The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 1.3) m/s. Its current heading (yaw) is 2.72

The most relevant actors are: A pedestrian with ID 36 is 6.5 meters away at (-2.3, -6.1). A vehicle with ID 54 is 13.9 meters away at (-12.9, 5.2). A vehicle with ID 55 is 17.9 meters away at (-15.0, 9.9). A cyclist with ID 49 is 22.3 meters away at (-20.0, 9.8). A vehicle with ID 56 is 27.1 meters away at (26.8, 3.7). A vehicle with ID 28 is 27.2 meters away at (-26.8, 4.4). A pedestrian with ID 45 is 32.0 meters away at (22.8, 22.5). A pedestrian with ID 60 is 37.1 meters away at (-21.3, 30.4). A vehicle with ID 69 is 38.2 meters away at (-29.4, 24.5). A pedestrian with ID 66 is 39.4 meters away at (-25.2, 30.4).

The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.1861763  0.18301123] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-4.603581   1.9398502] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-3.565953   1.4578066] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-11.588041    4.4519243] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ 8.613317  -4.0394573] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-4.90663   -2.9975183] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.2689704  -0.00423782] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.9776767  0.5876833] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 6.224457  -2.6136804] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.449541    0.85612357] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 1.9) m/s. Its current heading (yaw) is 2.73

The most relevant actors are: A pedestrian with ID 36 is 11.0 meters away at (7.2, -8.4). A vehicle with ID 69 is 17.0 meters away at (-7.5, 15.3). A vehicle with ID 54 is 20.2 meters away at (-18.7, 7.6). A vehicle with ID 55 is 20.3 meters away at (-17.3, 10.7). A cyclist with ID 32 is 22.3 meters away at (-12.7, 18.3). A vehicle with ID 70 is 28.7 meters away at (-17.0, 23.1). A vehicle with ID 28 is 29.6 meters away at (-28.2, -8.9). A pedestrian with ID 60 is 32.6 meters away at (-15.9, 28.5). A vehicle with ID 37 is 34.6 meters away at (33.0, -10.3). A pedestrian with ID 66 is 35.6 meters away at (-20.7, 28.9).

The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.1114885  0.39675358] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 8.273239  -3.4024065] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-8.152836   3.6501558] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-5.963759  2.570017] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [ 8.0224085 -3.0303278] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [ 5.3691444 -2.140763 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-3.6378057 -6.5382795] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.0404179  0.6613679] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-16.73845    6.957404] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.3728997   0.80278146] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 0.8) m/s. Its current heading (yaw) is 2.97

The most relevant actors are: A vehicle with ID 37 is 10.4 meters away at (10.4, -0.1). A vehicle with ID 70 is 15.6 meters away at (3.5, 15.2). A cyclist with ID 32 is 17.8 meters away at (15.8, 8.2). A vehicle with ID 69 is 20.3 meters away at (19.8, 4.5). A pedestrian with ID 36 is 20.9 meters away at (17.9, -10.9). A vehicle with ID 55 is 26.1 meters away at (-22.1, 13.8). A cyclist with ID 38 is 26.2 meters away at (18.8, 18.2). A pedestrian with ID 26 is 26.2 meters away at (19.1, 18.0). A pedestrian with ID 59 is 27.5 meters away at (-26.1, 8.7). A vehicle with ID 4 is 27.6 meters away at (-21.0, 17.9).

The vehicle with ID 37 is traveling at a (x, y) velocity of [-14.635084    6.2390313] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [ 6.467444  -2.7716112] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [10.976684 -4.090808] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [10.048713 -4.313305] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.86097074 0.29459658] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-7.6454577  3.450769 ] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [-3.175001   1.9458579] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-2.9313948  1.7523719] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.02719328 0.08501536] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 6.2) m/s. Its current heading (yaw) is 1.76

The most relevant actors are: A pedestrian with ID 29 is 6.1 meters away at (4.3, 4.4). A vehicle with ID 21 is 8.3 meters away at (8.2, 0.7). A vehicle with ID 22 is 8.5 meters away at (8.3, -1.8). A vehicle with ID 20 is 9.1 meters away at (-5.8, 7.0). A unknown object with ID 34 is 10.8 meters away at (-4.3, 9.9). A unknown object with ID 35 is 11.4 meters away at (-4.5, 10.5). A unknown object with ID 37 is 11.9 meters away at (-4.6, 10.9). A pedestrian with ID 25 is 14.5 meters away at (12.5, -7.4). A pedestrian with ID 26 is 17.8 meters away at (13.4, -11.7). A vehicle with ID 27 is 19.7 meters away at (15.5, -12.2).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.14515667 -1.0786338 ] 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 20 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.30656922 -0.33223465] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.0908163 -1.2398372] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 5.7) m/s. Its current heading (yaw) is 1.80

The most relevant actors are: A unknown object with ID 37 is 2.3 meters away at (-2.2, -0.6). A unknown object with ID 35 is 2.3 meters away at (-2.0, -1.2). A unknown object with ID 34 is 2.5 meters away at (-1.7, -1.8). A vehicle with ID 20 is 5.8 meters away at (-3.3, -4.8). A unknown object with ID 16 is 10.5 meters away at (-8.5, 6.1). A pedestrian with ID 29 is 12.0 meters away at (7.2, -9.6). A unknown object with ID 24 is 14.7 meters away at (13.7, 5.3). A unknown object with ID 23 is 15.4 meters away at (13.5, 7.4). A vehicle with ID 21 is 15.4 meters away at (10.7, -11.0). A vehicle with ID 22 is 17.4 meters away at (10.8, -13.7).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.11352061 -1.1021662 ] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 5.3) m/s. Its current heading (yaw) is 1.80

The most relevant actors are: A unknown object with ID 16 is 7.7 meters away at (-6.0, -4.8). A unknown object with ID 37 is 11.6 meters away at (0.4, -11.6). A unknown object with ID 14 is 12.1 meters away at (0.6, -12.1). A unknown object with ID 35 is 12.4 meters away at (0.7, -12.4). A unknown object with ID 34 is 12.8 meters away at (0.8, -12.8). A vehicle with ID 20 is 15.8 meters away at (-0.7, -15.8). A unknown object with ID 23 is 16.4 meters away at (16.0, -3.6). A unknown object with ID 24 is 17.3 meters away at (16.3, -5.8). A unknown object with ID 7 is 20.3 meters away at (20.1, -3.0). A pedestrian with ID 29 is 25.1 meters away at (10.2, -22.9).

The unknown object with ID 16 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.29303885 -1.0536866 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-5.979263  -4.8281536], 7.68522310256958 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 5.5) m/s. Its current heading (yaw) is 1.82

The most relevant actors are: A unknown object with ID 16 is 16.0 meters away at (-3.3, -15.7). A unknown object with ID 37 is 22.7 meters away at (3.1, -22.5). A unknown object with ID 14 is 23.2 meters away at (3.4, -23.0). A unknown object with ID 35 is 23.6 meters away at (3.5, -23.3). A unknown object with ID 23 is 23.7 meters away at (18.7, -14.5). A unknown object with ID 34 is 23.9 meters away at (3.6, -23.7). A unknown object with ID 24 is 25.3 meters away at (19.0, -16.7). A vehicle with ID 20 is 26.6 meters away at (2.0, -26.6). A unknown object with ID 7 is 26.7 meters away at (22.8, -13.9). A vehicle with ID 21 is 36.6 meters away at (16.0, -32.9).

