838 -6.968369 ] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.4660388 1.4292681] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [2.993345 8.653881] m/s.The unknown object with ID 33 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 [0.00668133 0.00150211] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.5144606 1.1357745] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.48642462 1.1878182 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.46519825 1.1481695 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.3842224 1.1722442] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [0.4961893 1.123863 ] 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, -7.3) m/s. Its current heading (yaw) is -1.57

The most relevant actors are: A unknown object with ID 32 is 11.7 meters away at (11.7, -0.3). A unknown object with ID 43 is 14.3 meters away at (14.3, -0.5). A unknown object with ID 35 is 15.8 meters away at (15.7, -0.9). A unknown object with ID 40 is 16.1 meters away at (16.1, -1.1). A unknown object with ID 30 is 16.7 meters away at (16.2, -4.0). A unknown object with ID 42 is 17.6 meters away at (16.9, -5.0). A vehicle with ID 19 is 37.6 meters away at (6.1, -37.1). A pedestrian with ID 45 is 56.0 meters away at (-5.7, 55.7). A pedestrian with ID 26 is 62.8 meters away at (-1.2, 62.8). A pedestrian with ID 50 is 63.4 meters away at (-0.2, 63.4).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 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 vehicle with ID 19 is traveling at a (x, y) velocity of [ 2.1304057 -7.281786 ] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.6724157 1.4498994] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.34873387 -0.01921453] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.14752921 0.00271354] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -7.5) m/s. Its current heading (yaw) is -1.44

The most relevant actors are: A unknown object with ID 32 is 18.0 meters away at (10.9, 14.3). A unknown object with ID 43 is 19.5 meters away at (13.5, 14.1). A unknown object with ID 23 is 34.9 meters away at (-6.7, -34.3). A vehicle with ID 19 is 38.6 meters away at (10.1, -37.3). A unknown object with ID 3 is 49.4 meters away at (2.0, -49.3). A unknown object with ID 2 is 51.1 meters away at (3.2, -51.0). A unknown object with ID 4 is 54.7 meters away at (5.3, -54.5). A unknown object with ID 6 is 56.7 meters away at (5.8, -56.4). A pedestrian with ID 38 is 58.8 meters away at (6.1, -58.5). A unknown object with ID 25 is 59.0 meters away at (5.5, -58.8).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 2.8866444 -7.612771 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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 38 is traveling at a (x, y) velocity of [ 0.02679271 -0.02200863] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [10.927146 14.328415], 18.01959991455078 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.05

The most relevant actors are: A vehicle with ID 25 is 13.0 meters away at (-4.9, -12.0). A unknown object with ID 29 is 18.5 meters away at (16.2, -9.0). A unknown object with ID 27 is 21.5 meters away at (18.6, 10.9). A vehicle with ID 23 is 24.2 meters away at (0.6, 24.2). A vehicle with ID 21 is 30.0 meters away at (-5.5, 29.5). A vehicle with ID 24 is 46.1 meters away at (-19.7, 41.7).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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 21 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 1.2) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 25 is 14.7 meters away at (-5.8, -13.5). A unknown object with ID 29 is 18.4 meters away at (15.2, -10.4). A unknown object with ID 27 is 19.8 meters away at (17.4, 9.5). A vehicle with ID 23 is 22.8 meters away at (-0.5, 22.7). A vehicle with ID 21 is 28.8 meters away at (-6.6, 28.0). A vehicle with ID 24 is 45.1 meters away at (-20.7, 40.1). A vehicle with ID 2 is 52.6 meters away at (-26.8, 45.2).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 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 (1.0, 2.6) m/s. Its current heading (yaw) is 1.21

The most relevant actors are: A unknown object with ID 27 is 16.2 meters away at (15.2, 5.6). A vehicle with ID 25 is 19.1 meters away at (-8.3, -17.2). A unknown object with ID 29 is 19.2 meters away at (12.8, -14.3). A vehicle with ID 23 is 19.2 meters away at (-2.7, 19.0). A vehicle with ID 21 is 25.8 meters away at (-8.7, 24.3). A vehicle with ID 24 is 42.9 meters away at (-22.6, 36.4). A vehicle with ID 2 is 50.5 meters away at (-28.7, 41.6). A vehicle with ID 6 is 57.6 meters away at (-34.3, 46.3).

The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [15.181817   5.5844545], 16.176332473754883 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 3.6) m/s. Its current heading (yaw) is 1.96

The most relevant actors are: A vehicle with ID 23 is 12.9 meters away at (-2.7, 12.6). A unknown object with ID 27 is 15.1 meters away at (15.1, -0.9). A vehicle with ID 21 is 19.9 meters away at (-8.7, 17.9). A unknown object with ID 29 is 24.3 meters away at (12.8, -20.7). A vehicle with ID 25 is 25.1 meters away at (-8.4, -23.6). A vehicle with ID 24 is 37.7 meters away at (-22.7, 30.1). A vehicle with ID 2 is 45.4 meters away at (-28.7, 35.2). A unknown object with ID 3 is 51.9 meters away at (-40.7, 32.2). A vehicle with ID 6 is 52.7 meters away at (-34.4, 40.0).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 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 (-0.4, 8.0) m/s. Its current heading (yaw) is 1.62

The most relevant actors are: A vehicle with ID 25 is 26.2 meters away at (8.8, -24.6). A vehicle with ID 1 is 33.1 meters away at (22.2, 24.5). A vehicle with ID 28 is 42.6 meters away at (33.7, 26.1). A unknown object with ID 29 is 44.9 meters away at (8.7, 44.0). A unknown object with ID 30 is 46.3 meters away at (7.5, 45.7). A unknown object with ID 31 is 48.2 meters away at (7.5, 47.6). A vehicle with ID 26 is 48.8 meters away at (-32.2, -36.7). A unknown object with ID 32 is 50.2 meters away at (7.5, 49.6). A vehicle with ID 27 is 52.3 meters away at (-44.4, -27.5).

The vehicle with ID 25 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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, 8.8) m/s. Its current heading (yaw) is 1.62

The most relevant actors are: A unknown object with ID 7 is 8.9 meters away at (8.9, 0.3). A vehicle with ID 1 is 24.1 meters away at (23.0, 7.3). A unknown object with ID 29 is 28.5 meters away at (9.5, 26.8). A unknown object with ID 30 is 29.7 meters away at (8.4, 28.5). A unknown object with ID 31 is 31.6 meters away at (8.4, 30.4). A unknown object with ID 32 is 33.4 meters away at (8.4, 32.4). A vehicle with ID 28 is 35.6 meters away at (34.4, 9.0). A unknown object with ID 8 is 48.9 meters away at (-29.0, -39.4). A vehicle with ID 26 is 62.3 meters away at (-31.5, -53.8). A vehicle with ID 27 is 62.5 meters away at (-43.7, -44.7).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [8.883876   0.29221153], 8.888680458068848 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 9.1) m/s. Its current heading (yaw) is 1.62

The most relevant actors are: A unknown object with ID 29 is 13.5 meters away at (10.5, 8.6). A unknown object with ID 30 is 13.8 meters away at (9.4, 10.2). A unknown object with ID 31 is 15.4 meters away at (9.4, 12.2). A unknown object with ID 32 is 16.9 meters away at (9.4, 14.1). A unknown object with ID 6 is 18.7 meters away at (9.4, 16.2). A vehicle with ID 1 is 26.3 meters away at (23.9, -10.9). A vehicle with ID 28 is 36.6 meters away at (35.4, -9.3).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [10.481742  8.566845], 13.537272453308105 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 8.4) m/s. Its current heading (yaw) is 1.61

The most relevant actors are: A unknown object with ID 19 is 7.4 meters away at (5.5, -4.9). A unknown object with ID 9 is 10.1 meters away at (10.1, 0.1). A unknown object with ID 6 is 10.2 meters away at (10.1, -1.3). A unknown object with ID 13 is 10.2 meters away at (10.1, 1.6). A unknown object with ID 5 is 10.6 meters away at (10.1, 3.0). A unknown object with ID 32 is 10.6 meters away at (10.1, -3.4). A unknown object with ID 3 is 11.2 meters away at (10.1, 4.7). A unknown object with ID 31 is 11.4 meters away at (10.1, -5.3). A unknown object with ID 30 is 12.4 meters away at (10.1, -7.3). A unknown object with ID 10 is 13.0 meters away at (11.3, 6.5).

