The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -2.8) m/s. Its current heading (yaw) is -0.73

The most relevant actors are: A vehicle with ID 18 is 4.5 meters away at (4.4, 1.0). A vehicle with ID 15 is 4.9 meters away at (-0.4, 4.9). A unknown object with ID 16 is 7.8 meters away at (-7.7, -0.6). A vehicle with ID 17 is 10.4 meters away at (-5.1, 9.1). A vehicle with ID 14 is 11.0 meters away at (-10.4, 3.6). A unknown object with ID 19 is 12.9 meters away at (11.6, -5.7). A vehicle with ID 20 is 18.7 meters away at (-11.5, 14.7). A pedestrian with ID 6 is 25.2 meters away at (-13.8, -21.1). A vehicle with ID 21 is 30.5 meters away at (-25.6, 16.5). A vehicle with ID 22 is 37.0 meters away at (-30.6, 20.8).

The vehicle with ID 18 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 unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.8133222 -1.2391539] 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.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -2.4) m/s. Its current heading (yaw) is -0.68

The most relevant actors are: A unknown object with ID 19 is 5.4 meters away at (5.4, -0.8). A vehicle with ID 18 is 6.1 meters away at (-1.6, 5.8). A vehicle with ID 15 is 11.3 meters away at (-6.2, 9.5). A unknown object with ID 16 is 14.6 meters away at (-13.9, 4.3). A vehicle with ID 17 is 18.1 meters away at (-11.3, 14.1). A vehicle with ID 14 is 18.7 meters away at (-16.6, 8.6). A vehicle with ID 20 is 26.6 meters away at (-17.8, 19.7). A pedestrian with ID 6 is 26.7 meters away at (-19.3, -18.6). A vehicle with ID 21 is 38.4 meters away at (-31.8, 21.5). A vehicle with ID 22 is 45.0 meters away at (-36.9, 25.9).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.29584795 -1.2858291 ] 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.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [ 5.3655224 -0.7901478], 5.4233903884887695 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -2.9) m/s. Its current heading (yaw) is -1.25

The most relevant actors are: A unknown object with ID 19 is 4.6 meters away at (1.3, 4.5). A vehicle with ID 18 is 12.5 meters away at (-5.8, 11.1). A vehicle with ID 15 is 18.0 meters away at (-10.4, 14.7). A unknown object with ID 16 is 20.4 meters away at (-18.1, 9.5). A vehicle with ID 17 is 24.6 meters away at (-15.5, 19.2). A vehicle with ID 14 is 25.0 meters away at (-20.8, 13.8). A pedestrian with ID 6 is 28.4 meters away at (-23.4, -16.0). A vehicle with ID 20 is 33.2 meters away at (-22.0, 24.9). A vehicle with ID 21 is 44.9 meters away at (-36.2, 26.7). A vehicle with ID 22 is 51.4 meters away at (-41.1, 30.9).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.40924913 -1.2059897 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [1.265728  4.4582567], 4.634449481964111 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -2.8) m/s. Its current heading (yaw) is -1.79

The most relevant actors are: A unknown object with ID 19 is 10.5 meters away at (0.9, 10.4). A vehicle with ID 18 is 18.1 meters away at (-6.1, 17.0). A vehicle with ID 15 is 23.2 meters away at (-10.7, 20.6). A unknown object with ID 16 is 24.1 meters away at (-18.4, 15.5). A vehicle with ID 14 is 28.9 meters away at (-21.1, 19.7). A vehicle with ID 17 is 29.7 meters away at (-15.8, 25.2). A vehicle with ID 20 is 38.1 meters away at (-22.3, 30.9). A vehicle with ID 21 is 48.9 meters away at (-36.5, 32.6). A vehicle with ID 22 is 55.4 meters away at (-41.6, 36.6). A vehicle with ID 24 is 67.8 meters away at (-45.1, 50.6).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 0.8712406 10.430822 ], 10.467144966125488 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.2) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 18 is 4.8 meters away at (4.4, 1.8). A vehicle with ID 17 is 5.4 meters away at (-0.3, 5.3). A vehicle with ID 21 is 8.0 meters away at (-6.1, 5.1). A vehicle with ID 20 is 10.5 meters away at (-4.9, 9.3). A pedestrian with ID 24 is 17.1 meters away at (-16.4, -4.9). A vehicle with ID 23 is 17.7 meters away at (-10.8, 14.1). A vehicle with ID 26 is 18.6 meters away at (16.6, -8.3). A vehicle with ID 30 is 21.1 meters away at (-16.4, 13.2). A vehicle with ID 29 is 24.2 meters away at (-16.0, 18.2). A vehicle with ID 34 is 26.7 meters away at (23.0, -13.4).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9972663 -0.9505225] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 18 is 4.8 meters away at (4.5, 1.7). A vehicle with ID 17 is 5.2 meters away at (-0.2, 5.2). A vehicle with ID 21 is 8.0 meters away at (-6.1, 5.1). A vehicle with ID 20 is 10.4 meters away at (-4.8, 9.2). A pedestrian with ID 24 is 15.8 meters away at (-14.3, -6.7). A vehicle with ID 23 is 17.5 meters away at (-10.6, 13.9). A vehicle with ID 26 is 18.7 meters away at (16.7, -8.5). A vehicle with ID 30 is 20.9 meters away at (-16.3, 13.1). A vehicle with ID 29 is 24.0 meters away at (-15.8, 18.1). A vehicle with ID 34 is 26.8 meters away at (23.1, -13.6).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9793122 -0.6660685] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 18 is 4.8 meters away at (4.5, 1.7). A vehicle with ID 17 is 5.2 meters away at (-0.1, 5.2). A vehicle with ID 21 is 8.2 meters away at (-6.3, 5.2). A vehicle with ID 20 is 10.3 meters away at (-4.7, 9.2). A pedestrian with ID 24 is 14.7 meters away at (-12.3, -8.1). A vehicle with ID 23 is 17.5 meters away at (-10.6, 13.9). A vehicle with ID 26 is 18.7 meters away at (16.7, -8.5). A vehicle with ID 30 is 21.3 meters away at (-16.6, 13.4). A vehicle with ID 29 is 24.0 meters away at (-15.8, 18.1). A vehicle with ID 34 is 26.8 meters away at (23.1, -13.6).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9732534  -0.79573554] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 18 is 4.8 meters away at (4.5, 1.7). A vehicle with ID 17 is 5.2 meters away at (-0.1, 5.2). A vehicle with ID 21 is 8.7 meters away at (-6.7, 5.6). A vehicle with ID 20 is 10.3 meters away at (-4.8, 9.2). A pedestrian with ID 24 is 14.2 meters away at (-10.3, -9.8). A vehicle with ID 23 is 17.5 meters away at (-10.6, 13.9). A vehicle with ID 26 is 18.8 meters away at (16.7, -8.5). A vehicle with ID 30 is 21.8 meters away at (-17.0, 13.7). A vehicle with ID 29 is 24.0 meters away at (-15.8, 18.1). A vehicle with ID 34 is 26.8 meters away at (23.1, -13.6).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.31474388  0.25047842] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.97908115 -0.79965085] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.9) m/s. Its current heading (yaw) is 2.34