The unknown object with ID 16 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ -3.2559175 -15.684099 ], 16.01848793029785 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.97

The most relevant actors are: A pedestrian with ID 6 is 7.0 meters away at (2.5, -6.5). A pedestrian with ID 7 is 7.5 meters away at (2.2, -7.2). A pedestrian with ID 5 is 12.0 meters away at (8.5, 8.5). A unknown object with ID 10 is 15.6 meters away at (-14.8, 4.9). A unknown object with ID 11 is 15.8 meters away at (-14.1, 7.0). A unknown object with ID 12 is 16.2 meters away at (-15.9, 3.4). A unknown object with ID 13 is 16.3 meters away at (-16.2, 1.9). A pedestrian with ID 16 is 16.5 meters away at (-11.1, 12.1). A unknown object with ID 15 is 17.2 meters away at (-14.6, 9.2). A unknown object with ID 18 is 18.3 meters away at (-16.6, 7.6).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.1085904  -0.07314872] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.0983821  -0.10128146] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.34622175 -0.74698836] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.089646   -0.02347579] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.97

The most relevant actors are: A pedestrian with ID 6 is 8.2 meters away at (4.8, -6.6). A pedestrian with ID 7 is 8.4 meters away at (4.4, -7.2). A unknown object with ID 10 is 15.6 meters away at (-14.8, 4.9). A unknown object with ID 11 is 15.8 meters away at (-14.1, 7.0). A unknown object with ID 12 is 16.2 meters away at (-15.8, 3.4). A unknown object with ID 13 is 16.3 meters away at (-16.2, 1.9). A pedestrian with ID 16 is 16.5 meters away at (-9.6, 13.4). A unknown object with ID 15 is 17.2 meters away at (-14.6, 9.2). A unknown object with ID 18 is 18.3 meters away at (-16.6, 7.6). A unknown object with ID 19 is 18.4 meters away at (-16.2, 8.7).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.1394686 -0.1321958] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.1766391  -0.10198747] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.4725872  0.91347027] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.97

The most relevant actors are: A pedestrian with ID 6 is 10.0 meters away at (7.3, -6.8). A pedestrian with ID 7 is 10.0 meters away at (6.8, -7.4). A unknown object with ID 10 is 15.6 meters away at (-14.8, 4.9). A unknown object with ID 11 is 15.7 meters away at (-14.1, 7.0). A unknown object with ID 12 is 16.2 meters away at (-15.8, 3.4). A unknown object with ID 13 is 16.3 meters away at (-16.1, 1.9). A unknown object with ID 15 is 17.2 meters away at (-14.6, 9.2). A pedestrian with ID 16 is 17.7 meters away at (-9.5, 15.0). A unknown object with ID 18 is 18.3 meters away at (-16.6, 7.7). A unknown object with ID 19 is 18.4 meters away at (-16.2, 8.7).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.2160482  -0.11891173] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.2243001  -0.11136041] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01700485  0.27332842] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.97

The most relevant actors are: A pedestrian with ID 7 is 12.1 meters away at (9.0, -8.0). A pedestrian with ID 6 is 12.1 meters away at (9.6, -7.4). A unknown object with ID 10 is 15.6 meters away at (-14.8, 4.9). A unknown object with ID 11 is 15.7 meters away at (-14.1, 7.0). A unknown object with ID 12 is 16.2 meters away at (-15.9, 3.4). A unknown object with ID 13 is 16.3 meters away at (-16.1, 2.0). A unknown object with ID 15 is 17.2 meters away at (-14.6, 9.2). A pedestrian with ID 16 is 17.6 meters away at (-9.5, 14.9). A unknown object with ID 18 is 18.3 meters away at (-16.6, 7.7). A unknown object with ID 19 is 18.4 meters away at (-16.2, 8.7).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.0594716  -0.47792208] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.0243661  -0.46417326] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.1586155 -0.6199723] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [ 9.043233 -8.041167], 12.10125732421875 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 3.9) m/s. Its current heading (yaw) is 2.71

The most relevant actors are: A pedestrian with ID 62 is 22.8 meters away at (18.1, 13.9). A vehicle with ID 15 is 23.6 meters away at (21.6, -9.3). A vehicle with ID 18 is 28.9 meters away at (25.1, -14.3). A cyclist with ID 64 is 30.2 meters away at (24.8, 17.4). A pedestrian with ID 63 is 32.1 meters away at (29.8, 12.1). A pedestrian with ID 65 is 51.8 meters away at (42.6, -29.5). A vehicle with ID 61 is 55.8 meters away at (49.9, -25.0). A pedestrian with ID 1 is 65.7 meters away at (-62.3, 20.8). A unknown object with ID 69 is 67.9 meters away at (59.0, -33.6). A unknown object with ID 71 is 69.2 meters away at (60.2, -34.1).

The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 1.1048509  -0.20410942] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-9.302727  4.087905] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-11.005311    4.7544603] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.8298092 1.492462 ] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.6148392 0.0379907] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.1797134  -0.40385666] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-11.434203    4.6418357] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.03532604 -0.00666054] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 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 (-7.2, 3.4) m/s. Its current heading (yaw) is 2.70

The most relevant actors are: A vehicle with ID 15 is 22.0 meters away at (20.0, -9.0). A vehicle with ID 18 is 22.9 meters away at (19.3, -12.2). A vehicle with ID 45 is 31.5 meters away at (-13.2, -28.6). A pedestrian with ID 62 is 37.2 meters away at (36.9, 5.3). A unknown object with ID 42 is 42.7 meters away at (41.5, 10.2). A vehicle with ID 41 is 46.0 meters away at (-11.1, -44.6). A pedestrian with ID 63 is 46.8 meters away at (46.5, 4.7). A pedestrian with ID 1 is 48.4 meters away at (-46.5, 13.5). A pedestrian with ID 33 is 48.5 meters away at (48.5, 0.6). A vehicle with ID 61 is 48.9 meters away at (43.1, -23.1).

The vehicle with ID 15 is traveling at a (x, y) velocity of [-8.29053    3.6306534] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-10.488952    4.7207427] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 1.2317427  -0.69236636] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.27960834 0.14164996] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.03517376 -0.00053037] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.2039697  0.5449818] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-11.526206   4.564464] 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, 2.9) m/s. Its current heading (yaw) is 2.68

The most relevant actors are: A vehicle with ID 18 is 15.5 meters away at (12.3, -9.4). A vehicle with ID 15 is 20.4 meters away at (18.4, -8.9). A pedestrian with ID 1 is 34.1 meters away at (-33.4, 7.2). A vehicle with ID 45 is 35.0 meters away at (-0.0, -35.0). A vehicle with ID 61 is 39.1 meters away at (33.0, -20.9). A vehicle with ID 37 is 40.1 meters away at (-39.7, 5.5). A pedestrian with ID 4 is 44.7 meters away at (-28.4, 34.5). A vehicle with ID 41 is 50.7 meters away at (2.0, -50.7). A vehicle with ID 8 is 51.1 meters away at (-49.8, 11.3). A vehicle with ID 7 is 51.2 meters away at (-47.7, 18.6).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-9.47574    4.3572545] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.510376   2.8177702] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00575844 0.00453382] m/s.The vehicle with ID 45 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 [-11.630169    4.0857816] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -2.945678 -13.71245 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00355668  0.00077738] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 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 (-4.4, 2.4) m/s. Its current heading (yaw) is 2.64

The most relevant actors are: A vehicle with ID 18 is 8.3 meters away at (5.3, -6.3). A vehicle with ID 15 is 19.4 meters away at (16.9, -9.4). A pedestrian with ID 1 is 23.1 meters away at (-23.0, 1.9). A vehicle with ID 61 is 27.4 meters away at (20.3, -18.5). A vehicle with ID 53 is 30.5 meters away at (-28.0, 12.3). A pedestrian with ID 4 is 34.3 meters away at (-18.1, 29.2). A pedestrian with ID 32 is 34.6 meters away at (-7.9, 33.7). A vehicle with ID 7 is 39.7 meters away at (-37.5, 13.3). A vehicle with ID 43 is 39.8 meters away at (-37.5, 13.4). A vehicle with ID 8 is 39.9 meters away at (-39.5, 6.0).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-7.729875  4.042544] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.7336454  2.248066 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00328553 0.01575805] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-11.001494   3.815498] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ -3.6685228 -15.086521 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.0356505   0.00315999] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.04490162 -0.06431192] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (0.4, 0.4) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 26 is 13.1 meters away at (11.5, 6.2). A pedestrian with ID 34 is 13.3 meters away at (6.3, 11.7). A pedestrian with ID 33 is 14.3 meters away at (6.9, 12.5). A pedestrian with ID 32 is 15.2 meters away at (7.9, 13.0). A vehicle with ID 40 is 16.0 meters away at (-7.4, -14.2). A vehicle with ID 47 is 22.7 meters away at (-12.1, -19.2). A vehicle with ID 23 is 24.0 meters away at (19.0, 14.6). A vehicle with ID 51 is 28.6 meters away at (-16.3, -23.5). A vehicle with ID 24 is 30.3 meters away at (23.3, 19.4). A vehicle with ID 31 is 30.6 meters away at (10.3, 28.9).