The unknown object with ID 19 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 5.518779 -4.864006], 7.356321811676025 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.4) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A vehicle with ID 22 is 17.9 meters away at (1.5, -17.8). A vehicle with ID 26 is 19.2 meters away at (11.8, -15.1). A vehicle with ID 27 is 22.9 meters away at (-18.5, 13.4). A vehicle with ID 23 is 28.0 meters away at (6.7, -27.2). A unknown object with ID 34 is 35.8 meters away at (35.1, 6.8). A unknown object with ID 8 is 36.1 meters away at (35.2, 7.9). A unknown object with ID 35 is 36.1 meters away at (34.9, 9.5). A pedestrian with ID 36 is 44.0 meters away at (39.6, -19.2). A vehicle with ID 25 is 45.6 meters away at (-7.7, -44.9). A vehicle with ID 37 is 51.5 meters away at (48.3, -17.9).

The vehicle with ID 22 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 27 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.8773864  -0.12943117] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -2.2) m/s. Its current heading (yaw) is -0.74

The most relevant actors are: A vehicle with ID 26 is 15.0 meters away at (7.9, -12.7). A vehicle with ID 22 is 15.7 meters away at (-2.4, -15.5). A vehicle with ID 23 is 25.1 meters away at (2.8, -24.9). A vehicle with ID 27 is 27.5 meters away at (-22.6, 15.6). A unknown object with ID 12 is 28.9 meters away at (21.9, 18.9). A unknown object with ID 34 is 32.5 meters away at (31.1, 9.4). A pedestrian with ID 36 is 41.6 meters away at (37.8, -17.2). A vehicle with ID 25 is 44.2 meters away at (-11.5, -42.7). A vehicle with ID 37 is 46.7 meters away at (44.1, -15.5). A vehicle with ID 42 is 47.7 meters away at (47.3, -6.3).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.056814   -0.41883934] m/s.The vehicle with ID 25 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 42 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 (0.7, -3.7) m/s. Its current heading (yaw) is -1.38

The most relevant actors are: A vehicle with ID 26 is 6.5 meters away at (5.4, -3.6). A vehicle with ID 22 is 11.4 meters away at (-6.1, -9.7). A vehicle with ID 23 is 19.1 meters away at (-0.9, -19.1). A unknown object with ID 21 is 26.6 meters away at (16.3, 21.0). A unknown object with ID 12 is 30.8 meters away at (18.3, 24.9). A unknown object with ID 34 is 31.4 meters away at (27.3, 15.4). A unknown object with ID 7 is 32.5 meters away at (27.1, 17.9). A vehicle with ID 27 is 33.9 meters away at (-26.3, 21.5). A pedestrian with ID 36 is 38.1 meters away at (36.2, -12.0). A vehicle with ID 25 is 39.9 meters away at (-15.2, -36.8).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0.36450306 3.130189  ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 27 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 [ 0.9645179  -0.43668973] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -3.7) m/s. Its current heading (yaw) is -2.02

The most relevant actors are: A vehicle with ID 22 is 5.8 meters away at (-5.4, -2.0). A vehicle with ID 23 is 11.4 meters away at (-0.2, -11.4). A vehicle with ID 26 is 13.3 meters away at (3.1, 12.9). A vehicle with ID 25 is 32.6 meters away at (-14.6, -29.2). A unknown object with ID 21 is 33.3 meters away at (17.1, 28.6). A unknown object with ID 34 is 36.5 meters away at (28.3, 23.1). A vehicle with ID 27 is 38.8 meters away at (-25.6, 29.2). A pedestrian with ID 36 is 39.1 meters away at (38.8, -5.1). A vehicle with ID 32 is 39.2 meters away at (-18.7, -34.5). A vehicle with ID 37 is 41.0 meters away at (41.0, -1.9).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.271954  4.60806 ] m/s.The vehicle with ID 25 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 34 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 36 is traveling at a (x, y) velocity of [ 0.9457386  -0.43857273] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 6.4) m/s. Its current heading (yaw) is 1.19

The most relevant actors are: A unknown object with ID 6 is 24.8 meters away at (3.5, 24.6). A vehicle with ID 27 is 41.6 meters away at (-10.1, -40.4). A vehicle with ID 28 is 45.6 meters away at (-42.6, -16.4). A unknown object with ID 33 is 52.6 meters away at (-49.8, -16.9). A vehicle with ID 26 is 54.0 meters away at (32.2, 43.3). A unknown object with ID 34 is 54.5 meters away at (-52.1, -15.9). A unknown object with ID 9 is 59.7 meters away at (-58.2, -13.4). A pedestrian with ID 36 is 65.1 meters away at (22.5, 61.0). A pedestrian with ID 20 is 76.5 meters away at (-20.7, -73.6). A vehicle with ID 12 is 78.7 meters away at (-77.6, 13.4).

The unknown object with ID 6 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 [-1.7485963 -6.49607  ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-9.454547  4.444005] m/s.The unknown object with ID 33 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 unknown object with ID 34 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 pedestrian with ID 36 is traveling at a (x, y) velocity of [-1.180526   1.0901843] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.44792107 -1.14882   ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 7.142219  -3.2763329] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [ 3.4686732 24.566097 ], 24.809772491455078 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 7.4) m/s. Its current heading (yaw) is 1.21