The most relevant actors are: A vehicle with ID 62 is 5.2 meters away at (5.2, -1.0). A vehicle with ID 64 is 9.7 meters away at (-0.4, -9.7). A vehicle with ID 61 is 10.1 meters away at (9.0, -4.5). A vehicle with ID 63 is 12.7 meters away at (1.0, 12.7). A vehicle with ID 65 is 13.3 meters away at (3.3, -12.9). A vehicle with ID 71 is 16.0 meters away at (11.2, -11.4). A vehicle with ID 27 is 17.1 meters away at (4.5, 16.5). A vehicle with ID 66 is 17.8 meters away at (7.1, -16.3). A vehicle with ID 77 is 18.9 meters away at (-17.2, -7.8). A vehicle with ID 69 is 20.0 meters away at (16.4, -11.5).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-3.8109143  3.6033099] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 2.4) m/s. Its current heading (yaw) is 2.03

The most relevant actors are: A vehicle with ID 62 is 8.9 meters away at (7.8, -4.3). A vehicle with ID 63 is 10.1 meters away at (3.6, 9.4). A vehicle with ID 71 is 12.0 meters away at (7.8, -9.1). A vehicle with ID 64 is 13.1 meters away at (2.2, -12.9). A vehicle with ID 61 is 13.9 meters away at (11.5, -7.7). A vehicle with ID 27 is 15.1 meters away at (7.1, 13.3). A vehicle with ID 67 is 16.4 meters away at (-1.2, 16.4). A vehicle with ID 65 is 17.2 meters away at (6.0, -16.2). A vehicle with ID 77 is 18.4 meters away at (-14.5, -11.2). A vehicle with ID 81 is 19.9 meters away at (-19.5, -3.8).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-2.1063755  1.9678422] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 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 (0.5, 3.6) m/s. Its current heading (yaw) is 1.44

The most relevant actors are: A vehicle with ID 63 is 5.8 meters away at (4.8, 3.2). A vehicle with ID 67 is 10.2 meters away at (0.1, 10.2). A vehicle with ID 27 is 10.9 meters away at (8.3, 7.2). A vehicle with ID 71 is 11.8 meters away at (4.4, -11.0). A vehicle with ID 62 is 13.8 meters away at (9.1, -10.4). A vehicle with ID 26 is 14.4 meters away at (3.6, 13.9). A vehicle with ID 25 is 16.3 meters away at (11.9, 11.1). A vehicle with ID 61 is 18.8 meters away at (12.9, -13.7). A vehicle with ID 64 is 19.4 meters away at (3.4, -19.1). A vehicle with ID 22 is 20.5 meters away at (8.4, 18.8).

The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-3.1087618  2.852519 ] m/s.The vehicle with ID 62 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 (3.0, 4.3) m/s. Its current heading (yaw) is 0.96

The most relevant actors are: A vehicle with ID 67 is 4.3 meters away at (-3.5, 2.4). A vehicle with ID 63 is 4.8 meters away at (1.3, -4.6). A vehicle with ID 27 is 4.8 meters away at (4.7, -0.7). A vehicle with ID 26 is 6.0 meters away at (-0.1, 6.0). A vehicle with ID 25 is 8.9 meters away at (8.4, 3.1). A vehicle with ID 22 is 11.9 meters away at (4.8, 10.9). A vehicle with ID 71 is 13.7 meters away at (-7.4, -11.5). A vehicle with ID 21 is 14.2 meters away at (12.4, 7.0). A vehicle with ID 20 is 17.5 meters away at (8.6, 15.2). A vehicle with ID 19 is 19.6 meters away at (16.0, 11.5).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-5.027719  4.509029] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 3.4) m/s. Its current heading (yaw) is 1.95

The most relevant actors are: A vehicle with ID 18 is 22.4 meters away at (7.3, 21.2). A vehicle with ID 17 is 27.2 meters away at (13.3, 23.7). A vehicle with ID 10 is 39.5 meters away at (26.8, 29.0). A vehicle with ID 6 is 54.4 meters away at (41.5, 35.2).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.8) m/s. Its current heading (yaw) is 1.97

The most relevant actors are: A vehicle with ID 18 is 19.3 meters away at (8.9, 17.1). A vehicle with ID 17 is 24.8 meters away at (15.1, 19.7). A vehicle with ID 2 is 34.8 meters away at (-33.9, -8.0). A vehicle with ID 10 is 37.9 meters away at (28.5, 24.9). A vehicle with ID 1 is 40.8 meters away at (-39.5, -10.1). A vehicle with ID 6 is 53.3 meters away at (43.2, 31.2).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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, 0.8) m/s. Its current heading (yaw) is 2.01

The most relevant actors are: A vehicle with ID 18 is 18.6 meters away at (9.5, 16.0). A vehicle with ID 17 is 24.2 meters away at (15.6, 18.5). A vehicle with ID 2 is 34.7 meters away at (-33.5, -8.9). A vehicle with ID 10 is 37.5 meters away at (29.1, 23.7). A vehicle with ID 1 is 40.6 meters away at (-39.2, -10.7). A vehicle with ID 6 is 53.0 meters away at (43.7, 29.9).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 (-3.7, 1.2) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 18 is 18.7 meters away at (13.5, 13.0). A vehicle with ID 17 is 25.0 meters away at (19.7, 15.5). A vehicle with ID 2 is 31.8 meters away at (-29.6, -11.6). A vehicle with ID 1 is 37.7 meters away at (-35.2, -13.5). A vehicle with ID 10 is 39.1 meters away at (33.1, 20.7). A vehicle with ID 6 is 54.8 meters away at (47.8, 26.8).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -7.1) m/s. Its current heading (yaw) is -1.19

The most relevant actors are: A unknown object with ID 23 is 33.5 meters away at (20.6, -26.3). A pedestrian with ID 34 is 39.5 meters away at (34.5, 19.3). A vehicle with ID 36 is 46.6 meters away at (41.2, 21.7). A unknown object with ID 10 is 49.5 meters away at (46.6, 16.8). A pedestrian with ID 33 is 57.6 meters away at (-12.7, 56.2). A vehicle with ID 29 is 58.6 meters away at (52.1, 26.8). A vehicle with ID 38 is 60.6 meters away at (57.6, 18.8). A unknown object with ID 12 is 62.6 meters away at (22.4, -58.4).

The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3298026 -0.1286011] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.30599365 1.3870385 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 20.644146 -26.328436], 33.456947326660156 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -7.5) m/s. Its current heading (yaw) is -1.16

The most relevant actors are: A unknown object with ID 18 is 36.8 meters away at (26.4, 25.6). A unknown object with ID 13 is 37.6 meters away at (11.8, -35.7). A pedestrian with ID 34 is 42.4 meters away at (25.8, 33.6). A unknown object with ID 14 is 46.6 meters away at (16.5, -43.6). A unknown object with ID 12 is 46.8 meters away at (16.2, -43.9). A unknown object with ID 17 is 47.0 meters away at (15.9, -44.3). A vehicle with ID 36 is 51.2 meters away at (36.1, 36.4). A vehicle with ID 29 is 61.8 meters away at (45.9, 41.4). A vehicle with ID 6 is 65.9 meters away at (21.5, -62.3). A vehicle with ID 3 is 75.7 meters away at (23.7, -71.9).

The unknown object with ID 18 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 pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.1323547 -0.318815 ] 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0.5457039  0.00959453] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [26.406242 25.565605], 36.754451751708984 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -7.2) m/s. Its current heading (yaw) is -1.06

The most relevant actors are: A unknown object with ID 24 is 21.3 meters away at (4.9, -20.8). A unknown object with ID 13 is 21.7 meters away at (4.6, -21.2). A unknown object with ID 25 is 22.4 meters away at (-0.9, 22.3). A unknown object with ID 14 is 30.6 meters away at (9.3, -29.1). A unknown object with ID 12 is 30.9 meters away at (8.4, -29.8). A unknown object with ID 17 is 31.1 meters away at (8.8, -29.8). A vehicle with ID 6 is 49.7 meters away at (14.3, -47.6). A vehicle with ID 3 is 59.8 meters away at (16.6, -57.4). A vehicle with ID 4 is 69.2 meters away at (-24.8, 64.7).