The vehicle with ID 26 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 [ 0.47230947 -1.2897558 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.59406495 -1.0620635 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.65212697 -1.0928943 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A pedestrian with ID 34 is 11.1 meters away at (6.9, 8.7). A pedestrian with ID 33 is 12.4 meters away at (7.5, 9.9). A vehicle with ID 26 is 12.7 meters away at (11.2, 5.9). A pedestrian with ID 32 is 13.3 meters away at (8.4, 10.4). A vehicle with ID 40 is 16.3 meters away at (-7.6, -14.5). A vehicle with ID 47 is 23.1 meters away at (-12.4, -19.5). A vehicle with ID 23 is 23.6 meters away at (18.8, 14.3). A vehicle with ID 51 is 28.9 meters away at (-16.5, -23.7). A pedestrian with ID 35 is 29.3 meters away at (1.7, 29.3). A vehicle with ID 24 is 29.9 meters away at (23.1, 19.1).

The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.34225392 -1.3593155 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.22249533 -1.2555794 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.34352732 -1.1948712 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2835867 -0.5743955] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A pedestrian with ID 34 is 9.5 meters away at (7.4, 6.0). A pedestrian with ID 33 is 10.6 meters away at (7.7, 7.3). A pedestrian with ID 32 is 11.6 meters away at (8.7, 7.8). A vehicle with ID 26 is 12.7 meters away at (11.2, 5.9). A vehicle with ID 40 is 16.4 meters away at (-7.6, -14.5). A vehicle with ID 47 is 23.1 meters away at (-12.4, -19.5). A vehicle with ID 23 is 23.5 meters away at (18.7, 14.3). A vehicle with ID 51 is 29.0 meters away at (-16.6, -23.8). A pedestrian with ID 35 is 29.7 meters away at (4.2, 29.4). A vehicle with ID 24 is 29.9 meters away at (23.0, 19.1).

The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.27518415 -1.4038801 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.19631326 -1.2637323 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.20637016 -1.2496274 ] m/s.The vehicle with ID 26 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [1.1309578  0.53935593] 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 pedestrian at [7.3787003 6.018696 ], 9.522075653076172 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.3) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A pedestrian with ID 34 is 7.9 meters away at (7.5, 2.5). A pedestrian with ID 33 is 8.5 meters away at (7.7, 3.6). A pedestrian with ID 32 is 9.3 meters away at (8.2, 4.3). A vehicle with ID 26 is 11.6 meters away at (10.4, 5.0). A vehicle with ID 40 is 17.5 meters away at (-8.4, -15.4). A vehicle with ID 23 is 22.4 meters away at (17.9, 13.4). A vehicle with ID 47 is 24.3 meters away at (-13.2, -20.4). A vehicle with ID 24 is 28.7 meters away at (22.2, 18.1). A vehicle with ID 31 is 29.2 meters away at (9.2, 27.7). A vehicle with ID 51 is 30.2 meters away at (-17.4, -24.7).

The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.60208464 -1.2660872 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.45134434 -1.2330525 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.26631016 -1.2759385 ] m/s.The vehicle with ID 26 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [7.5328226 2.497207 ], 7.935959815979004 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -0.2) m/s. Its current heading (yaw) is -0.11

The most relevant actors are: A vehicle with ID 18 is 44.5 meters away at (40.3, -18.9). A pedestrian with ID 21 is 44.5 meters away at (39.8, -19.9). A pedestrian with ID 22 is 49.3 meters away at (41.5, -26.7). A vehicle with ID 25 is 70.0 meters away at (-49.1, -49.9). A vehicle with ID 19 is 76.4 meters away at (75.9, 8.9).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.03326789 -0.0002204 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.54026496  0.20452803] m/s.The vehicle with ID 25 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: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 0.4) m/s. Its current heading (yaw) is 0.11

The most relevant actors are: A pedestrian with ID 10 is 33.2 meters away at (30.4, 13.2). A vehicle with ID 18 is 39.3 meters away at (34.5, -18.8). A pedestrian with ID 21 is 39.4 meters away at (34.0, -19.9). A vehicle with ID 19 is 70.9 meters away at (70.4, 8.6). A vehicle with ID 12 is 74.0 meters away at (73.6, 7.2).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.04775257 -0.04481588] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.02715602 -0.01475934] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 2.5) m/s. Its current heading (yaw) is 0.65

The most relevant actors are: A pedestrian with ID 3 is 25.2 meters away at (22.7, 11.0). A pedestrian with ID 10 is 25.5 meters away at (23.3, 10.4). A vehicle with ID 18 is 34.6 meters away at (27.1, -21.6). A pedestrian with ID 21 is 35.1 meters away at (26.6, -22.8). A vehicle with ID 19 is 63.5 meters away at (63.3, 5.6). A vehicle with ID 12 is 66.8 meters away at (66.6, 4.5).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.00287859 0.00233602] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.13979693 -0.09779774] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.08110619 -0.03638331] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 3.9) m/s. Its current heading (yaw) is 1.08

The most relevant actors are: A pedestrian with ID 3 is 18.1 meters away at (17.5, 4.8). A vehicle with ID 18 is 35.4 meters away at (22.0, -27.8). A vehicle with ID 19 is 58.0 meters away at (58.0, -0.6).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.05855671 -0.02590635] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 4.1) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 62 is 27.6 meters away at (-19.2, 19.8). A unknown object with ID 58 is 33.6 meters away at (33.3, -4.6). A unknown object with ID 59 is 34.1 meters away at (34.0, -3.4). A vehicle with ID 61 is 53.5 meters away at (46.4, -26.5).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 5.7848053 -3.4594116] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.7) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A vehicle with ID 62 is 12.5 meters away at (-5.8, 11.1).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.8) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A vehicle with ID 62 is 8.5 meters away at (8.4, 1.5). A unknown object with ID 35 is 58.8 meters away at (-51.5, 28.4). A unknown object with ID 51 is 60.7 meters away at (-52.6, 30.4). A pedestrian with ID 55 is 62.4 meters away at (-54.3, 30.9). A unknown object with ID 22 is 63.7 meters away at (-47.4, 42.6). A vehicle with ID 20 is 65.6 meters away at (-57.1, 32.3). A unknown object with ID 21 is 65.6 meters away at (-49.3, 43.3). A unknown object with ID 46 is 67.3 meters away at (-59.8, 30.8). A unknown object with ID 18 is 67.6 meters away at (-51.2, 44.1). A unknown object with ID 49 is 69.3 meters away at (-61.4, 32.0).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.01998061  0.0392254 ] 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 [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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.9) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A unknown object with ID 47 is 22.7 meters away at (-21.5, 7.2). A vehicle with ID 62 is 24.4 meters away at (23.0, -8.2). A unknown object with ID 35 is 41.3 meters away at (-36.8, 18.7). A unknown object with ID 51 is 43.3 meters away at (-38.0, 20.7). A pedestrian with ID 24 is 43.3 meters away at (-29.8, 31.5). A unknown object with ID 57 is 43.5 meters away at (-29.9, 31.5). A unknown object with ID 40 is 45.0 meters away at (-31.2, 32.4). A pedestrian with ID 55 is 45.0 meters away at (-39.7, 21.1). A unknown object with ID 22 is 46.4 meters away at (-32.8, 32.9). A vehicle with ID 20 is 47.6 meters away at (-42.0, 22.3).