The most relevant actors are: A unknown object with ID 13 is 10.8 meters away at (-2.6, 10.5). A unknown object with ID 6 is 11.0 meters away at (-2.2, 10.8). A vehicle with ID 26 is 39.7 meters away at (26.6, 29.4). A pedestrian with ID 36 is 51.7 meters away at (15.0, 49.5). A cyclist with ID 8 is 68.6 meters away at (35.5, 58.7). A vehicle with ID 12 is 70.3 meters away at (-70.0, -6.3). A vehicle with ID 27 is 71.6 meters away at (-20.7, -68.5).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 [-0.98230684  1.0820363 ] m/s.The cyclist with ID 8 is traveling at a (x, y) velocity of [-2.4526868 -5.589474 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.131106  -2.6063175] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-3.344944  -7.8705063] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-2.5633535 10.500744 ], 10.809088706970215 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 7.8) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A unknown object with ID 6 is 9.2 meters away at (-8.0, -4.4). A unknown object with ID 13 is 9.6 meters away at (-8.4, -4.7). A vehicle with ID 26 is 25.2 meters away at (20.8, 14.3). A pedestrian with ID 36 is 36.8 meters away at (6.8, 36.1). A cyclist with ID 8 is 40.7 meters away at (24.8, 32.3). A vehicle with ID 12 is 68.5 meters away at (-62.9, -27.2).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-1.2688597  0.5995435] m/s.The cyclist with ID 8 is traveling at a (x, y) velocity of [-2.273887 -5.607233] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.051952  -2.5651727] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-8.03059   -4.4446487], 9.178523063659668 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 7.4) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A vehicle with ID 26 is 15.2 meters away at (15.2, -0.6). A cyclist with ID 8 is 15.9 meters away at (14.5, 6.4). A unknown object with ID 6 is 23.7 meters away at (-13.6, -19.5). A unknown object with ID 13 is 24.2 meters away at (-13.9, -19.7). A unknown object with ID 14 is 24.3 meters away at (-15.1, -19.1). A unknown object with ID 17 is 27.5 meters away at (25.3, 10.8). A unknown object with ID 11 is 43.5 meters away at (-22.8, -37.1). A vehicle with ID 12 is 74.5 meters away at (-57.9, -46.9).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 8 is traveling at a (x, y) velocity of [-2.3315217 -5.371442 ] 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 4.993838  -1.9769326] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 2.9) m/s. Its current heading (yaw) is 1.62

The most relevant actors are: A pedestrian with ID 28 is 5.2 meters away at (-5.0, -1.3). A pedestrian with ID 29 is 6.8 meters away at (-6.6, 1.2). A vehicle with ID 30 is 9.7 meters away at (5.2, 8.2). A vehicle with ID 31 is 10.7 meters away at (9.7, 4.5). A cyclist with ID 33 is 12.7 meters away at (1.1, 12.7). A unknown object with ID 32 is 14.6 meters away at (14.4, 2.3). A vehicle with ID 27 is 18.5 meters away at (-5.6, 17.6). A vehicle with ID 26 is 25.3 meters away at (-11.5, 22.5). A vehicle with ID 25 is 31.1 meters away at (-16.0, 26.6). A vehicle with ID 23 is 38.6 meters away at (-21.7, 31.9).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.6083151  -0.48938182] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00053249 -0.01545457] m/s.The vehicle with ID 30 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 cyclist with ID 33 is traveling at a (x, y) velocity of [ 0.00544549 -0.02071234] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 3.0) m/s. Its current heading (yaw) is 2.30

The most relevant actors are: A pedestrian with ID 29 is 6.9 meters away at (-3.6, -5.9). A cyclist with ID 33 is 7.2 meters away at (3.9, 6.1). A vehicle with ID 30 is 7.9 meters away at (7.7, 1.8). A pedestrian with ID 28 is 8.8 meters away at (-0.7, -8.8). A vehicle with ID 27 is 11.6 meters away at (-3.0, 11.2). A vehicle with ID 31 is 12.5 meters away at (12.3, -2.0). A vehicle with ID 26 is 18.2 meters away at (-8.7, 16.0). A vehicle with ID 25 is 24.2 meters away at (-13.3, 20.3). A vehicle with ID 23 is 31.8 meters away at (-19.0, 25.5). A vehicle with ID 16 is 32.9 meters away at (14.1, -29.8).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.52960265 -0.6309417 ] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [ 0.0873898  -0.04574301] m/s.The vehicle with ID 30 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 [ 0.90018   -0.6476507] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 2.7) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 27 is 6.4 meters away at (3.2, 5.6). A vehicle with ID 26 is 10.3 meters away at (-2.1, 10.0). A cyclist with ID 33 is 10.4 meters away at (10.4, 0.5). A pedestrian with ID 11 is 10.5 meters away at (10.5, 0.4). A pedestrian with ID 29 is 13.5 meters away at (3.8, -12.9). A vehicle with ID 30 is 14.4 meters away at (13.9, -3.8). A vehicle with ID 25 is 16.2 meters away at (-7.1, 14.6). A pedestrian with ID 28 is 16.9 meters away at (7.1, -15.3). A vehicle with ID 31 is 20.0 meters away at (18.5, -7.6). A vehicle with ID 23 is 23.7 meters away at (-12.8, 19.9).

The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [0.04873965 0.0271237 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.01064056 -0.006863  ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.6943287  -0.57040966] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.86760396 -0.17157158] m/s.The vehicle with ID 31 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 3.1) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A vehicle with ID 26 is 6.6 meters away at (5.1, 4.2). A vehicle with ID 25 is 9.0 meters away at (-0.1, 9.0). A vehicle with ID 27 is 10.2 meters away at (10.2, 0.1). A vehicle with ID 23 is 15.4 meters away at (-5.9, 14.3). A pedestrian with ID 11 is 18.3 meters away at (17.6, -5.1). A vehicle with ID 30 is 22.8 meters away at (20.8, -9.3). A pedestrian with ID 29 is 23.5 meters away at (12.5, -19.9). A unknown object with ID 8 is 24.7 meters away at (-20.5, 13.8). A pedestrian with ID 28 is 26.2 meters away at (15.5, -21.2). A vehicle with ID 24 is 27.8 meters away at (-15.8, 22.9).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.02330422 -0.01245267] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.8619025  -0.66365784] m/s.The unknown object with ID 8 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 [ 0.7170435  -0.16546084] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -1.6) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A unknown object with ID 87 is 2.1 meters away at (-0.3, -2.1). A pedestrian with ID 86 is 6.4 meters away at (-6.4, 0.9). A unknown object with ID 88 is 6.7 meters away at (0.4, 6.7). A vehicle with ID 91 is 8.7 meters away at (3.2, 8.1). A unknown object with ID 90 is 11.6 meters away at (-10.3, 5.3). A unknown object with ID 92 is 12.4 meters away at (-5.8, 11.0). A unknown object with ID 84 is 15.1 meters away at (13.7, -6.3). A pedestrian with ID 85 is 15.1 meters away at (14.5, -4.3). A pedestrian with ID 93 is 16.1 meters away at (-14.9, 6.0). A vehicle with ID 57 is 16.3 meters away at (16.1, -2.3).

The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.0445367   0.95913553] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 90 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 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.02586801 -0.00064738] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [ 0.00343776 -0.00515384] m/s.The vehicle with ID 57 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 (3.6, -2.7) m/s. Its current heading (yaw) is -0.64

The most relevant actors are: A unknown object with ID 87 is 6.7 meters away at (-6.3, 2.2). A unknown object with ID 84 is 8.0 meters away at (7.7, -2.0). A pedestrian with ID 85 is 8.5 meters away at (8.5, 0.0). A unknown object with ID 101 is 10.1 meters away at (5.9, -8.1). A unknown object with ID 88 is 12.3 meters away at (-5.5, 11.0). A pedestrian with ID 86 is 16.0 meters away at (-14.3, 7.2). A unknown object with ID 105 is 17.4 meters away at (11.6, -13.0). A unknown object with ID 90 is 18.9 meters away at (-16.3, 9.6). A unknown object with ID 92 is 19.3 meters away at (-11.8, 15.3). A vehicle with ID 37 is 19.5 meters away at (-8.8, -17.4).