The unknown object with ID 24 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 25 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [  5.47883 -15.78364] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  4.8894634 -20.782558 ], 21.349979400634766 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -7.5) m/s. Its current heading (yaw) is -1.17

The most relevant actors are: A unknown object with ID 24 is 6.6 meters away at (-2.4, -6.2). A unknown object with ID 13 is 7.1 meters away at (-2.7, -6.5). A unknown object with ID 21 is 7.7 meters away at (6.8, -3.4). A unknown object with ID 14 is 14.6 meters away at (2.0, -14.4). A unknown object with ID 12 is 15.1 meters away at (1.2, -15.1). A unknown object with ID 17 is 15.1 meters away at (1.6, -15.1). A unknown object with ID 27 is 15.2 meters away at (15.1, -1.0). A vehicle with ID 6 is 33.6 meters away at (7.2, -32.9). A vehicle with ID 3 is 43.6 meters away at (9.4, -42.6). A vehicle with ID 4 is 51.3 meters away at (-20.8, 46.9).

The unknown object with ID 24 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 21 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 12 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [  6.243204 -16.221004] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.4421444 -6.17099  ], 6.636654853820801 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 1.7) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A unknown object with ID 82 is 7.7 meters away at (-6.8, 3.6). A vehicle with ID 83 is 10.9 meters away at (7.3, 8.0). A vehicle with ID 84 is 11.0 meters away at (-3.9, 10.3). A vehicle with ID 86 is 15.5 meters away at (-7.8, 13.4). A vehicle with ID 85 is 15.8 meters away at (-15.1, 4.7). A vehicle with ID 87 is 23.7 meters away at (-23.5, 3.0). A vehicle with ID 88 is 27.5 meters away at (-25.2, -10.9). A vehicle with ID 89 is 29.9 meters away at (-28.9, -7.4). A vehicle with ID 90 is 31.5 meters away at (-31.0, -5.7). A vehicle with ID 91 is 33.4 meters away at (-33.2, -4.2).

The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [2.6935627 1.5474564] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 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 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-6.757929   3.5935903], 7.653985500335693 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 2.2) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 84 is 9.6 meters away at (-7.0, 6.5). A unknown object with ID 82 is 9.9 meters away at (-9.9, -0.2). A vehicle with ID 83 is 12.9 meters away at (12.1, 4.4). A vehicle with ID 86 is 14.6 meters away at (-11.0, 9.5). A vehicle with ID 85 is 18.3 meters away at (-18.3, 0.8). A vehicle with ID 87 is 26.7 meters away at (-26.7, -0.8). A vehicle with ID 88 is 32.1 meters away at (-28.5, -14.7). A pedestrian with ID 96 is 33.4 meters away at (13.2, 30.7). A vehicle with ID 89 is 34.1 meters away at (-32.2, -11.3). A vehicle with ID 90 is 35.5 meters away at (-34.2, -9.5).

The vehicle with ID 84 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 vehicle with ID 83 is traveling at a (x, y) velocity of [ 5.429811  -2.1291928] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-1.0289024 -0.8982797] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 3.9) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 84 is 12.0 meters away at (-12.0, 0.6). A unknown object with ID 82 is 16.1 meters away at (-14.9, -6.1). A vehicle with ID 86 is 16.3 meters away at (-15.9, 3.6). A vehicle with ID 83 is 22.4 meters away at (20.2, -9.8). A pedestrian with ID 96 is 23.6 meters away at (6.6, 22.6). A vehicle with ID 85 is 23.8 meters away at (-23.3, -5.1). A vehicle with ID 75 is 26.0 meters away at (11.5, -23.4). A pedestrian with ID 47 is 26.2 meters away at (26.2, 0.6). A vehicle with ID 97 is 33.0 meters away at (23.6, 23.0). A vehicle with ID 94 is 33.6 meters away at (-13.2, 30.9).

The vehicle with ID 84 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 vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [ 7.596016  -5.7111683] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-0.58178455 -1.0675877 ] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.01513138 -0.01697273] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 5.0) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A pedestrian with ID 96 is 11.8 meters away at (-1.1, 11.7). A pedestrian with ID 47 is 20.6 meters away at (18.8, -8.4). A vehicle with ID 84 is 21.1 meters away at (-19.4, -8.4). A vehicle with ID 97 is 21.5 meters away at (16.2, 14.1). A vehicle with ID 86 is 23.9 meters away at (-23.3, -5.3). A unknown object with ID 82 is 27.0 meters away at (-22.4, -15.1). A vehicle with ID 28 is 27.6 meters away at (20.2, 18.8). A vehicle with ID 94 is 30.1 meters away at (-20.6, 21.9). A vehicle with ID 85 is 33.8 meters away at (-30.7, -14.1). A vehicle with ID 79 is 35.1 meters away at (26.0, -23.6).

The pedestrian with ID 96 is traveling at a (x, y) velocity of [ 0.1667027  -0.58761096] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.0017283   0.00138491] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 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 vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-7.084769  6.145286] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A vehicle with ID 20 is 13.4 meters away at (-13.3, 1.6). A cyclist with ID 26 is 18.2 meters away at (-3.3, 17.9). A vehicle with ID 24 is 23.6 meters away at (-23.4, -3.6). A unknown object with ID 32 is 24.4 meters away at (23.0, 8.1). A unknown object with ID 33 is 24.4 meters away at (23.6, 6.1). A unknown object with ID 27 is 24.5 meters away at (22.4, 10.1). A unknown object with ID 31 is 24.5 meters away at (22.4, 10.0). A unknown object with ID 34 is 25.2 meters away at (24.7, 4.6). A vehicle with ID 30 is 31.2 meters away at (-5.0, -30.8). A unknown object with ID 3 is 34.0 meters away at (3.6, -33.8).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [0.00439036 0.00067696] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-2.0171027 -1.3796421] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-8.8829155 29.76315  ]
 [-7.5147433 33.353893 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A vehicle with ID 20 is 15.2 meters away at (-15.2, 1.2). A cyclist with ID 26 is 18.1 meters away at (-3.3, 17.8). A unknown object with ID 32 is 24.4 meters away at (23.1, 8.0). A unknown object with ID 33 is 24.5 meters away at (23.7, 6.1). A unknown object with ID 31 is 24.5 meters away at (22.4, 9.9). A unknown object with ID 34 is 25.2 meters away at (24.8, 4.5). A unknown object with ID 18 is 26.8 meters away at (26.7, 1.9). A vehicle with ID 24 is 29.3 meters away at (-28.2, -7.8). A vehicle with ID 30 is 31.2 meters away at (-5.0, -30.8). A unknown object with ID 5 is 43.1 meters away at (35.1, -25.0).

The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.317243   -0.51742846] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.02757057 -0.00364224] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 18 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 [-2.56832   -2.9144406] m/s.The vehicle with ID 30 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.

There are active red lights at the following coordinates: [[-8.8829155 29.76315  ]
 [-7.5147433 33.353893 ]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.6) m/s. Its current heading (yaw) is 2.76

The most relevant actors are: A cyclist with ID 26 is 17.1 meters away at (-1.7, 17.1). A vehicle with ID 20 is 21.6 meters away at (-21.5, -2.1). A unknown object with ID 32 is 25.5 meters away at (24.5, 7.1). A unknown object with ID 31 is 25.6 meters away at (23.9, 9.0). A unknown object with ID 33 is 25.7 meters away at (25.2, 5.1). A unknown object with ID 34 is 26.5 meters away at (26.3, 3.5). A unknown object with ID 18 is 28.3 meters away at (28.3, 0.6). A vehicle with ID 30 is 31.8 meters away at (-3.9, -31.6). A vehicle with ID 24 is 35.7 meters away at (-32.1, -15.7). A unknown object with ID 6 is 39.9 meters away at (35.1, -18.9).