The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.00082285 0.0011497 ] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.01988162  0.02370578] 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 [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-21.542992    7.2041283], 22.71563148498535 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 2.4) m/s. Its current heading (yaw) is 2.77

The most relevant actors are: A vehicle with ID 64 is 8.3 meters away at (-2.3, -7.9). A vehicle with ID 63 is 10.4 meters away at (-8.5, -6.0). A vehicle with ID 65 is 11.5 meters away at (4.3, -10.6). A vehicle with ID 62 is 13.9 meters away at (-13.3, -4.2). A vehicle with ID 68 is 16.7 meters away at (9.7, -13.6). A pedestrian with ID 11 is 17.8 meters away at (-14.4, 10.5). A pedestrian with ID 12 is 18.1 meters away at (-14.2, 11.2). A vehicle with ID 69 is 21.7 meters away at (14.4, -16.1). A vehicle with ID 84 is 33.5 meters away at (-16.5, 29.2). A pedestrian with ID 80 is 34.3 meters away at (5.6, 33.8).

The vehicle with ID 64 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 62 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 pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.55598104  0.15778512] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.49207625  0.12255164] m/s.The vehicle with ID 69 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 pedestrian with ID 80 is traveling at a (x, y) velocity of [0.5240301  0.80618364] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 0.7) m/s. Its current heading (yaw) is 2.79

The most relevant actors are: A vehicle with ID 62 is 8.8 meters away at (-5.1, -7.2). A vehicle with ID 63 is 8.9 meters away at (-0.4, -8.9). A pedestrian with ID 11 is 10.8 meters away at (-7.4, 7.9). A pedestrian with ID 12 is 11.0 meters away at (-7.0, 8.6). A vehicle with ID 64 is 12.4 meters away at (5.8, -10.9). A unknown object with ID 39 is 14.2 meters away at (-5.2, 13.3). A vehicle with ID 65 is 18.5 meters away at (12.5, -13.6). A vehicle with ID 68 is 24.3 meters away at (17.9, -16.5). A vehicle with ID 92 is 25.1 meters away at (-23.8, 7.9). A vehicle with ID 84 is 27.5 meters away at (-8.3, 26.2).

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 pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.5199639   0.28504956] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.52662486  0.35547602] m/s.The vehicle with ID 64 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 65 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 92 is traveling at a (x, y) velocity of [5.2502875 2.8581889] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.86

The most relevant actors are: A vehicle with ID 62 is 8.5 meters away at (-3.9, -7.6). A vehicle with ID 63 is 9.4 meters away at (0.8, -9.4). A pedestrian with ID 11 is 10.7 meters away at (-7.3, 7.8). A pedestrian with ID 12 is 11.1 meters away at (-7.1, 8.5). A unknown object with ID 39 is 13.2 meters away at (-4.2, 12.6). A vehicle with ID 64 is 13.3 meters away at (7.0, -11.3). A unknown object with ID 32 is 16.2 meters away at (-3.8, 15.7). A vehicle with ID 92 is 18.1 meters away at (-11.5, 14.0). A vehicle with ID 65 is 19.6 meters away at (13.7, -14.0). A vehicle with ID 68 is 25.6 meters away at (19.2, -17.0).

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 pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.47601405  0.15686515] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.45765722  0.21761888] m/s.The unknown object with ID 39 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 unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [5.7903976 3.624327 ] m/s.The vehicle with ID 65 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.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 0.8) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A vehicle with ID 62 is 8.5 meters away at (-1.3, -8.4). A pedestrian with ID 11 is 9.5 meters away at (-6.0, 7.5). A pedestrian with ID 12 is 10.0 meters away at (-5.7, 8.2). A vehicle with ID 63 is 10.8 meters away at (3.4, -10.2). A unknown object with ID 39 is 12.0 meters away at (-1.2, 11.9). A unknown object with ID 41 is 13.3 meters away at (-1.0, 13.3). A unknown object with ID 32 is 14.9 meters away at (-1.2, 14.8). A vehicle with ID 64 is 15.5 meters away at (9.6, -12.1). A vehicle with ID 92 is 21.4 meters away at (1.4, 21.4). A vehicle with ID 65 is 22.1 meters away at (16.3, -14.9).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.70965505  0.34646824] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.71644515  0.3918938 ] m/s.The vehicle with ID 63 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 unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [4.712883  4.6048636] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, -0.1) m/s. Its current heading (yaw) is -0.01

The most relevant actors are: A vehicle with ID 117 is 11.0 meters away at (-2.1, 10.8). A vehicle with ID 86 is 11.5 meters away at (0.3, 11.5). A vehicle with ID 112 is 13.8 meters away at (-9.2, 10.3). A vehicle with ID 110 is 15.1 meters away at (-11.6, -9.6). A vehicle with ID 108 is 15.9 meters away at (-12.0, 10.5). A vehicle with ID 103 is 17.1 meters away at (-14.4, -9.3). A pedestrian with ID 98 is 17.5 meters away at (-16.8, -5.0). A vehicle with ID 107 is 18.5 meters away at (-14.9, 11.0). A vehicle with ID 102 is 20.6 meters away at (-17.5, 10.9). A vehicle with ID 99 is 22.0 meters away at (-19.7, -9.7).

The vehicle with ID 117 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 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [1.4120244 0.1088263] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.3, 0.0) m/s. Its current heading (yaw) is 0.00

The most relevant actors are: A unknown object with ID 91 is 16.9 meters away at (-13.7, -9.9). A pedestrian with ID 80 is 20.5 meters away at (-3.2, -20.2). A unknown object with ID 74 is 20.9 meters away at (11.3, -17.5). A vehicle with ID 86 is 23.0 meters away at (-19.9, 11.5). A vehicle with ID 117 is 24.9 meters away at (-22.3, 11.0). A vehicle with ID 96 is 26.3 meters away at (25.9, 4.3). A vehicle with ID 112 is 31.3 meters away at (-29.5, 10.3). A vehicle with ID 72 is 32.2 meters away at (-32.2, 0.7). A vehicle with ID 110 is 33.3 meters away at (-31.9, -9.5). A vehicle with ID 73 is 33.7 meters away at (27.0, -20.2).

The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 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 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [-9.633203e+00  3.290101e-03] m/s.The vehicle with ID 112 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 [10.685989   -0.14577714] m/s.The vehicle with ID 110 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: Sharp left turn approaching

(The closest actor is a unknown object at [-13.721661  -9.945354], 16.946800231933594 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.5, 0.0) m/s. Its current heading (yaw) is 0.00

The most relevant actors are: A vehicle with ID 96 is 14.4 meters away at (-13.7, 4.5). A vehicle with ID 77 is 17.5 meters away at (-1.1, -17.5). A vehicle with ID 84 is 19.7 meters away at (-5.5, -18.9). A vehicle with ID 73 is 21.2 meters away at (6.4, -20.2). A vehicle with ID 83 is 21.9 meters away at (2.0, -21.8). A vehicle with ID 71 is 24.6 meters away at (14.4, -19.9). A vehicle with ID 69 is 27.7 meters away at (19.9, -19.3). A vehicle with ID 58 is 31.3 meters away at (29.5, 10.4). A vehicle with ID 67 is 31.5 meters away at (23.4, -21.0). A vehicle with ID 72 is 32.2 meters away at (-32.2, 0.5).