The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.00400468 -0.00575265] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.0181385  1.1078885] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 90 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-6.266311   2.2303982], 6.651415824890137 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -3.2) m/s. Its current heading (yaw) is -0.67

The most relevant actors are: A unknown object with ID 101 is 2.8 meters away at (-1.9, -2.1). A unknown object with ID 84 is 4.0 meters away at (-0.0, 4.0). A pedestrian with ID 85 is 6.1 meters away at (0.7, 6.0). A unknown object with ID 105 is 7.9 meters away at (3.8, -6.9). A unknown object with ID 82 is 10.4 meters away at (9.7, -3.8). A unknown object with ID 81 is 14.6 meters away at (13.0, -6.6). A pedestrian with ID 69 is 16.1 meters away at (1.1, 16.1). A unknown object with ID 87 is 16.3 meters away at (-14.0, 8.3). A vehicle with ID 14 is 17.9 meters away at (17.2, -5.0). A unknown object with ID 80 is 18.8 meters away at (16.3, -9.4).

The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.03448167 0.00064837] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.01350974 -0.05066359] m/s.The unknown object with ID 87 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 unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-1.8549633 -2.093007 ], 2.796706438064575 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -2.9) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A unknown object with ID 82 is 3.2 meters away at (2.3, 2.3). A unknown object with ID 105 is 3.7 meters away at (-3.6, -0.9). A unknown object with ID 81 is 5.6 meters away at (5.6, -0.6). A unknown object with ID 80 is 9.4 meters away at (8.8, -3.3). A vehicle with ID 14 is 9.9 meters away at (9.8, 1.1). A unknown object with ID 101 is 10.1 meters away at (-9.3, 3.9). A unknown object with ID 22 is 10.1 meters away at (5.3, -8.6). A unknown object with ID 79 is 12.5 meters away at (11.3, -5.4). A unknown object with ID 84 is 12.6 meters away at (-7.5, 10.1). A pedestrian with ID 85 is 13.8 meters away at (-6.7, 12.1).

The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 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 unknown object with ID 101 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 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.0036616  -0.00604699] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [2.2538624 2.260357 ], 3.1920382976531982 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 5.6) m/s. Its current heading (yaw) is 1.51

The most relevant actors are: A vehicle with ID 1 is 10.4 meters away at (-1.1, -10.4). A unknown object with ID 28 is 11.8 meters away at (5.4, 10.5). A vehicle with ID 33 is 12.9 meters away at (12.3, 3.9). A unknown object with ID 30 is 13.7 meters away at (6.1, 12.2). A vehicle with ID 8 is 13.9 meters away at (-3.9, 13.4). A pedestrian with ID 31 is 16.5 meters away at (-6.2, 15.3). A vehicle with ID 26 is 19.4 meters away at (16.9, -9.7). A vehicle with ID 32 is 38.3 meters away at (-10.6, -36.8). A vehicle with ID 7 is 38.5 meters away at (-3.0, 38.4). A vehicle with ID 27 is 46.3 meters away at (3.6, -46.1).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0.51448345 5.382793  ] m/s.The unknown object with ID 28 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 [ 0.01914571 -5.540104  ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.03396764  0.04989274] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 2.9834454 -3.5640779] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-2.9129882 -9.156109 ] m/s.

There are active red lights at the following coordinates: [[13.473251  4.162009]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 6.2) m/s. Its current heading (yaw) is 1.56

The most relevant actors are: A vehicle with ID 8 is 4.7 meters away at (-4.4, 1.6). A unknown object with ID 28 is 5.1 meters away at (4.9, -1.2). A unknown object with ID 30 is 5.7 meters away at (5.6, 0.5). A vehicle with ID 1 is 11.7 meters away at (-0.7, -11.7). A vehicle with ID 33 is 22.6 meters away at (13.6, -18.0). A vehicle with ID 7 is 26.7 meters away at (-3.5, 26.5). A vehicle with ID 26 is 35.9 meters away at (23.6, -27.0). A vehicle with ID 32 is 49.8 meters away at (-11.1, -48.6). A unknown object with ID 17 is 62.5 meters away at (44.1, -44.3). A pedestrian with ID 18 is 63.7 meters away at (44.3, -45.7).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 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 [0.30008218 5.59371   ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 1.9463638 -4.4128146] m/s.The vehicle with ID 7 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 [ 3.9451492 -2.0903745] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.02054677 0.02356997] m/s.

Instruction: Continue straight.


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 1.58

The most relevant actors are: A pedestrian with ID 14 is 11.6 meters away at (-6.7, -9.4). A vehicle with ID 8 is 12.1 meters away at (-4.4, -11.3). A pedestrian with ID 20 is 12.7 meters away at (-3.9, -12.1). A vehicle with ID 1 is 13.0 meters away at (-0.3, -13.0). A unknown object with ID 30 is 13.6 meters away at (5.6, -12.4). A vehicle with ID 7 is 14.6 meters away at (-3.6, 14.2). A unknown object with ID 28 is 14.8 meters away at (4.8, -14.0). A vehicle with ID 33 is 42.6 meters away at (19.3, -37.9). A vehicle with ID 26 is 53.3 meters away at (31.8, -42.7). A vehicle with ID 32 is 62.6 meters away at (-11.1, -61.6).

The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.01680001 -0.00069264] m/s.The vehicle with ID 8 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. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0.15999852 6.2242002 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.00772715  0.84237474] m/s.The unknown object with ID 28 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 [ 3.6009674 -2.3788197] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 4.2644157 -0.8887959] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 5.7) m/s. Its current heading (yaw) is 1.58

The most relevant actors are: A vehicle with ID 7 is 5.1 meters away at (-3.6, 3.6). A vehicle with ID 1 is 12.9 meters away at (-0.1, -12.9). A pedestrian with ID 14 is 22.8 meters away at (-6.7, -21.8). A vehicle with ID 8 is 24.1 meters away at (-4.4, -23.7). A unknown object with ID 30 is 25.3 meters away at (5.5, -24.6). A unknown object with ID 28 is 26.8 meters away at (4.8, -26.4). A vehicle with ID 33 is 59.5 meters away at (26.4, -53.3). A vehicle with ID 3 is 72.0 meters away at (13.2, 70.8).

The vehicle with ID 7 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 [0.1339821 5.8039618] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.02450457 0.00280451] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 [ 3.433459  -0.9506948] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ -0.13621238 -10.22531   ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -4.4) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A unknown object with ID 61 is 3.8 meters away at (-3.5, 1.4). A unknown object with ID 18 is 5.8 meters away at (-5.4, -2.3). A unknown object with ID 66 is 6.3 meters away at (-6.1, -1.6). A vehicle with ID 50 is 7.3 meters away at (1.1, 7.2). A vehicle with ID 55 is 9.7 meters away at (9.5, 1.7). A unknown object with ID 48 is 10.3 meters away at (-8.3, -6.1). A unknown object with ID 67 is 10.5 meters away at (2.7, -10.2). A unknown object with ID 70 is 10.7 meters away at (-9.2, -5.4). A unknown object with ID 36 is 12.6 meters away at (-8.4, 9.4). A vehicle with ID 54 is 12.9 meters away at (5.0, 11.9).

The unknown object with ID 61 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 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-3.4981332  1.3923473], 3.765045404434204 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -4.8) m/s. Its current heading (yaw) is -2.30

The most relevant actors are: A unknown object with ID 48 is 3.5 meters away at (-0.5, 3.5). A vehicle with ID 46 is 3.9 meters away at (-3.7, 1.1). A unknown object with ID 70 is 4.4 meters away at (-1.4, 4.2). A vehicle with ID 52 is 6.2 meters away at (4.3, -4.5). A unknown object with ID 18 is 7.6 meters away at (2.5, 7.2). A unknown object with ID 66 is 8.1 meters away at (1.7, 7.9). A vehicle with ID 47 is 9.2 meters away at (-8.1, -4.3). A vehicle with ID 53 is 9.8 meters away at (0.2, -9.8). A unknown object with ID 67 is 10.6 meters away at (10.6, -0.6). A unknown object with ID 61 is 11.8 meters away at (4.3, 11.0).