The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.01880449 -0.03220068] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-4.7667155 -2.4249487] 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 30 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 [-2.7961628 -4.1826024] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-8.8829155 29.76315  ]
 [-7.5147433 33.353893 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 0.2) m/s. Its current heading (yaw) is 3.08

The most relevant actors are: A cyclist with ID 26 is 16.2 meters away at (3.6, 15.8). A unknown object with ID 22 is 29.2 meters away at (16.9, -23.8). A vehicle with ID 20 is 29.4 meters away at (-27.1, -11.4). A unknown object with ID 31 is 30.2 meters away at (29.2, 7.7). A unknown object with ID 32 is 30.3 meters away at (29.8, 5.9). A unknown object with ID 33 is 30.7 meters away at (30.4, 4.0). A unknown object with ID 34 is 31.6 meters away at (31.6, 2.3). A vehicle with ID 30 is 32.7 meters away at (1.3, -32.7). A vehicle with ID 24 is 42.1 meters away at (-33.1, -26.0). A vehicle with ID 25 is 42.2 meters away at (-3.8, -42.1).

The cyclist with ID 26 is traveling at a (x, y) velocity of [-0.01715112 -0.01723024] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-5.83348   -5.8864403] 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 33 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-3.5617802 -4.977626 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-8.8829155 29.76315  ]
 [-7.5147433 33.353893 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.16

The most relevant actors are: A unknown object with ID 39 is 7.9 meters away at (-2.1, 7.6). A vehicle with ID 1 is 8.4 meters away at (-4.2, -7.3). A unknown object with ID 37 is 8.8 meters away at (-1.3, 8.7). A unknown object with ID 40 is 11.5 meters away at (-3.0, 11.1). A unknown object with ID 36 is 12.0 meters away at (-9.2, 7.7). A unknown object with ID 38 is 12.6 meters away at (-3.7, 12.0). A unknown object with ID 45 is 21.4 meters away at (6.8, 20.3). A unknown object with ID 46 is 23.6 meters away at (10.7, 21.0). A unknown object with ID 49 is 23.6 meters away at (12.1, 20.3). A unknown object with ID 53 is 24.6 meters away at (12.3, 21.3).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[1.8320063 2.6426005]
 [3.2729542 1.7932876]]

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-2.109333   7.5925045], 7.880064487457275 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 1.3) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A unknown object with ID 39 is 7.0 meters away at (-2.4, 6.6). A unknown object with ID 37 is 8.0 meters away at (-1.7, 7.8). A vehicle with ID 1 is 8.3 meters away at (-3.8, -7.4). A unknown object with ID 5 is 8.9 meters away at (-3.4, 8.2). A unknown object with ID 4 is 9.3 meters away at (-2.8, 8.9). A unknown object with ID 36 is 11.7 meters away at (-9.5, 6.8). A unknown object with ID 38 is 11.8 meters away at (-3.7, 11.2). A unknown object with ID 45 is 20.3 meters away at (6.5, 19.2). A unknown object with ID 43 is 21.8 meters away at (21.3, -4.3). A unknown object with ID 46 is 22.5 meters away at (10.5, 19.9).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0.7105951  0.89353555] 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-2.4064538  6.620273 ], 7.0440778732299805 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 2.8) m/s. Its current heading (yaw) is 1.45

The most relevant actors are: A unknown object with ID 39 is 4.2 meters away at (-3.5, 2.4). A unknown object with ID 37 is 4.6 meters away at (-2.7, 3.7). A unknown object with ID 4 is 5.9 meters away at (-3.7, 4.5). A unknown object with ID 5 is 5.9 meters away at (-4.4, 3.9). A unknown object with ID 38 is 8.5 meters away at (-5.0, 6.9). A vehicle with ID 1 is 8.6 meters away at (-2.4, -8.3). A unknown object with ID 36 is 10.9 meters away at (-10.6, 2.6). A unknown object with ID 45 is 16.1 meters away at (5.4, 15.1). A unknown object with ID 46 is 18.3 meters away at (9.4, 15.8). A unknown object with ID 49 is 18.5 meters away at (10.8, 15.0).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 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 [1.5680478 2.421101 ] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 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 [-3.4688401  2.428021 ], 4.234163284301758 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 3.2) m/s. Its current heading (yaw) is 1.96

The most relevant actors are: A unknown object with ID 27 is 2.7 meters away at (-2.4, -1.3). A unknown object with ID 37 is 2.9 meters away at (-1.9, -2.2). A unknown object with ID 4 is 3.3 meters away at (-3.1, -1.2). A unknown object with ID 5 is 4.2 meters away at (-3.7, -2.1). A unknown object with ID 38 is 4.3 meters away at (-4.1, 1.1). A unknown object with ID 39 is 4.4 meters away at (-2.7, -3.5). A vehicle with ID 1 is 8.6 meters away at (1.4, -8.5). A unknown object with ID 36 is 10.4 meters away at (-9.9, -3.3). A unknown object with ID 45 is 11.1 meters away at (6.2, 9.2). A unknown object with ID 46 is 14.1 meters away at (10.2, 9.8).

The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [1.1730738 3.4167633] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 6.4) m/s. Its current heading (yaw) is 2.13

The most relevant actors are: A pedestrian with ID 81 is 15.2 meters away at (-15.2, -0.1). A pedestrian with ID 85 is 20.8 meters away at (-19.6, 7.1). A vehicle with ID 82 is 23.0 meters away at (15.1, 17.4). A vehicle with ID 57 is 36.6 meters away at (12.6, 34.3). A vehicle with ID 88 is 37.1 meters away at (-34.3, 14.2). A pedestrian with ID 14 is 38.0 meters away at (-30.0, 23.3). A vehicle with ID 40 is 39.9 meters away at (14.1, 37.4). A vehicle with ID 53 is 42.6 meters away at (15.3, 39.8). A vehicle with ID 10 is 43.4 meters away at (-21.9, 37.5). A vehicle with ID 25 is 45.1 meters away at (17.0, 41.8).

The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.61414194 -1.2050529 ] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.705058 -1.091678] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.94272816  1.4553999 ] m/s.The vehicle with ID 40 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 10 is traveling at a (x, y) velocity of [-4.1114697  6.7260413] m/s.The vehicle with ID 25 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 (-4.3, 6.9) m/s. Its current heading (yaw) is 2.13

The most relevant actors are: A pedestrian with ID 85 is 12.9 meters away at (-10.0, -8.2). A vehicle with ID 16 is 15.2 meters away at (-13.6, 7.0). A pedestrian with ID 81 is 16.9 meters away at (-5.4, -16.0). A vehicle with ID 82 is 23.8 meters away at (23.4, 4.1). A pedestrian with ID 14 is 26.8 meters away at (-23.5, 12.9). A vehicle with ID 57 is 29.7 meters away at (20.9, 21.2). A vehicle with ID 40 is 32.8 meters away at (22.6, 23.9). A vehicle with ID 96 is 33.2 meters away at (-30.7, 12.6). A unknown object with ID 72 is 34.5 meters away at (-27.6, 20.7). A vehicle with ID 53 is 35.4 meters away at (23.9, 26.2).