The vehicle with ID 96 is traveling at a (x, y) velocity of [-9.199628    0.14282528] m/s.The vehicle with ID 77 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 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 58 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 [10.217503   -0.07282107] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.2, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A vehicle with ID 58 is 13.8 meters away at (8.9, 10.6). A vehicle with ID 53 is 16.5 meters away at (12.5, 10.7). A vehicle with ID 69 is 20.4 meters away at (-0.7, -20.4). A vehicle with ID 71 is 21.0 meters away at (-6.2, -20.0). A vehicle with ID 67 is 21.2 meters away at (2.7, -21.0). A vehicle with ID 48 is 21.7 meters away at (19.0, 10.4). A vehicle with ID 63 is 23.0 meters away at (6.4, -22.1). A vehicle with ID 46 is 24.2 meters away at (21.8, 10.5). A vehicle with ID 73 is 24.6 meters away at (-14.3, -20.1). A vehicle with ID 61 is 25.2 meters away at (9.9, -23.2).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [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 71 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 48 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -9.3) m/s. Its current heading (yaw) is -1.89

The most relevant actors are: A unknown object with ID 23 is 16.5 meters away at (0.4, -16.5). A unknown object with ID 20 is 18.3 meters away at (-0.2, -18.3). A unknown object with ID 13 is 20.1 meters away at (-0.8, -20.1). A unknown object with ID 39 is 21.0 meters away at (4.0, -20.6). A vehicle with ID 35 is 24.3 meters away at (-10.4, 22.0). A vehicle with ID 36 is 25.2 meters away at (-15.4, 19.9). A vehicle with ID 42 is 25.2 meters away at (-22.1, 12.2). A pedestrian with ID 44 is 25.3 meters away at (3.1, -25.1). A unknown object with ID 32 is 25.9 meters away at (-2.5, -25.8). A unknown object with ID 28 is 27.9 meters away at (-3.2, -27.7).

The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 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 35 is traveling at a (x, y) velocity of [3.875015 9.059625] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [2.7145443 6.2315984] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [2.811994  7.6186266] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.05683545 0.05866877] 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -9.1) m/s. Its current heading (yaw) is -1.85

The most relevant actors are: A unknown object with ID 13 is 5.4 meters away at (5.1, -1.7). A unknown object with ID 20 is 5.7 meters away at (5.7, 0.1). A unknown object with ID 24 is 5.8 meters away at (4.5, -3.6). A unknown object with ID 23 is 6.5 meters away at (6.2, 1.9). A unknown object with ID 10 is 6.7 meters away at (4.0, -5.4). A unknown object with ID 32 is 8.1 meters away at (3.4, -7.4). A unknown object with ID 28 is 9.7 meters away at (2.8, -9.3). A unknown object with ID 39 is 10.0 meters away at (9.8, -2.2). A pedestrian with ID 44 is 11.1 meters away at (9.1, -6.3). A unknown object with ID 29 is 11.5 meters away at (2.2, -11.3).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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 28 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 pedestrian with ID 44 is traveling at a (x, y) velocity of [0.03557479 0.03173024] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 5.1183677 -1.7375908], 5.405266761779785 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -8.5) m/s. Its current heading (yaw) is -1.81

The most relevant actors are: A unknown object with ID 12 is 7.2 meters away at (6.1, 4.0). A unknown object with ID 9 is 7.5 meters away at (6.3, -3.9). A unknown object with ID 17 is 8.9 meters away at (8.8, -1.4). A unknown object with ID 29 is 9.2 meters away at (6.9, 6.1). A unknown object with ID 28 is 11.0 meters away at (7.5, 8.1). A unknown object with ID 32 is 12.9 meters away at (8.1, 10.0). A unknown object with ID 10 is 14.7 meters away at (8.7, 11.9). A unknown object with ID 24 is 16.7 meters away at (9.3, 13.9). A unknown object with ID 13 is 18.5 meters away at (9.8, 15.7). A unknown object with ID 20 is 20.3 meters away at (10.4, 17.5).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [6.052706  3.9802094], 7.244122505187988 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -7.3) m/s. Its current heading (yaw) is -1.82

The most relevant actors are: A unknown object with ID 12 is 21.9 meters away at (10.1, 19.5). A unknown object with ID 29 is 24.0 meters away at (10.8, 21.5). A unknown object with ID 14 is 25.6 meters away at (12.2, 22.5). A vehicle with ID 7 is 40.2 meters away at (-16.1, 36.8). A pedestrian with ID 16 is 45.6 meters away at (19.8, 41.1). A vehicle with ID 1 is 53.9 meters away at (-17.1, -51.1). A vehicle with ID 2 is 58.0 meters away at (-15.4, -55.9).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 3.4322352 14.167403 ] m/s.The pedestrian with ID 16 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [10.115928 19.454391], 21.927274703979492 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 5.0) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A unknown object with ID 51 is 4.8 meters away at (-4.8, -0.9). A unknown object with ID 46 is 13.8 meters away at (5.5, 12.6). A pedestrian with ID 56 is 14.1 meters away at (5.6, 12.9). A unknown object with ID 50 is 15.9 meters away at (10.2, -12.1). A unknown object with ID 59 is 29.2 meters away at (-27.1, 11.0). A unknown object with ID 34 is 34.2 meters away at (-33.1, 8.6). A unknown object with ID 32 is 35.0 meters away at (-32.9, 12.1). A unknown object with ID 49 is 40.5 meters away at (29.8, -27.4). A vehicle with ID 21 is 41.4 meters away at (34.4, -23.0). A vehicle with ID 40 is 51.4 meters away at (-51.1, 5.9).

The unknown object with ID 51 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 pedestrian with ID 56 is traveling at a (x, y) velocity of [0.01918937 0.10229853] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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 32 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 vehicle with ID 21 is traveling at a (x, y) velocity of [-7.317728  4.896669] m/s.The vehicle with ID 40 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 [-4.766371   -0.86442375], 4.844121932983398 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 4.9) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A unknown object with ID 51 is 14.4 meters away at (9.7, -10.6). A unknown object with ID 44 is 14.6 meters away at (-14.5, 1.8). A unknown object with ID 39 is 14.8 meters away at (8.7, -12.0). A unknown object with ID 24 is 14.9 meters away at (9.4, -11.5). A unknown object with ID 25 is 16.4 meters away at (10.7, -12.5). A unknown object with ID 32 is 18.4 meters away at (-18.2, 2.3). A unknown object with ID 34 is 18.6 meters away at (-18.5, -1.2). A pedestrian with ID 56 is 20.5 meters away at (20.3, 3.2). A pedestrian with ID 27 is 32.6 meters away at (-8.6, 31.5). A unknown object with ID 50 is 33.1 meters away at (24.9, -21.8).

The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.00320426 0.04585704] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [  9.7407   -10.550664], 14.359587669372559 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 5.2) m/s. Its current heading (yaw) is 2.52

The most relevant actors are: A unknown object with ID 44 is 8.2 meters away at (0.1, -8.2). A unknown object with ID 32 is 8.5 meters away at (-3.5, -7.8). A unknown object with ID 34 is 11.8 meters away at (-3.8, -11.2). A pedestrian with ID 27 is 22.3 meters away at (6.3, 21.4). A vehicle with ID 40 is 25.8 meters away at (-21.7, -14.0). A unknown object with ID 16 is 30.7 meters away at (-26.4, 15.8). A unknown object with ID 51 is 32.0 meters away at (24.5, -20.6). A unknown object with ID 39 is 32.2 meters away at (23.4, -22.1). A unknown object with ID 15 is 34.4 meters away at (-29.0, 18.6). A vehicle with ID 21 is 41.1 meters away at (34.2, -22.8).