The unknown object with ID 48 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 unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-0.5123539  3.489544 ], 3.526956796646118 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.6) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 49 is 4.8 meters away at (-4.8, -0.3). A vehicle with ID 47 is 5.1 meters away at (-0.3, 5.1). A unknown object with ID 51 is 5.6 meters away at (5.0, -2.5). A vehicle with ID 53 is 8.1 meters away at (8.1, -0.3). A unknown object with ID 43 is 9.0 meters away at (-0.2, -9.0). A vehicle with ID 46 is 11.1 meters away at (4.0, 10.4). A vehicle with ID 52 is 13.1 meters away at (12.1, 4.9). A unknown object with ID 48 is 14.9 meters away at (7.2, 13.0). A unknown object with ID 70 is 15.1 meters away at (6.5, 13.6). A pedestrian with ID 19 is 16.9 meters away at (-4.3, -16.4).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 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 [-0.00177553  0.00058096] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -3.9) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A unknown object with ID 43 is 7.2 meters away at (7.2, -0.1). A pedestrian with ID 19 is 8.3 meters away at (3.3, -7.6). A vehicle with ID 49 is 8.9 meters away at (2.6, 8.5). A unknown object with ID 51 is 14.0 meters away at (12.5, 6.4). A vehicle with ID 47 is 15.7 meters away at (7.2, 13.9). A vehicle with ID 53 is 17.7 meters away at (15.5, 8.5). A vehicle with ID 46 is 22.5 meters away at (11.6, 19.3). A vehicle with ID 52 is 24.0 meters away at (19.6, 13.9). A unknown object with ID 48 is 26.3 meters away at (14.7, 21.9). A vehicle with ID 2 is 30.7 meters away at (0.8, -30.6).

The unknown object with ID 43 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 [-0.01478349  0.01624279] m/s.The vehicle with ID 49 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 1.1) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A vehicle with ID 5 is 9.8 meters away at (9.1, -3.6). A pedestrian with ID 31 is 11.8 meters away at (10.8, 4.9). A vehicle with ID 29 is 20.3 meters away at (18.8, -7.8). A unknown object with ID 37 is 20.8 meters away at (-12.2, -16.8). A unknown object with ID 40 is 22.1 meters away at (-11.1, -19.1). A unknown object with ID 41 is 22.5 meters away at (-14.0, -17.6). A unknown object with ID 42 is 23.9 meters away at (-11.5, -20.9). A unknown object with ID 44 is 24.5 meters away at (-14.9, -19.5). A unknown object with ID 47 is 26.1 meters away at (-12.3, -23.0). A unknown object with ID 43 is 27.2 meters away at (21.3, -16.9).

The vehicle with ID 5 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 [ 0.9799731 -0.7247539] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-1.1480683  0.5203984] 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 unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 3.1) m/s. Its current heading (yaw) is 2.27

The most relevant actors are: A vehicle with ID 5 is 13.6 meters away at (12.0, -6.4). A pedestrian with ID 31 is 18.1 meters away at (18.1, -0.7). A unknown object with ID 37 is 21.9 meters away at (-6.6, -20.9). A unknown object with ID 41 is 23.1 meters away at (-8.3, -21.6). A unknown object with ID 40 is 23.7 meters away at (-5.4, -23.1). A vehicle with ID 29 is 24.7 meters away at (22.2, -10.8). A unknown object with ID 44 is 24.9 meters away at (-8.9, -23.3). A unknown object with ID 14 is 27.1 meters away at (-9.8, -25.3). A unknown object with ID 48 is 29.0 meters away at (-8.9, -27.6). A pedestrian with ID 38 is 30.5 meters away at (13.0, 27.6).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.1468487  0.9238864] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.87030727 -0.8198363 ] 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-1.0305115   0.46859694] 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 14 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 38 is traveling at a (x, y) velocity of [-0.6201187 -1.4224399] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 4.7) m/s. Its current heading (yaw) is 1.60

The most relevant actors are: A vehicle with ID 5 is 15.7 meters away at (9.9, -12.1). A pedestrian with ID 38 is 22.6 meters away at (14.9, 17.0). A pedestrian with ID 31 is 25.1 meters away at (22.4, -11.2). A vehicle with ID 29 is 27.9 meters away at (21.9, -17.3). A unknown object with ID 37 is 29.0 meters away at (-3.5, -28.8). A unknown object with ID 41 is 30.1 meters away at (-5.4, -29.6). A pedestrian with ID 32 is 30.8 meters away at (11.1, 28.7). A unknown object with ID 40 is 30.9 meters away at (-2.5, -30.8). A unknown object with ID 18 is 31.7 meters away at (20.6, 24.1). A pedestrian with ID 33 is 31.9 meters away at (11.7, 29.7).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.7756407  1.2860435] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.58395994 -1.3504039 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.65698844 -1.4413406 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-2.9138563  1.1476135] 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 41 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 [ 0.69314915 -1.0897431 ] 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 18 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 [ 0.6732804 -1.2035459] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 4.6) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A pedestrian with ID 38 is 12.8 meters away at (12.0, 4.7). A vehicle with ID 5 is 18.5 meters away at (2.5, -18.3). A pedestrian with ID 32 is 19.9 meters away at (10.3, 17.0). A pedestrian with ID 33 is 21.0 meters away at (11.0, 17.8). A pedestrian with ID 34 is 22.3 meters away at (11.8, 18.9). A unknown object with ID 18 is 23.7 meters away at (18.8, 14.3). A vehicle with ID 29 is 27.5 meters away at (13.2, -24.1). A pedestrian with ID 31 is 32.1 meters away at (22.1, -23.3). A vehicle with ID 28 is 35.4 meters away at (6.7, 34.7). A vehicle with ID 30 is 38.3 meters away at (7.8, 37.5).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.5739777 -1.3904057] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.7925417  2.3792746] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.46964955 -1.1956931 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.56122375 -1.2105005 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.67690897 -1.1618463 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.3275216  1.431488 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.56162924 -1.3417172 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a pedestrian at [11.951945  4.651724], 12.82526969909668 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.7) m/s. Its current heading (yaw) is -0.66

The most relevant actors are: A vehicle with ID 73 is 5.0 meters away at (-5.0, 0.1). A vehicle with ID 75 is 5.8 meters away at (4.0, 4.2). A vehicle with ID 77 is 9.3 meters away at (-8.7, 3.3). A vehicle with ID 79 is 12.2 meters away at (-4.5, 11.3). A unknown object with ID 81 is 13.0 meters away at (0.9, 12.9). A vehicle with ID 82 is 13.0 meters away at (-2.2, -12.8). A unknown object with ID 80 is 13.1 meters away at (0.7, 13.0). A unknown object with ID 83 is 17.2 meters away at (-2.5, 17.1). A vehicle with ID 86 is 18.4 meters away at (-6.0, -17.4). A unknown object with ID 85 is 18.6 meters away at (-3.7, 18.2).