The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.32810736 -0.70084643] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [  7.00192  -10.910253] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.6457859 -1.1730512] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.9632695  1.3536855] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 6.4) m/s. Its current heading (yaw) is 2.12

The most relevant actors are: A unknown object with ID 76 is 10.0 meters away at (9.9, 1.3). A pedestrian with ID 14 is 17.5 meters away at (-17.3, 2.7). A unknown object with ID 72 is 21.2 meters away at (-19.8, 7.7). A vehicle with ID 96 is 22.8 meters away at (-22.8, -0.5). A pedestrian with ID 85 is 22.8 meters away at (-1.3, -22.7). A vehicle with ID 16 is 29.5 meters away at (9.1, -28.1). A vehicle with ID 57 is 30.0 meters away at (28.9, 8.0). A pedestrian with ID 81 is 31.7 meters away at (4.2, -31.4). A vehicle with ID 82 is 32.5 meters away at (31.2, -9.0). A vehicle with ID 35 is 34.2 meters away at (33.6, -6.2).

The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.9315623  1.4618086] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 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 [ 0.67027277 -0.8414982 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [  7.531956 -10.58879 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.8048397 -1.1442873] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [9.86585  1.316349], 9.953279495239258 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 5.9) m/s. Its current heading (yaw) is 2.11

The most relevant actors are: A pedestrian with ID 14 is 13.5 meters away at (-11.8, -6.6). A vehicle with ID 96 is 20.0 meters away at (-15.4, -12.8). A vehicle with ID 74 is 23.2 meters away at (-19.5, 12.5). A unknown object with ID 23 is 25.5 meters away at (-5.5, 24.9). A pedestrian with ID 4 is 28.7 meters away at (-25.4, 13.3). A vehicle with ID 2 is 31.0 meters away at (-20.0, 23.7). A unknown object with ID 69 is 32.0 meters away at (-30.7, -8.9). A pedestrian with ID 85 is 37.9 meters away at (7.2, -37.2). A unknown object with ID 73 is 39.1 meters away at (-39.1, 0.4). A vehicle with ID 10 is 39.6 meters away at (-20.0, 34.2).

The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.9773975  1.4764785] m/s.The vehicle with ID 96 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 [ 5.854068 -9.214958] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.27098417 -1.3891411 ] m/s.The vehicle with ID 2 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 pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.5167782 -1.1334617] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.363999  3.671758] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -0.5) m/s. Its current heading (yaw) is -0.10

The most relevant actors are: A vehicle with ID 49 is 5.5 meters away at (-0.7, 5.4). A vehicle with ID 45 is 6.4 meters away at (-3.2, 5.6). A vehicle with ID 58 is 10.8 meters away at (0.1, 10.8). A vehicle with ID 65 is 11.3 meters away at (2.3, 11.0). A vehicle with ID 56 is 11.5 meters away at (-2.3, 11.2). A vehicle with ID 69 is 11.6 meters away at (4.6, 10.7). A vehicle with ID 40 is 12.0 meters away at (5.9, -10.5). A vehicle with ID 41 is 12.7 meters away at (7.2, 10.5). A vehicle with ID 37 is 13.6 meters away at (13.1, 3.8). A vehicle with ID 51 is 13.6 meters away at (-7.1, 11.6).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -0.5) m/s. Its current heading (yaw) is -0.09

The most relevant actors are: A vehicle with ID 37 is 5.2 meters away at (2.1, 4.8). A vehicle with ID 9 is 7.0 meters away at (4.6, 5.3). A vehicle with ID 40 is 10.7 meters away at (-5.1, -9.5). A vehicle with ID 39 is 10.9 meters away at (2.1, 10.7). A vehicle with ID 38 is 11.4 meters away at (4.9, 10.3). A vehicle with ID 41 is 12.1 meters away at (-3.7, 11.5). A vehicle with ID 74 is 13.1 meters away at (-5.5, -11.9). A vehicle with ID 69 is 13.2 meters away at (-6.2, 11.7). A vehicle with ID 49 is 13.3 meters away at (-11.6, 6.4). A vehicle with ID 65 is 14.8 meters away at (-8.6, 12.0).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -0.3) m/s. Its current heading (yaw) is -0.05

The most relevant actors are: A vehicle with ID 9 is 9.4 meters away at (-7.1, 6.1). A vehicle with ID 37 is 11.2 meters away at (-9.7, 5.5). A vehicle with ID 38 is 13.0 meters away at (-6.9, 11.0). A vehicle with ID 39 is 15.0 meters away at (-9.6, 11.5). A vehicle with ID 40 is 18.9 meters away at (-16.9, -8.6). A vehicle with ID 41 is 19.9 meters away at (-15.6, 12.4). A vehicle with ID 54 is 20.2 meters away at (-1.3, 20.2). A vehicle with ID 74 is 20.6 meters away at (-17.3, -11.1). A vehicle with ID 46 is 20.9 meters away at (14.7, 14.9). A vehicle with ID 8 is 21.7 meters away at (2.4, 21.5).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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.The vehicle with ID 74 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 8 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 (5.2, -0.3) m/s. Its current heading (yaw) is -0.06

The most relevant actors are: A vehicle with ID 46 is 16.0 meters away at (3.8, 15.5). A unknown object with ID 31 is 18.2 meters away at (1.5, 18.1). A vehicle with ID 9 is 19.4 meters away at (-18.2, 6.8). A vehicle with ID 17 is 20.4 meters away at (-20.3, 1.2). A vehicle with ID 38 is 21.4 meters away at (-17.9, 11.7). A vehicle with ID 37 is 21.6 meters away at (-20.8, 6.2). A vehicle with ID 3 is 23.5 meters away at (22.7, -6.1). A vehicle with ID 8 is 23.8 meters away at (-8.6, 22.2). A vehicle with ID 39 is 23.9 meters away at (-20.6, 12.2). A vehicle with ID 54 is 24.1 meters away at (-12.3, 20.7).

The vehicle with ID 46 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.081517 -0.35944 ] m/s.The vehicle with ID 38 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 3 is traveling at a (x, y) velocity of [-1.5153109   0.24575381] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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 (-10.3, -7.9) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 21 is 3.9 meters away at (0.2, -3.9). A vehicle with ID 20 is 17.3 meters away at (15.5, 7.6). A vehicle with ID 3 is 32.8 meters away at (-26.0, -20.0). A vehicle with ID 10 is 39.6 meters away at (-29.4, -26.5). A vehicle with ID 19 is 42.5 meters away at (35.7, 23.0). A vehicle with ID 9 is 52.9 meters away at (42.2, 31.9). A vehicle with ID 18 is 60.0 meters away at (49.6, 33.7).

The vehicle with ID 21 is traveling at a (x, y) velocity of [9.743182 7.220474] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [9.943656  7.4196763] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-9.498392  -7.3055663] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [10.071274   7.5097594] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [10.378674   7.7202477] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-10.7820425  -8.384478 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [9.948056 7.501938] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-10.0, -7.6) m/s. Its current heading (yaw) is -2.49

The most relevant actors are: A vehicle with ID 10 is 12.3 meters away at (11.5, 4.3). A vehicle with ID 3 is 29.5 meters away at (-23.3, -18.1). A vehicle with ID 21 is 47.7 meters away at (39.9, 26.1). A vehicle with ID 12 is 51.0 meters away at (-38.6, -33.4). A vehicle with ID 9 is 51.5 meters away at (41.1, 31.0). A vehicle with ID 20 is 67.2 meters away at (55.4, 38.0).