The unknown object with ID 44 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.04069293 -0.01848629] m/s.The vehicle with ID 40 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 51 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 unknown object with ID 15 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 [-7.3886886  4.906027 ] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [ 0.10808563 -8.224756  ], 8.225465774536133 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 5.7) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A unknown object with ID 16 is 12.9 meters away at (-11.9, 4.9). A unknown object with ID 15 is 16.5 meters away at (-14.6, 7.7). A unknown object with ID 32 is 21.6 meters away at (10.9, -18.6). A pedestrian with ID 27 is 22.5 meters away at (20.3, 9.8). A unknown object with ID 44 is 24.0 meters away at (14.6, -19.1). A unknown object with ID 34 is 24.4 meters away at (10.6, -21.9). A vehicle with ID 40 is 25.9 meters away at (-7.2, -24.8). A vehicle with ID 21 is 41.9 meters away at (34.3, -24.2). A vehicle with ID 9 is 42.8 meters away at (-42.2, 7.1). A unknown object with ID 38 is 45.6 meters away at (32.4, -32.1).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.01546509 -0.01374021] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 21 is traveling at a (x, y) velocity of [-6.993883  4.692445] m/s.The vehicle with ID 9 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [-11.94199    4.900669], 12.908434867858887 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 3.8) m/s. Its current heading (yaw) is 2.60

The most relevant actors are: A unknown object with ID 122 is 11.2 meters away at (-0.5, 11.2). A pedestrian with ID 109 is 30.6 meters away at (-27.8, -12.8). A unknown object with ID 39 is 52.1 meters away at (-46.4, 23.8). A pedestrian with ID 118 is 58.7 meters away at (-40.8, 42.3). A pedestrian with ID 126 is 60.1 meters away at (-42.3, 42.7). A vehicle with ID 18 is 63.4 meters away at (-49.8, 39.3). A vehicle with ID 26 is 63.5 meters away at (-60.0, 20.8). A pedestrian with ID 49 is 66.7 meters away at (-64.7, 16.3). A vehicle with ID 13 is 68.7 meters away at (-64.5, 23.8). A vehicle with ID 6 is 70.0 meters away at (-55.3, 42.9).

The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [ 1.0431623  -0.46751887] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 118 is traveling at a (x, y) velocity of [ 0.8192732  -0.69699013] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [ 0.9007382 -0.8831248] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.0916821 -0.6422393] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-0.4983616 11.225265 ], 11.236321449279785 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 4.2) m/s. Its current heading (yaw) is 2.57

The most relevant actors are: A unknown object with ID 122 is 12.9 meters away at (12.5, 3.2). A pedestrian with ID 109 is 24.8 meters away at (-13.4, -20.9). A pedestrian with ID 110 is 25.5 meters away at (-14.4, -21.1). A unknown object with ID 39 is 36.8 meters away at (-33.4, 15.5). A pedestrian with ID 118 is 41.6 meters away at (-25.9, 32.6). A pedestrian with ID 126 is 42.6 meters away at (-27.3, 32.7). A vehicle with ID 18 is 48.3 meters away at (-36.7, 31.3). A vehicle with ID 26 is 48.7 meters away at (-47.0, 12.7). A pedestrian with ID 49 is 50.8 meters away at (-50.4, 6.8). A pedestrian with ID 21 is 51.7 meters away at (-50.8, 9.3).

The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [ 0.76574    -0.19921945] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.83877885 -0.11587458] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 118 is traveling at a (x, y) velocity of [ 0.98515344 -0.72968966] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [ 1.0864251  -0.80023795] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.91244173 -0.5905279 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.1835512  0.3353282] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [12.467177   3.1757355], 12.865294456481934 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 3.7) m/s. Its current heading (yaw) is 2.66

The most relevant actors are: A unknown object with ID 39 is 20.9 meters away at (-19.6, 7.4). A pedestrian with ID 118 is 25.2 meters away at (-10.1, 23.1). A pedestrian with ID 126 is 25.5 meters away at (-11.4, 22.8). A unknown object with ID 122 is 26.5 meters away at (26.0, -5.2). A pedestrian with ID 110 is 29.8 meters away at (0.8, -29.7). A pedestrian with ID 109 is 29.8 meters away at (1.6, -29.8). A vehicle with ID 18 is 32.6 meters away at (-22.9, 23.2). A vehicle with ID 26 is 33.5 meters away at (-33.2, 4.4). A pedestrian with ID 49 is 34.8 meters away at (-34.8, -1.5). A pedestrian with ID 50 is 35.2 meters away at (-35.1, -2.2).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 118 is traveling at a (x, y) velocity of [ 0.9524867  -0.65626514] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [ 1.0513468 -0.7718895] m/s.The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.78193283 -0.28056636] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [ 0.71411616 -0.29512173] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.94459885 -0.505036  ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.91931784 -0.5149792 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-19.593319   7.3524  ], 20.927396774291992 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 3.5) m/s. Its current heading (yaw) is 2.66

The most relevant actors are: A unknown object with ID 39 is 6.0 meters away at (-6.0, 0.1). A pedestrian with ID 126 is 15.0 meters away at (4.6, 14.3). A pedestrian with ID 118 is 15.6 meters away at (5.3, 14.6). A vehicle with ID 18 is 18.5 meters away at (-9.1, 16.1). A vehicle with ID 26 is 19.6 meters away at (-19.4, -2.7). A pedestrian with ID 49 is 21.4 meters away at (-19.2, -9.5). A pedestrian with ID 50 is 22.1 meters away at (-19.6, -10.3). A vehicle with ID 13 is 23.9 meters away at (-23.9, 0.3). A vehicle with ID 6 is 24.4 meters away at (-14.6, 19.5). A pedestrian with ID 25 is 26.1 meters away at (-8.8, 24.5).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [ 0.8567483 -0.6337302] m/s.The pedestrian with ID 118 is traveling at a (x, y) velocity of [ 0.79134613 -0.649785  ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.7279582  -0.45115334] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.8075232  -0.43578264] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.15114547 -0.18211992] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-6.0011597  0.0905571], 6.001842975616455 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -8.8) m/s. Its current heading (yaw) is -1.39

The most relevant actors are: A pedestrian with ID 59 is 16.9 meters away at (7.3, 15.3). A unknown object with ID 61 is 22.4 meters away at (9.5, 20.3). A pedestrian with ID 60 is 27.4 meters away at (4.0, 27.1). A unknown object with ID 58 is 28.2 meters away at (-8.7, -26.8). A unknown object with ID 72 is 29.8 meters away at (-8.1, -28.7). A vehicle with ID 18 is 37.5 meters away at (-1.0, 37.5). A unknown object with ID 52 is 43.5 meters away at (1.0, -43.5). A unknown object with ID 50 is 45.2 meters away at (2.1, -45.1). A unknown object with ID 74 is 48.8 meters away at (4.4, -48.6). A unknown object with ID 26 is 50.8 meters away at (4.9, -50.5).

The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 1.1947526  -0.37119067] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.583622    0.93108267] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 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 [-0.77934617 -8.971006  ] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -9.2) m/s. Its current heading (yaw) is -1.31

The most relevant actors are: A unknown object with ID 72 is 16.1 meters away at (-11.9, -10.8). A unknown object with ID 32 is 24.6 meters away at (-4.5, -24.2). A unknown object with ID 52 is 25.8 meters away at (-3.0, -25.6). A unknown object with ID 50 is 27.3 meters away at (-1.8, -27.2). A unknown object with ID 74 is 30.7 meters away at (0.4, -30.7). A unknown object with ID 26 is 32.7 meters away at (0.9, -32.6). A unknown object with ID 42 is 34.5 meters away at (1.2, -34.4). A unknown object with ID 48 is 35.1 meters away at (0.4, -35.1). A vehicle with ID 18 is 38.2 meters away at (-5.2, 37.8). A pedestrian with ID 60 is 46.2 meters away at (-2.1, 46.2).