The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 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 unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 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 unknown object with ID 85 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 (4.1, -0.3) m/s. Its current heading (yaw) is -0.07

The most relevant actors are: A vehicle with ID 75 is 6.7 meters away at (-1.4, 6.6). A vehicle with ID 73 is 10.9 meters away at (-10.6, 2.7). A vehicle with ID 82 is 12.9 meters away at (-7.7, -10.4). A vehicle with ID 77 is 15.4 meters away at (-14.3, 5.9). A unknown object with ID 80 is 16.1 meters away at (-4.6, 15.5). A vehicle with ID 79 is 17.0 meters away at (-9.8, 13.8). A vehicle with ID 72 is 17.7 meters away at (12.3, 12.7). A vehicle with ID 92 is 18.3 meters away at (-15.0, 10.5). A vehicle with ID 87 is 18.5 meters away at (16.1, -9.0). A vehicle with ID 86 is 19.0 meters away at (-11.7, -15.0).

The vehicle with ID 75 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 82 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 unknown object 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 72 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 [ 3.1040218 -2.623108 ] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 3.7) m/s. Its current heading (yaw) is 0.73

The most relevant actors are: A vehicle with ID 72 is 10.0 meters away at (3.8, 9.3). A vehicle with ID 75 is 10.3 meters away at (-9.8, 3.2). A vehicle with ID 87 is 14.5 meters away at (7.7, -12.2). A vehicle with ID 53 is 14.8 meters away at (5.4, -13.8). A vehicle with ID 31 is 15.9 meters away at (7.6, 13.9). A vehicle with ID 73 is 19.1 meters away at (-19.1, -0.9). A vehicle with ID 92 is 19.6 meters away at (-19.3, 3.4). A vehicle with ID 79 is 21.1 meters away at (-18.5, 10.3). A vehicle with ID 82 is 21.3 meters away at (-16.2, -13.9). A vehicle with ID 30 is 21.9 meters away at (11.6, 18.5).

The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-4.0116706  3.762794 ] m/s.The vehicle with ID 31 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 92 is traveling at a (x, y) velocity of [ 1.5566012 -1.3552548] m/s.The vehicle with ID 79 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.4) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A vehicle with ID 31 is 4.7 meters away at (-1.2, 4.5). A vehicle with ID 72 is 4.9 meters away at (-4.9, 0.0). A vehicle with ID 30 is 9.5 meters away at (2.7, 9.1). A vehicle with ID 16 is 15.6 meters away at (6.8, 14.0). A vehicle with ID 74 is 17.7 meters away at (16.2, 7.1). A vehicle with ID 98 is 19.4 meters away at (18.6, 5.5). A vehicle with ID 75 is 19.7 meters away at (-18.7, -6.3). A vehicle with ID 53 is 20.1 meters away at (-9.3, -17.8). A vehicle with ID 76 is 21.4 meters away at (21.1, 3.7). A vehicle with ID 87 is 21.7 meters away at (-1.1, -21.6).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-2.9948897  2.7405958] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[75.413574 70.46397 ]
 [77.996284 72.49594 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 3.0) m/s. Its current heading (yaw) is 2.79

The most relevant actors are: A vehicle with ID 30 is 17.5 meters away at (16.1, -7.0). A unknown object with ID 21 is 68.6 meters away at (-66.9, 15.3). A unknown object with ID 27 is 70.3 meters away at (-68.2, 17.3). A unknown object with ID 11 is 71.0 meters away at (-68.6, 18.3).

The vehicle with ID 30 is traveling at a (x, y) velocity of [-7.991808   4.1124206] 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, 1.5) m/s. Its current heading (yaw) is 2.97

The most relevant actors are: A vehicle with ID 30 is 17.3 meters away at (16.6, -4.9). A unknown object with ID 8 is 50.6 meters away at (-50.5, -2.6). A unknown object with ID 21 is 51.4 meters away at (-50.3, 10.5). A unknown object with ID 12 is 52.2 meters away at (-51.0, 11.4). A unknown object with ID 26 is 53.0 meters away at (-52.9, -3.0). A unknown object with ID 27 is 53.0 meters away at (-51.6, 12.4). A unknown object with ID 11 is 53.7 meters away at (-52.0, 13.5). A unknown object with ID 29 is 54.1 meters away at (-54.0, -3.3). A unknown object with ID 13 is 54.4 meters away at (-52.4, 14.6). A unknown object with ID 14 is 60.6 meters away at (-60.2, -7.0).

The vehicle with ID 30 is traveling at a (x, y) velocity of [-8.144058   2.9218442] 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, -0.3) m/s. Its current heading (yaw) is -3.10

The most relevant actors are: A vehicle with ID 30 is 17.0 meters away at (17.0, -1.2). A unknown object with ID 23 is 43.1 meters away at (-42.5, -7.4). A unknown object with ID 14 is 44.1 meters away at (-43.3, -8.1). A unknown object with ID 16 is 45.1 meters away at (-44.1, -9.0). A pedestrian with ID 5 is 53.8 meters away at (-53.1, 8.6). A pedestrian with ID 15 is 55.1 meters away at (-54.5, 8.3).

The vehicle with ID 30 is traveling at a (x, y) velocity of [-8.150935   1.5563432] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.8540198 0.9822948] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.77086616 0.8716619 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, -0.4) m/s. Its current heading (yaw) is -3.09

The most relevant actors are: A vehicle with ID 30 is 17.4 meters away at (17.4, 1.0). A unknown object with ID 23 is 27.1 meters away at (-26.3, -6.6). A unknown object with ID 16 is 29.2 meters away at (-28.0, -8.3). A pedestrian with ID 5 is 37.7 meters away at (-35.8, 11.8). A pedestrian with ID 6 is 38.4 meters away at (-36.6, 11.8).

The vehicle with ID 30 is traveling at a (x, y) velocity of [-7.4855824  -0.06366814] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 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 [0.464128  1.0230464] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.40083313 1.0122067 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.8) m/s. Its current heading (yaw) is 2.00

The most relevant actors are: A pedestrian with ID 54 is 5.7 meters away at (5.5, 1.5). A unknown object with ID 12 is 9.3 meters away at (-8.7, 3.4). A vehicle with ID 56 is 9.5 meters away at (-8.4, -4.4). A unknown object with ID 58 is 9.7 meters away at (-9.6, 1.3). A unknown object with ID 59 is 11.0 meters away at (-10.5, 3.3). A vehicle with ID 57 is 11.2 meters away at (-10.7, -3.3). A unknown object with ID 63 is 13.1 meters away at (-12.4, 4.3). A vehicle with ID 15 is 15.2 meters away at (-6.0, -14.0). A vehicle with ID 66 is 16.2 meters away at (13.9, 8.5). A unknown object with ID 60 is 17.9 meters away at (-1.8, -17.8).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [-6.265679e-05  5.643194e-03] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 0.6279137  -0.47188717] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-8.985006 13.004259]]

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [5.520758  1.4850051], 5.71699333190918 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 1.98

The most relevant actors are: A pedestrian with ID 54 is 5.8 meters away at (5.7, 1.0). A unknown object with ID 12 is 8.9 meters away at (-8.4, 2.9). A unknown object with ID 58 is 9.5 meters away at (-9.4, 0.8). A vehicle with ID 56 is 9.5 meters away at (-8.1, -4.9). A vehicle with ID 80 is 11.0 meters away at (10.8, 1.8). A vehicle with ID 66 is 17.3 meters away at (16.5, 5.3). A unknown object with ID 65 is 20.5 meters away at (-0.4, -20.5). A unknown object with ID 69 is 23.3 meters away at (-1.3, -23.2). A vehicle with ID 74 is 24.8 meters away at (1.8, -24.7). A unknown object with ID 8 is 25.7 meters away at (-22.9, 11.6).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.00805386 -0.00844592] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 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 80 is traveling at a (x, y) velocity of [-11.169495    4.8252263] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 1.8458154 -2.8066478] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [1.4902415 5.716471 ] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-8.985006 13.004259]]