The vehicle with ID 10 is traveling at a (x, y) velocity of [10.221335   7.6577616] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-8.297388  -6.4213324] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [9.646766 7.211959] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [9.119628  6.8301516] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-10.707213  -8.30648 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [10.060382  7.642815] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, -6.7) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 12 is 4.9 meters away at (-0.9, -4.8). A vehicle with ID 3 is 25.4 meters away at (-20.0, -15.6). A unknown object with ID 11 is 38.8 meters away at (26.8, 28.1). A vehicle with ID 9 is 48.6 meters away at (38.8, 29.2). A vehicle with ID 10 is 61.2 meters away at (50.7, 34.2).

The vehicle with ID 12 is traveling at a (x, y) velocity of [9.59491  7.203755] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.580172  -5.8764396] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-10.61067  -8.0364 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [10.108312  7.731716] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, -5.8) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 3 is 23.8 meters away at (-18.7, -14.7). A vehicle with ID 12 is 40.6 meters away at (34.1, 22.0). A vehicle with ID 9 is 42.5 meters away at (33.9, 25.7). A vehicle with ID 1 is 74.0 meters away at (-58.9, -44.8).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-6.57221  -5.243662] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [9.865103 7.493817] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-9.919156  -7.5986094] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.370279  -2.6853836] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -1.4) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A vehicle with ID 65 is 5.7 meters away at (4.4, 3.6). A vehicle with ID 66 is 6.6 meters away at (-6.5, 1.3). A vehicle with ID 68 is 8.5 meters away at (-1.2, 8.4). A unknown object with ID 70 is 11.6 meters away at (2.9, 11.2). A unknown object with ID 74 is 15.2 meters away at (-0.4, 15.2). A unknown object with ID 75 is 16.5 meters away at (-1.5, 16.5). A unknown object with ID 76 is 16.7 meters away at (-1.8, 16.7). A unknown object with ID 77 is 16.8 meters away at (-1.9, 16.7). A vehicle with ID 72 is 17.5 meters away at (-2.2, -17.4). A vehicle with ID 73 is 18.8 meters away at (-16.2, 9.6).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.7) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A vehicle with ID 65 is 5.8 meters away at (2.4, 5.2). A vehicle with ID 66 is 9.0 meters away at (-8.5, 3.0). A vehicle with ID 68 is 10.7 meters away at (-3.3, 10.1). A unknown object with ID 70 is 12.8 meters away at (1.1, 12.8). A vehicle with ID 72 is 16.2 meters away at (-4.2, -15.7). A unknown object with ID 74 is 17.1 meters away at (-2.4, 16.9). A unknown object with ID 75 is 18.4 meters away at (-3.5, 18.0). A unknown object with ID 76 is 18.4 meters away at (-3.5, 18.1). A unknown object with ID 77 is 18.8 meters away at (-3.9, 18.4). A vehicle with ID 50 is 21.3 meters away at (-7.9, -19.8).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, -0.4) m/s. Its current heading (yaw) is -0.10

The most relevant actors are: A vehicle with ID 65 is 7.5 meters away at (-2.2, 7.2). A vehicle with ID 66 is 14.2 meters away at (-13.2, 5.1). A vehicle with ID 68 is 14.5 meters away at (-8.0, 12.2). A unknown object with ID 70 is 15.3 meters away at (-3.7, 14.8). A vehicle with ID 72 is 16.3 meters away at (-8.9, -13.6). A vehicle with ID 37 is 16.3 meters away at (-5.9, -15.2). A vehicle with ID 84 is 19.4 meters away at (17.1, -9.1). A unknown object with ID 74 is 20.2 meters away at (-7.0, 18.9). A vehicle with ID 87 is 21.1 meters away at (12.5, -17.0). A vehicle with ID 9 is 21.5 meters away at (15.5, 14.9).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 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 72 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 [3.098098  3.8223536] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 4.0) m/s. Its current heading (yaw) is 0.69

The most relevant actors are: A vehicle with ID 65 is 12.3 meters away at (-11.7, 3.8). A vehicle with ID 9 is 13.0 meters away at (5.9, 11.6). A vehicle with ID 84 is 14.6 meters away at (7.7, -12.4). A vehicle with ID 21 is 14.6 meters away at (4.6, -13.9). A vehicle with ID 37 is 17.8 meters away at (-11.3, -13.8). A vehicle with ID 7 is 18.9 meters away at (10.0, 16.1). A vehicle with ID 68 is 19.6 meters away at (-17.5, 8.8). A vehicle with ID 87 is 20.6 meters away at (3.1, -20.4). A vehicle with ID 66 is 22.8 meters away at (-22.8, 1.6). A vehicle with ID 5 is 23.9 meters away at (13.3, 19.8).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 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 [-1.6167377  1.4764264] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [1.6012228 1.5209873] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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 (0.3, 1.0) m/s. Its current heading (yaw) is 1.28

The most relevant actors are: A vehicle with ID 27 is 4.8 meters away at (1.7, -4.5). A vehicle with ID 24 is 5.9 meters away at (-4.8, 3.4). A vehicle with ID 22 is 7.7 meters away at (5.1, 5.8). A vehicle with ID 26 is 10.7 meters away at (-2.3, 10.4). A vehicle with ID 29 is 12.3 meters away at (3.8, 11.6). A vehicle with ID 15 is 13.1 meters away at (-12.5, 3.8). A vehicle with ID 28 is 13.3 meters away at (7.0, 11.4). A vehicle with ID 34 is 13.4 meters away at (-9.3, -9.7). A vehicle with ID 30 is 13.5 meters away at (-13.1, -3.5). A vehicle with ID 39 is 18.0 meters away at (-10.7, -14.4).

The vehicle with ID 27 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 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 29 is traveling at a (x, y) velocity of [0.6143503 1.770532 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 2.0) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A vehicle with ID 22 is 4.5 meters away at (3.9, 2.3). A vehicle with ID 24 is 6.1 meters away at (-6.0, -0.2). A vehicle with ID 26 is 7.7 meters away at (-3.5, 6.8). A vehicle with ID 27 is 8.2 meters away at (0.5, -8.2). A vehicle with ID 28 is 9.7 meters away at (5.8, 7.7). A vehicle with ID 29 is 11.9 meters away at (3.9, 11.3). A vehicle with ID 30 is 15.9 meters away at (-14.3, -7.1). A vehicle with ID 33 is 15.9 meters away at (-0.5, 15.9). A vehicle with ID 34 is 16.9 meters away at (-10.5, -13.2). A vehicle with ID 38 is 19.9 meters away at (7.0, 18.7).

The vehicle with ID 22 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 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0.52484447 1.2495444 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0.17902419 0.4404258 ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 1.2) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A vehicle with ID 22 is 2.9 meters away at (2.8, -0.9). A vehicle with ID 26 is 5.8 meters away at (-4.6, 3.6). A vehicle with ID 28 is 6.5 meters away at (4.7, 4.4). A vehicle with ID 24 is 8.0 meters away at (-7.1, -3.6). A vehicle with ID 29 is 9.5 meters away at (3.2, 9.0). A vehicle with ID 27 is 11.5 meters away at (-0.6, -11.5). A vehicle with ID 33 is 12.7 meters away at (-1.6, 12.6). A vehicle with ID 12 is 13.3 meters away at (-13.2, 1.8). A pedestrian with ID 37 is 15.9 meters away at (10.8, 11.7). A vehicle with ID 38 is 16.6 meters away at (6.0, 15.5).