The unknown object with ID 72 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 0.35756522 -9.323665  ] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.3443818   0.38367298] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-11.868236 -10.817776], 16.05862045288086 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -9.4) m/s. Its current heading (yaw) is -1.18

The most relevant actors are: A unknown object with ID 32 is 12.0 meters away at (-10.6, -5.5). A unknown object with ID 74 is 13.3 meters away at (-5.8, -12.0). A unknown object with ID 26 is 14.8 meters away at (-5.3, -13.9). A unknown object with ID 42 is 16.5 meters away at (-5.0, -15.7). A unknown object with ID 72 is 19.7 meters away at (-18.0, 7.9). A pedestrian with ID 47 is 32.2 meters away at (20.8, -24.6). A vehicle with ID 18 is 38.0 meters away at (-9.4, 36.8). A pedestrian with ID 33 is 43.0 meters away at (10.2, -41.7). A unknown object with ID 45 is 49.2 meters away at (-3.6, -49.1). A pedestrian with ID 7 is 54.5 meters away at (32.4, -43.9).

The unknown object with ID 32 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 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 [-0.6110343  1.3890902] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [  1.7062637 -10.290015 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.01647518 -0.00015626] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.18954939 0.00773141] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-10.633982  -5.470379], 11.958537101745605 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -8.5) m/s. Its current heading (yaw) is -1.09

The most relevant actors are: A pedestrian with ID 47 is 12.1 meters away at (11.4, -3.8). A unknown object with ID 26 is 13.8 meters away at (-13.3, 3.9). A unknown object with ID 74 is 14.9 meters away at (-13.8, 5.7). A unknown object with ID 36 is 20.3 meters away at (-17.1, 10.8). A unknown object with ID 32 is 22.3 meters away at (-18.6, 12.3). A unknown object with ID 45 is 33.4 meters away at (-11.6, -31.3). A unknown object with ID 23 is 34.7 meters away at (-19.0, -29.0). A pedestrian with ID 7 is 35.2 meters away at (23.6, -26.1). A pedestrian with ID 6 is 35.8 meters away at (24.3, -26.2). A pedestrian with ID 5 is 36.3 meters away at (24.3, -26.9).

The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.67071533  1.431516  ] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 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 32 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.07694881 -0.00665985] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00398255 -0.00392862] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.0066793  -0.02371643] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 0.9) m/s. Its current heading (yaw) is 0.91

The most relevant actors are: A unknown object with ID 43 is 20.5 meters away at (2.1, -20.4). A vehicle with ID 45 is 23.9 meters away at (12.6, 20.3). A unknown object with ID 10 is 25.7 meters away at (6.7, 24.8). A unknown object with ID 17 is 27.7 meters away at (-8.2, 26.5). A cyclist with ID 40 is 33.7 meters away at (-31.7, -11.6). A vehicle with ID 42 is 34.6 meters away at (-14.9, 31.2). A vehicle with ID 47 is 35.5 meters away at (-20.7, -28.9). A vehicle with ID 41 is 39.4 meters away at (-19.5, 34.3). A vehicle with ID 49 is 44.2 meters away at (-24.0, 37.1). A vehicle with ID 48 is 45.6 meters away at (-34.2, -30.2).

The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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 cyclist with ID 40 is traveling at a (x, y) velocity of [-2.353027   2.1307864] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [  2.1071692 -20.377138 ], 20.485797882080078 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 3.6) m/s. Its current heading (yaw) is 1.29

The most relevant actors are: A vehicle with ID 45 is 19.3 meters away at (10.5, 16.2). A unknown object with ID 10 is 21.4 meters away at (4.6, 20.9). A unknown object with ID 31 is 22.1 meters away at (8.0, 20.6). A unknown object with ID 39 is 23.0 meters away at (17.9, -14.4). A vehicle with ID 42 is 32.2 meters away at (-17.0, 27.3). A vehicle with ID 41 is 37.2 meters away at (-21.6, 30.3). A unknown object with ID 22 is 38.4 meters away at (-30.6, -23.3). A vehicle with ID 47 is 40.0 meters away at (-23.0, -32.7). A vehicle with ID 6 is 40.2 meters away at (35.0, -19.7). A cyclist with ID 40 is 40.7 meters away at (-38.8, -12.3).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 42 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 unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-6.564134   5.6591105] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [-1.8096266  1.1681434] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 4.8) m/s. Its current heading (yaw) is 2.02

The most relevant actors are: A pedestrian with ID 28 is 13.3 meters away at (-12.4, -5.0). A vehicle with ID 45 is 13.8 meters away at (11.6, 7.5). A vehicle with ID 42 is 24.6 meters away at (-16.0, 18.7). A vehicle with ID 6 is 29.2 meters away at (23.5, -17.3). A vehicle with ID 41 is 29.9 meters away at (-20.5, 21.7). A vehicle with ID 49 is 35.1 meters away at (-25.1, 24.5). A cyclist with ID 40 is 45.1 meters away at (-41.4, -17.8). A vehicle with ID 47 is 46.8 meters away at (-21.8, -41.4). A vehicle with ID 48 is 55.5 meters away at (-35.5, -42.8). A vehicle with ID 15 is 57.5 meters away at (-28.7, -49.8).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.7343746  -0.20685135] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-6.2380333  5.4901595] m/s.The vehicle with ID 41 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 cyclist with ID 40 is traveling at a (x, y) velocity of [-2.4947433  2.0586998] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 3.8) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A unknown object with ID 35 is 5.7 meters away at (-2.1, 5.3). A vehicle with ID 42 is 13.4 meters away at (-8.8, 10.1). A pedestrian with ID 28 is 14.7 meters away at (-4.2, -14.0). A vehicle with ID 45 is 18.7 meters away at (18.7, -1.1). A vehicle with ID 41 is 18.8 meters away at (-13.4, 13.2). A vehicle with ID 6 is 23.9 meters away at (18.5, -15.1). A vehicle with ID 49 is 24.0 meters away at (-17.9, 16.0). A pedestrian with ID 32 is 27.0 meters away at (-19.0, 19.1). A cyclist with ID 40 is 46.1 meters away at (-40.8, -21.3). A vehicle with ID 47 is 52.2 meters away at (-14.7, -50.1).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.15756392 -0.18909657] m/s.The vehicle with ID 45 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 6 is traveling at a (x, y) velocity of [-5.9319916  5.286375 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.46815076  0.04904   ] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [-3.495013  2.274308] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.122683   5.3191566], 5.727059364318848 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -0.6) m/s. Its current heading (yaw) is -2.91

The most relevant actors are: A vehicle with ID 4 is 19.2 meters away at (-13.4, -13.8). A cyclist with ID 40 is 23.1 meters away at (-13.4, 18.8). A pedestrian with ID 41 is 25.8 meters away at (-19.7, 16.6). A vehicle with ID 42 is 49.2 meters away at (-33.8, 35.7). A cyclist with ID 39 is 52.0 meters away at (0.5, 52.0). A vehicle with ID 38 is 55.4 meters away at (-42.8, 35.3). A pedestrian with ID 25 is 57.4 meters away at (-24.8, -51.8). A pedestrian with ID 44 is 64.9 meters away at (-46.4, -45.4). A cyclist with ID 43 is 76.9 meters away at (13.7, 75.7). A vehicle with ID 45 is 80.1 meters away at (75.9, 25.6).