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [5.744458  1.0469084], 5.839076519012451 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 1.98

The most relevant actors are: A pedestrian with ID 54 is 5.8 meters away at (5.8, 1.0). A unknown object with ID 12 is 8.8 meters away at (-8.3, 2.8). A unknown object with ID 58 is 9.4 meters away at (-9.4, 0.7). A vehicle with ID 56 is 9.5 meters away at (-8.1, -5.0). A vehicle with ID 48 is 11.1 meters away at (-10.4, -4.0). A vehicle with ID 74 is 15.0 meters away at (3.6, -14.6). A vehicle with ID 80 is 16.5 meters away at (-11.7, 11.6). A unknown object with ID 41 is 18.3 meters away at (-1.5, -18.3). A vehicle with ID 66 is 18.5 meters away at (18.0, -4.3). A pedestrian with ID 33 is 18.7 meters away at (-0.6, -18.7).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.00129145 -0.00572497] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0.2645584 3.9574285] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [-11.504778    5.0362134] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-1.1937304 -6.3619056] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00194913 -0.00184831] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 1.5) m/s. Its current heading (yaw) is 2.07

The most relevant actors are: A pedestrian with ID 54 is 6.2 meters away at (6.2, 0.0). A unknown object with ID 12 is 8.1 meters away at (-7.9, 1.9). A unknown object with ID 58 is 9.0 meters away at (-8.9, -0.2). A vehicle with ID 56 is 9.6 meters away at (-7.6, -5.8). A unknown object with ID 9 is 10.1 meters away at (-9.9, 1.9). A vehicle with ID 74 is 10.5 meters away at (3.8, -9.8). A vehicle with ID 48 is 11.0 meters away at (-9.9, -4.8). A pedestrian with ID 33 is 19.6 meters away at (-0.0, -19.6). A pedestrian with ID 37 is 21.1 meters away at (-0.7, -21.1). A vehicle with ID 82 is 21.3 meters away at (0.3, 21.3).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.02417334 -0.03398954] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-0.2625719  1.8807287] m/s.The vehicle with ID 48 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 [ 0.07372513 -0.04643554] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.02029637 -0.01471751] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 3.3881714 -1.559097 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A vehicle with ID 20 is 13.3 meters away at (-9.5, -9.3). A vehicle with ID 21 is 15.1 meters away at (4.2, -14.5). A vehicle with ID 22 is 20.6 meters away at (-11.3, -17.2). A vehicle with ID 23 is 23.2 meters away at (-11.2, -20.3). A vehicle with ID 24 is 28.4 meters away at (-12.3, -25.6). A unknown object with ID 18 is 32.5 meters away at (29.5, -13.6). A vehicle with ID 25 is 33.5 meters away at (-12.8, -31.0). A vehicle with ID 26 is 38.0 meters away at (21.9, 31.0). A pedestrian with ID 27 is 41.4 meters away at (28.4, -30.0). A vehicle with ID 32 is 55.2 meters away at (54.8, 7.3).

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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 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 vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.02723688 -0.0129196 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 1.3) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A vehicle with ID 20 is 12.9 meters away at (-7.8, -10.4). A vehicle with ID 21 is 16.6 meters away at (6.0, -15.5). A vehicle with ID 22 is 20.6 meters away at (-9.5, -18.3). A vehicle with ID 23 is 23.4 meters away at (-9.3, -21.4). A vehicle with ID 24 is 28.7 meters away at (-10.8, -26.6). A vehicle with ID 25 is 33.9 meters away at (-11.2, -32.0). A vehicle with ID 26 is 38.1 meters away at (23.6, 30.0). A pedestrian with ID 27 is 43.4 meters away at (30.2, -31.2). A vehicle with ID 15 is 43.7 meters away at (38.4, 20.9). A vehicle with ID 14 is 45.3 meters away at (40.8, 19.7).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.17353247 -0.13127752] m/s.The vehicle with ID 15 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 3.2) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A vehicle with ID 20 is 14.9 meters away at (-0.3, -14.9). A vehicle with ID 22 is 22.9 meters away at (-2.1, -22.8). A vehicle with ID 21 is 24.3 meters away at (13.6, -20.1). A vehicle with ID 23 is 25.9 meters away at (-2.2, -25.8). A pedestrian with ID 19 is 28.3 meters away at (-17.2, -22.5). A vehicle with ID 24 is 31.2 meters away at (-3.3, -31.1). A vehicle with ID 25 is 36.7 meters away at (-3.9, -36.5). A vehicle with ID 26 is 40.2 meters away at (31.1, 25.4). A vehicle with ID 14 is 50.8 meters away at (48.5, 15.0). A vehicle with ID 32 is 64.1 meters away at (64.1, 1.6).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.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 pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00049028 -0.00056877] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 3.9) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A vehicle with ID 20 is 25.0 meters away at (11.8, -22.0). A vehicle with ID 22 is 31.5 meters away at (10.0, -29.9). A vehicle with ID 23 is 34.5 meters away at (10.0, -33.1). A vehicle with ID 21 is 37.5 meters away at (25.8, -27.2). A vehicle with ID 24 is 39.3 meters away at (8.8, -38.3). A vehicle with ID 25 is 44.5 meters away at (8.3, -43.7). A vehicle with ID 26 is 47.0 meters away at (43.3, 18.3). A vehicle with ID 32 is 76.5 meters away at (76.3, -5.6). A cyclist with ID 7 is 79.5 meters away at (61.1, -50.8). A vehicle with ID 34 is 81.8 meters away at (81.3, -8.7).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [0.01203856 0.03414768] m/s.The vehicle with ID 34 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 (0.6, 0.6) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 16 is 3.0 meters away at (-2.7, 1.3). A vehicle with ID 21 is 7.3 meters away at (2.0, 7.0). A unknown object with ID 18 is 8.1 meters away at (-5.1, 6.3). A vehicle with ID 19 is 8.4 meters away at (5.4, 6.4). A vehicle with ID 22 is 22.7 meters away at (-22.1, 5.3). A pedestrian with ID 27 is 33.3 meters away at (25.8, 21.1). A vehicle with ID 30 is 34.4 meters away at (-24.9, -23.6). A vehicle with ID 31 is 36.3 meters away at (4.9, 36.0). A vehicle with ID 34 is 41.1 meters away at (-1.2, 41.1). A vehicle with ID 35 is 44.4 meters away at (-10.3, 43.1).

The vehicle with ID 16 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 unknown object 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.07573237 -0.17921053] m/s.The vehicle with ID 30 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 34 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 [-0.7381333  0.6648013] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 16 is 3.1 meters away at (-2.9, 1.0). A vehicle with ID 21 is 6.9 meters away at (1.8, 6.7). A vehicle with ID 19 is 8.0 meters away at (5.2, 6.1). A unknown object with ID 18 is 8.0 meters away at (-5.4, 6.0). A vehicle with ID 22 is 22.9 meters away at (-22.3, 5.1). A pedestrian with ID 27 is 32.8 meters away at (25.4, 20.6). A vehicle with ID 30 is 34.8 meters away at (-25.2, -23.9). A vehicle with ID 31 is 36.0 meters away at (4.7, 35.7). A vehicle with ID 34 is 40.8 meters away at (-1.5, 40.8). A vehicle with ID 36 is 45.4 meters away at (22.8, 39.2).