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 28 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.49288124 -1.4638383 ] m/s.The vehicle with ID 38 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, 0.1) m/s. Its current heading (yaw) is 1.20

The most relevant actors are: A vehicle with ID 22 is 3.1 meters away at (2.5, -1.8). A vehicle with ID 28 is 5.5 meters away at (4.3, 3.5). A vehicle with ID 26 is 5.6 meters away at (-4.9, 2.7). A vehicle with ID 29 is 8.5 meters away at (2.8, 8.0). A vehicle with ID 24 is 8.7 meters away at (-7.5, -4.5). A vehicle with ID 33 is 11.8 meters away at (-2.0, 11.6). A pedestrian with ID 37 is 12.3 meters away at (9.5, 7.8). A vehicle with ID 27 is 12.4 meters away at (-1.0, -12.4). A vehicle with ID 38 is 15.5 meters away at (5.6, 14.5). A vehicle with ID 42 is 21.0 meters away at (1.3, 20.9).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.580421  -1.3391495] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 (-0.3, -0.5) m/s. Its current heading (yaw) is -2.07

The most relevant actors are: A vehicle with ID 13 is 24.9 meters away at (-1.1, -24.8). A unknown object with ID 14 is 26.1 meters away at (3.4, -25.8). A vehicle with ID 12 is 26.7 meters away at (24.6, 10.5). A vehicle with ID 15 is 27.7 meters away at (-1.7, -27.7). A vehicle with ID 17 is 32.4 meters away at (11.8, -30.2). A unknown object with ID 16 is 34.1 meters away at (-2.9, 33.9). A unknown object with ID 7 is 40.4 meters away at (40.1, 5.1). A unknown object with ID 5 is 43.6 meters away at (23.6, -36.6). A pedestrian with ID 20 is 44.1 meters away at (-10.2, -42.9). A cyclist with ID 3 is 47.8 meters away at (28.2, -38.5).

The vehicle 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 vehicle with ID 12 is traveling at a (x, y) velocity of [-10.952559    6.6055446] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 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 pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.57398224 -0.7979963 ] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [ 0.07888424 -0.02848931] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -2.4) m/s. Its current heading (yaw) is -2.36

The most relevant actors are: A vehicle with ID 13 is 21.5 meters away at (1.3, -21.5). A vehicle with ID 15 is 24.4 meters away at (0.8, -24.4). A vehicle with ID 12 is 26.7 meters away at (4.4, 26.3). A vehicle with ID 17 is 30.4 meters away at (14.2, -26.9). A unknown object with ID 16 is 37.3 meters away at (-0.8, 37.3). A unknown object with ID 8 is 41.8 meters away at (40.3, 11.1). A pedestrian with ID 20 is 42.3 meters away at (-8.9, -41.4). A pedestrian with ID 22 is 46.6 meters away at (30.8, -34.9). A cyclist with ID 3 is 46.6 meters away at (30.8, -35.0). A cyclist with ID 23 is 52.4 meters away at (36.5, -37.5).

The vehicle with ID 13 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 12 is traveling at a (x, y) velocity of [-11.35842    6.033302] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 [-0.47355407 -0.7353049 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.06604191 0.07630952] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [0.30562773 0.2562821 ] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [ 1.9750493  -0.50689477] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 1.0) m/s. Its current heading (yaw) is 2.90

The most relevant actors are: A vehicle with ID 13 is 20.8 meters away at (8.5, -19.0). A vehicle with ID 15 is 23.3 meters away at (7.9, -21.9). A vehicle with ID 17 is 32.4 meters away at (21.4, -24.3). A unknown object with ID 16 is 40.2 meters away at (6.0, 39.8). A pedestrian with ID 20 is 40.7 meters away at (-2.9, -40.6). A vehicle with ID 12 is 41.2 meters away at (-10.5, 39.9). A unknown object with ID 4 is 48.2 meters away at (45.8, 15.0). A unknown object with ID 8 is 49.2 meters away at (47.2, 13.8). A cyclist with ID 3 is 49.8 meters away at (38.0, -32.2). A pedestrian with ID 22 is 49.8 meters away at (38.0, -32.3).

The vehicle with ID 13 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 17 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 20 is traveling at a (x, y) velocity of [-0.49081695 -0.6270685 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-10.555546    5.1212673] 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [0.02187889 0.05034202] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.03352343  0.05921739] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.0) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A vehicle with ID 13 is 29.0 meters away at (16.9, -23.5). A vehicle with ID 15 is 31.1 meters away at (16.3, -26.4). A unknown object with ID 16 is 38.3 meters away at (15.1, 35.2). A vehicle with ID 17 is 41.5 meters away at (29.9, -28.9). A pedestrian with ID 20 is 46.6 meters away at (3.7, -46.4). A vehicle with ID 12 is 48.5 meters away at (-20.8, 43.8). A unknown object with ID 4 is 55.6 meters away at (54.6, 10.2). A pedestrian with ID 1 is 57.6 meters away at (-54.3, 19.4). A pedestrian with ID 22 is 59.8 meters away at (46.7, -37.3). A cyclist with ID 3 is 59.8 meters away at (46.8, -37.2).

The vehicle with ID 13 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 unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.97341996 -0.41861323] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-8.334907   3.6305692] m/s.The unknown object with ID 4 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 [ 1.2177848  -0.49560654] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.66978776 -0.40972057] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [ 0.9228118  -0.08610067] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -6.4) m/s. Its current heading (yaw) is -2.07

The most relevant actors are: A vehicle with ID 55 is 13.2 meters away at (-10.2, -8.4). A pedestrian with ID 96 is 14.3 meters away at (13.5, 4.8). A pedestrian with ID 105 is 16.0 meters away at (-11.1, -11.5). A vehicle with ID 54 is 18.3 meters away at (-12.5, -13.4). A pedestrian with ID 92 is 18.5 meters away at (-0.3, 18.5). A pedestrian with ID 93 is 19.1 meters away at (0.3, 19.1). A pedestrian with ID 94 is 20.5 meters away at (-0.3, 20.5). A pedestrian with ID 95 is 21.7 meters away at (0.1, 21.7). A vehicle with ID 48 is 24.2 meters away at (7.8, 22.9). A pedestrian with ID 112 is 24.5 meters away at (-20.6, -13.3).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-1.0025318 -0.94108  ] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [ 0.04005289 -0.04392887] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.97086436  0.73132545] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.92564535  0.7669691 ] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-1.0250338  0.7479835] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.0421957  0.5869393] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 1.3833648 -2.9270792] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [-0.10143179  0.00532941] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -7.2) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A pedestrian with ID 105 is 3.9 meters away at (-3.4, 1.8). A vehicle with ID 54 is 5.0 meters away at (-5.0, -0.3). A vehicle with ID 55 is 5.4 meters away at (-2.6, 4.7). A pedestrian with ID 112 is 13.8 meters away at (-13.7, 0.4). A pedestrian with ID 90 is 18.8 meters away at (1.3, -18.8). A pedestrian with ID 91 is 19.0 meters away at (0.0, -19.0). A pedestrian with ID 18 is 24.0 meters away at (-18.2, -15.7). A pedestrian with ID 96 is 25.1 meters away at (18.8, 16.7). A vehicle with ID 10 is 27.9 meters away at (-19.4, -20.1). A pedestrian with ID 34 is 28.9 meters away at (-21.7, -19.0).