The vehicle with ID 4 is traveling at a (x, y) velocity of [ -4.972119 -11.577294] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [2.7045767 6.2120156] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.55039376 -1.476845  ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-0.01016165 -0.0026635 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.0888473  0.06663831] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.42699528 1.2522854 ] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [2.439887 4.920082] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 2.6883078  -0.69300705] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -3.2) m/s. Its current heading (yaw) is -2.41

The most relevant actors are: A pedestrian with ID 41 is 21.9 meters away at (-13.8, 17.0). A cyclist with ID 40 is 33.7 meters away at (-1.7, 33.7). A vehicle with ID 4 is 36.8 meters away at (-16.3, -33.0). A vehicle with ID 42 is 47.4 meters away at (-26.8, 39.1). A pedestrian with ID 25 is 51.7 meters away at (-18.0, -48.4). A vehicle with ID 38 is 52.5 meters away at (-35.7, 38.5). A unknown object with ID 37 is 56.0 meters away at (-35.0, -43.7). A vehicle with ID 2 is 63.9 meters away at (-22.5, -59.8).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.66672075 -1.3603798 ] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [1.8724641 4.8085084] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ -4.8520203 -11.103254 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.06169118 -0.02490033] m/s.The vehicle with ID 38 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -6.2) m/s. Its current heading (yaw) is -1.96

The most relevant actors are: A pedestrian with ID 41 is 25.8 meters away at (-9.5, 24.0). A pedestrian with ID 25 is 40.6 meters away at (-12.0, -38.8). A unknown object with ID 37 is 44.8 meters away at (-29.0, -34.2). A vehicle with ID 4 is 48.7 meters away at (-19.2, -44.7). A cyclist with ID 35 is 50.1 meters away at (4.8, 49.9). A vehicle with ID 2 is 52.7 meters away at (-16.4, -50.1). A vehicle with ID 42 is 53.2 meters away at (-21.1, 48.8). A vehicle with ID 38 is 56.8 meters away at (-30.2, 48.1). A cyclist with ID 32 is 66.5 meters away at (13.1, 65.2). A pedestrian with ID 1 is 73.7 meters away at (-44.1, -59.1).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.63446456 -1.3909719 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.02562327 -0.00730639] m/s.The unknown object with ID 37 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 [ -4.158501 -10.526816] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [-0.5237117  2.2695808] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-0.08094139 -0.05291351] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.47629565 -1.1872443 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.4) m/s. Its current heading (yaw) is -1.96

The most relevant actors are: A unknown object with ID 30 is 21.6 meters away at (0.1, -21.6). A unknown object with ID 36 is 23.6 meters away at (-0.3, -23.6). A pedestrian with ID 25 is 25.6 meters away at (-6.4, -24.8). A unknown object with ID 37 is 30.8 meters away at (-23.3, -20.1). A pedestrian with ID 41 is 35.5 meters away at (-5.0, 35.1). A vehicle with ID 2 is 37.7 meters away at (-10.6, -36.2). A vehicle with ID 4 is 55.4 meters away at (-21.0, -51.2). A pedestrian with ID 1 is 61.7 meters away at (-39.5, -47.4). A vehicle with ID 42 is 64.6 meters away at (-15.3, 62.8).

The unknown object with ID 30 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 pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.01990662 -0.04086941] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.6958748 -1.3663524] m/s.The vehicle with ID 2 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 [-3.321678 -9.754515] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.4758804 -1.2541995] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  0.1472454 -21.556414 ], 21.556915283203125 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 4.9) m/s. Its current heading (yaw) is 2.02

The most relevant actors are: A vehicle with ID 18 is 40.2 meters away at (17.6, -36.1). A vehicle with ID 3 is 59.1 meters away at (27.5, -52.3). A vehicle with ID 4 is 61.0 meters away at (46.0, -40.1).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.3741503  8.415533 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.796684   7.8650117] m/s.The vehicle with ID 4 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, 3.5) m/s. Its current heading (yaw) is 2.41

The most relevant actors are: A vehicle with ID 18 is 32.1 meters away at (16.6, -27.5). A vehicle with ID 3 is 50.7 meters away at (23.6, -44.9). A vehicle with ID 11 is 68.8 meters away at (50.0, -47.2).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-2.8988156  8.618114 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6026115  8.239321 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 3.6) m/s. Its current heading (yaw) is 2.53

The most relevant actors are: A vehicle with ID 18 is 26.5 meters away at (20.9, -16.3). A vehicle with ID 3 is 41.9 meters away at (24.1, -34.3). A vehicle with ID 9 is 65.3 meters away at (37.9, -53.2). A vehicle with ID 10 is 68.1 meters away at (35.9, -57.9).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.9839444  9.348803 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.0394554  9.657184 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.945313 11.727772] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.86777  9.96023] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.5) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A vehicle with ID 18 is 30.2 meters away at (29.7, -5.9). A vehicle with ID 3 is 36.5 meters away at (27.7, -23.9). A vehicle with ID 9 is 53.6 meters away at (39.2, -36.6). A vehicle with ID 10 is 61.5 meters away at (38.1, -48.2).

The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.1563183  9.913159 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6034594  8.063471 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-4.0829916 12.927567 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.188007  8.936056] 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, 0.3) m/s. Its current heading (yaw) is 2.37

The most relevant actors are: A vehicle with ID 15 is 13.9 meters away at (-11.0, 8.4). A vehicle with ID 21 is 21.8 meters away at (-17.5, -13.0). A vehicle with ID 22 is 23.3 meters away at (-20.9, -10.5). A vehicle with ID 20 is 23.7 meters away at (-23.3, -4.3). A pedestrian with ID 17 is 24.9 meters away at (22.0, 11.7). A vehicle with ID 10 is 25.7 meters away at (6.2, 24.9). A pedestrian with ID 18 is 25.8 meters away at (22.6, 12.6). A vehicle with ID 13 is 27.6 meters away at (9.6, 25.8). A vehicle with ID 26 is 30.3 meters away at (-25.8, -15.9). A vehicle with ID 27 is 30.5 meters away at (-22.5, -20.6).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 1.5351486 -2.9320633] 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.7308051 -1.0698402] m/s.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 [ 0.7592454 -1.0844036] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.7787591 -1.8874918] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 2.37

The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-7.3, 0.6). A vehicle with ID 21 is 21.8 meters away at (-17.3, -13.2). A vehicle with ID 22 is 23.2 meters away at (-20.7, -10.6). A vehicle with ID 20 is 23.5 meters away at (-23.1, -4.5). A vehicle with ID 13 is 25.3 meters away at (9.0, 23.7). A vehicle with ID 10 is 25.5 meters away at (6.4, 24.7). A pedestrian with ID 17 is 25.7 meters away at (23.9, 9.4). A pedestrian with ID 18 is 26.6 meters away at (24.5, 10.2). A vehicle with ID 26 is 30.0 meters away at (-25.4, -16.0). A vehicle with ID 27 is 30.4 meters away at (-22.3, -20.7).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 1.9325402 -5.079133 ] 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.821354  -1.0289242] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.86944574 -0.9919511 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 2.37

The most relevant actors are: A vehicle with ID 15 is 13.2 meters away at (-4.3, -12.4). A vehicle with ID 21 is 21.8 meters away at (-17.3, -13.2). A vehicle with ID 22 is 23.2 meters away at (-20.7, -10.6). A vehicle with ID 20 is 23.5 meters away at (-23.1, -4.6). A vehicle with ID 13 is 25.2 meters away at (9.0, 23.5). A vehicle with ID 10 is 25.5 meters away at (6.4, 24.7). A vehicle with ID 26 is 30.2 meters away at (-25.5, -16.1). A vehicle with ID 27 is 30.4 meters away at (-22.3, -20.7). A pedestrian with ID 11 is 38.4 meters away at (-18.6, 33.6). A cyclist with ID 23 is 42.0 meters away at (-24.4, 34.2).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.5227223 -7.7646437] 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 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 pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.01043332  0.00389628] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [ 6.5191016 -5.8919935] m/s.

Instruction: Slight left turn approaching.