The vehicle with ID 16 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 19 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 vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00469919 -0.01359802] m/s.The vehicle with ID 30 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 16 is 3.1 meters away at (-3.0, 1.0). A vehicle with ID 21 is 6.9 meters away at (1.7, 6.6). A vehicle with ID 19 is 7.9 meters away at (5.1, 6.1). A unknown object with ID 18 is 8.0 meters away at (-5.4, 6.0). A vehicle with ID 22 is 22.9 meters away at (-22.3, 5.1). A pedestrian with ID 27 is 31.6 meters away at (24.9, 19.5). A vehicle with ID 30 is 34.8 meters away at (-25.3, -24.0). A unknown object with ID 4 is 35.3 meters away at (28.9, -20.4). A vehicle with ID 31 is 36.0 meters away at (4.6, 35.7). A unknown object with ID 6 is 37.8 meters away at (34.4, -15.6).

The vehicle with ID 16 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 19 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 vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.3958575  -0.93594956] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 16 is 3.1 meters away at (-3.0, 1.0). A vehicle with ID 21 is 6.9 meters away at (1.7, 6.6). A vehicle with ID 19 is 7.9 meters away at (5.1, 6.1). A unknown object with ID 18 is 8.0 meters away at (-5.4, 5.9). A vehicle with ID 22 is 22.9 meters away at (-22.3, 5.1). A pedestrian with ID 27 is 28.7 meters away at (22.9, 17.3). A vehicle with ID 30 is 34.8 meters away at (-25.3, -24.0). A unknown object with ID 4 is 35.3 meters away at (28.6, -20.7). A vehicle with ID 31 is 36.0 meters away at (4.6, 35.7). A unknown object with ID 6 is 37.8 meters away at (34.5, -15.5).

The vehicle with ID 16 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 19 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 vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.228745  -1.4747428] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.6) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 41 is 8.3 meters away at (-8.3, 0.9). A vehicle with ID 52 is 18.7 meters away at (-10.0, -15.9). A vehicle with ID 44 is 18.9 meters away at (1.7, 18.9). A vehicle with ID 49 is 20.1 meters away at (-17.6, -9.6). A vehicle with ID 50 is 22.0 meters away at (-14.7, -16.4). A unknown object with ID 57 is 25.1 meters away at (24.8, 3.8). A vehicle with ID 60 is 25.7 meters away at (-14.4, -21.2). A unknown object with ID 59 is 26.2 meters away at (25.8, 5.0). A vehicle with ID 46 is 31.6 meters away at (-16.4, 27.0). A unknown object with ID 48 is 38.1 meters away at (-10.9, 36.5).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 [3.4166598 3.8532934] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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 unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 41 is 8.6 meters away at (-8.6, 0.5). A vehicle with ID 50 is 14.2 meters away at (-9.5, -10.6). A vehicle with ID 44 is 18.4 meters away at (2.0, 18.3). A vehicle with ID 52 is 19.3 meters away at (-10.3, -16.3). A vehicle with ID 49 is 20.5 meters away at (-17.9, -10.0). A unknown object with ID 57 is 24.7 meters away at (24.5, 3.4). A unknown object with ID 59 is 25.8 meters away at (25.4, 4.6). A vehicle with ID 60 is 26.2 meters away at (-14.7, -21.6). A unknown object with ID 27 is 30.5 meters away at (13.3, 27.4). A vehicle with ID 46 is 31.4 meters away at (-16.7, 26.6).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [1.88675  2.054022] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.8990932 -0.282891 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 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 (0.1, 0.2) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 41 is 8.8 meters away at (-8.8, 0.3). A vehicle with ID 50 is 12.5 meters away at (-8.3, -9.3). A vehicle with ID 44 is 18.2 meters away at (3.7, 17.8). A vehicle with ID 52 is 19.6 meters away at (-10.5, -16.5). A vehicle with ID 49 is 20.8 meters away at (-18.1, -10.2). A unknown object with ID 57 is 24.5 meters away at (24.3, 3.2). A unknown object with ID 59 is 25.6 meters away at (25.3, 4.3). A unknown object with ID 3 is 26.1 meters away at (3.4, 25.9). A vehicle with ID 60 is 26.5 meters away at (-14.9, -21.9). A unknown object with ID 27 is 30.2 meters away at (13.2, 27.2).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 1.3909681  -0.10305367] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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, 1.1) m/s. Its current heading (yaw) is 1.00

The most relevant actors are: A vehicle with ID 41 is 9.6 meters away at (-9.6, -0.6). A vehicle with ID 50 is 13.7 meters away at (-9.1, -10.2). A vehicle with ID 44 is 17.6 meters away at (5.2, 16.8). A vehicle with ID 52 is 20.9 meters away at (-11.4, -17.5). A vehicle with ID 49 is 22.0 meters away at (-19.0, -11.2). A unknown object with ID 57 is 23.6 meters away at (23.5, 2.1). A unknown object with ID 59 is 24.7 meters away at (24.4, 3.3). A unknown object with ID 3 is 25.1 meters away at (2.6, 24.9). A vehicle with ID 60 is 27.7 meters away at (-15.8, -22.8). A unknown object with ID 1 is 30.0 meters away at (-6.1, 29.4).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.2341862  0.21212068] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -11.1) m/s. Its current heading (yaw) is -1.27

The most relevant actors are: A vehicle with ID 5 is 40.8 meters away at (-16.3, 37.4). A vehicle with ID 6 is 46.3 meters away at (-18.2, 42.6).

The vehicle with ID 5 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 [-0.3918423  -0.09559277] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -11.1) m/s. Its current heading (yaw) is -1.26

The most relevant actors are: A vehicle with ID 5 is 63.9 meters away at (-23.8, 59.3). A vehicle with ID 6 is 69.4 meters away at (-25.4, 64.6).

The vehicle with ID 5 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -11.2) m/s. Its current heading (yaw) is -1.27

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -11.1) m/s. Its current heading (yaw) is -1.27

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -3.5) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A unknown object with ID 2 is 21.7 meters away at (-6.8, 20.6). A vehicle with ID 14 is 38.9 meters away at (-33.9, -19.2).

The unknown object with ID 2 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 [2.8913145 3.754027 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-6.8314404 20.604284 ], 21.707260131835938 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -2.02

The most relevant actors are: A vehicle with ID 14 is 28.0 meters away at (-26.1, -10.1). A unknown object with ID 9 is 64.8 meters away at (62.9, -15.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [2.7571263 1.4342362] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.02

The most relevant actors are: A vehicle with ID 14 is 23.4 meters away at (-21.8, -8.3). A unknown object with ID 10 is 33.5 meters away at (3.2, 33.3). A unknown object with ID 6 is 39.9 meters away at (39.8, -2.0).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0.7413843  0.26325172] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 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 (-0.7, -1.4) m/s. Its current heading (yaw) is -2.05

The most relevant actors are: A vehicle with ID 14 is 22.4 meters away at (-21.0, -7.6). A pedestrian with ID 1 is 53.8 meters away at (-46.3, -27.4).

The vehicle with ID 14 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 [0.60388845 1.3272783 ] m/s.

Instruction: Slight right turn approaching.