The pedestrian with ID 105 is traveling at a (x, y) velocity of [ 0.12852103 -0.16032605] m/s.The vehicle with ID 54 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 pedestrian with ID 112 is traveling at a (x, y) velocity of [-0.19366646  0.02754194] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.04797782 0.01659009] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.10491677  0.00568112] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.02131049 -0.03221917] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-1.278122  -0.7050985] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.7716813 1.1936749] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -5.9) m/s. Its current heading (yaw) is -2.14

The most relevant actors are: A pedestrian with ID 91 is 10.0 meters away at (7.3, -6.9). A pedestrian with ID 90 is 10.8 meters away at (8.1, -7.1). A pedestrian with ID 18 is 10.9 meters away at (-10.4, -3.2). A vehicle with ID 54 is 12.4 meters away at (2.8, 12.1). A pedestrian with ID 34 is 12.9 meters away at (-12.2, -4.0). A pedestrian with ID 78 is 13.6 meters away at (-13.1, -3.5). A vehicle with ID 10 is 13.9 meters away at (-11.6, -7.7). A pedestrian with ID 112 is 14.0 meters away at (-5.8, 12.8). A pedestrian with ID 30 is 14.4 meters away at (-13.5, -4.9). A pedestrian with ID 105 is 14.7 meters away at (4.3, 14.1).

The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.2899977 -0.6010121] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-0.3625944  -0.70189124] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00802155 -0.0168185 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.81042105 1.324509  ] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [0.92035264 1.3688959 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [ 0.00246941 -0.10986722] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.8233715 1.3124099] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [ 0.02264694 -0.02196054] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -5.9) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A vehicle with ID 10 is 5.5 meters away at (-3.9, 4.0). A pedestrian with ID 18 is 8.2 meters away at (-1.9, 7.9). A pedestrian with ID 34 is 9.8 meters away at (-2.2, 9.6). A pedestrian with ID 30 is 10.5 meters away at (-4.2, 9.6). A pedestrian with ID 78 is 10.5 meters away at (-2.9, 10.1). A pedestrian with ID 64 is 11.1 meters away at (-4.8, 10.0). A pedestrian with ID 52 is 11.7 meters away at (-11.7, -0.9). A pedestrian with ID 91 is 15.0 meters away at (14.5, 3.7). A pedestrian with ID 90 is 15.6 meters away at (15.3, 2.9). A pedestrian with ID 112 is 24.5 meters away at (2.1, 24.4).

The vehicle with ID 10 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 [ 0.03208391 -0.58513874] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [1.3252544  0.39967397] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [1.0054247  0.96947914] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [1.2698245  0.59521884] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [1.0239035 1.1127945] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.86576605 -1.2729207 ] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.19357818 -0.672349  ] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-0.27271834 -0.94371635] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [ 0.01418655 -0.01570139] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 2.0) m/s. Its current heading (yaw) is 2.38

The most relevant actors are: A vehicle with ID 70 is 3.3 meters away at (3.0, 1.4). A vehicle with ID 71 is 6.8 meters away at (-1.9, -6.6). A vehicle with ID 66 is 7.6 meters away at (7.2, -2.5). A pedestrian with ID 76 is 9.2 meters away at (-8.2, -4.2). A vehicle with ID 69 is 11.7 meters away at (3.0, -11.3). A vehicle with ID 67 is 13.4 meters away at (11.8, -6.4). A vehicle with ID 72 is 16.5 meters away at (7.1, -14.9). A vehicle with ID 75 is 21.8 meters away at (11.3, -18.7). A vehicle with ID 74 is 23.1 meters away at (-5.2, 22.5). A vehicle with ID 88 is 24.8 meters away at (-24.8, 0.7).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.00728887  0.00148157] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.4) m/s. Its current heading (yaw) is 2.32

The most relevant actors are: A vehicle with ID 70 is 5.6 meters away at (5.5, -1.0). A pedestrian with ID 76 is 8.7 meters away at (-5.7, -6.6). A vehicle with ID 71 is 9.0 meters away at (0.6, -9.0). A vehicle with ID 66 is 10.9 meters away at (9.7, -4.9). A vehicle with ID 69 is 14.8 meters away at (5.6, -13.7). A vehicle with ID 67 is 16.8 meters away at (14.3, -8.9). A vehicle with ID 72 is 19.9 meters away at (9.7, -17.4). A vehicle with ID 74 is 20.2 meters away at (-2.7, 20.0). A unknown object with ID 81 is 21.6 meters away at (-11.1, 18.5). A vehicle with ID 88 is 22.3 meters away at (-22.3, -1.7).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.00479342 0.00866525] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.3) m/s. Its current heading (yaw) is 2.32

The most relevant actors are: A vehicle with ID 70 is 6.0 meters away at (5.8, -1.3). A pedestrian with ID 76 is 8.7 meters away at (-5.4, -6.9). A vehicle with ID 71 is 9.4 meters away at (0.9, -9.3). A vehicle with ID 66 is 11.4 meters away at (10.1, -5.3). A vehicle with ID 69 is 15.2 meters away at (5.9, -14.0). A vehicle with ID 67 is 17.3 meters away at (14.7, -9.2). A vehicle with ID 74 is 19.8 meters away at (-2.4, 19.7). A vehicle with ID 72 is 20.3 meters away at (10.0, -17.6). A unknown object with ID 81 is 21.1 meters away at (-10.8, 18.2). A vehicle with ID 88 is 22.0 meters away at (-21.9, -2.1).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [ 0.05921455 -0.05786099] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 3.9) m/s. Its current heading (yaw) is 1.88

The most relevant actors are: A vehicle with ID 70 is 10.4 meters away at (8.8, -5.6). A pedestrian with ID 76 is 11.5 meters away at (-2.3, -11.2). A vehicle with ID 71 is 14.2 meters away at (3.9, -13.7). A vehicle with ID 74 is 15.3 meters away at (0.4, 15.3). A unknown object with ID 81 is 15.9 meters away at (-7.9, 13.8). A vehicle with ID 66 is 16.3 meters away at (13.2, -9.6). A vehicle with ID 88 is 20.1 meters away at (-18.9, -6.6). A vehicle with ID 15 is 20.3 meters away at (4.1, 19.9). A vehicle with ID 69 is 20.4 meters away at (8.9, -18.3). A vehicle with ID 67 is 22.2 meters away at (17.6, -13.4).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [ 0.00674009 -0.01416975] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 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 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -0.5) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 71 is 4.8 meters away at (4.4, 1.9). A vehicle with ID 66 is 6.2 meters away at (0.7, 6.2). A vehicle with ID 68 is 9.1 meters away at (-4.4, 8.0). A vehicle with ID 75 is 13.6 meters away at (-13.5, 1.5). A vehicle with ID 69 is 13.7 meters away at (-1.7, -13.6). A vehicle with ID 76 is 14.9 meters away at (-10.8, 10.3). A vehicle with ID 72 is 16.4 meters away at (4.3, -15.8). A vehicle with ID 9 is 19.0 meters away at (18.1, -5.9). A vehicle with ID 77 is 21.5 meters away at (15.1, 15.3). A vehicle with ID 70 is 21.7 meters away at (-21.2, 4.4).

The vehicle with ID 71 is traveling at a (x, y) velocity of [-6.1723995  2.0599346] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 4.766483  -1.4421339] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -0.7) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 66 is 7.8 meters away at (-2.7, 7.3). A vehicle with ID 68 is 12.0 meters away at (-7.8, 9.1). A vehicle with ID 69 is 13.4 meters away at (-5.1, -12.4). A vehicle with ID 72 is 14.7 meters away at (0.9, -14.7). A vehicle with ID 71 is 15.1 meters away at (-12.9, 7.8). A vehicle with ID 75 is 17.1 meters away at (-16.9, 2.7). A vehicle with ID 76 is 18.3 meters away at (-14.2, 11.5). A vehicle with ID 77 is 20.2 meters away at (11.7, 16.5). A vehicle with ID 79 is 23.9 meters away at (15.3, -18.4). A vehicle with ID 70 is 25.3 meters away at (-24.6, 5.6).

The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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 71 is traveling at a (x, y) velocity of [-7.611071   2.5820303] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.