The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.6) m/s. Its current heading (yaw) is 1.20

The most relevant actors are: A vehicle with ID 45 is 4.2 meters away at (4.2, 0.5). A vehicle with ID 51 is 7.1 meters away at (0.5, -7.1). A unknown object with ID 49 is 9.0 meters away at (-7.6, -4.8). A unknown object with ID 50 is 9.3 meters away at (-8.2, -4.4). A unknown object with ID 52 is 9.7 meters away at (-8.1, -5.4). A vehicle with ID 47 is 15.6 meters away at (-3.3, -15.3). A pedestrian with ID 12 is 16.5 meters away at (-9.1, 13.8). A pedestrian with ID 10 is 16.6 meters away at (-0.2, 16.6). A pedestrian with ID 13 is 17.2 meters away at (-9.3, 14.5). A vehicle with ID 53 is 17.6 meters away at (-15.1, 9.0).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0.83593094 1.8155601 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.42281428 0.9398283 ] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 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 vehicle with ID 47 is traveling at a (x, y) velocity of [0.20486316 0.48426902] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.69092566 0.4369603 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.6538669 1.2563782] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.77581567 0.42915615] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 2.5) m/s. Its current heading (yaw) is 1.20

The most relevant actors are: A vehicle with ID 51 is 5.8 meters away at (1.3, -5.7). A vehicle with ID 45 is 6.8 meters away at (5.9, 3.3). A unknown object with ID 49 is 11.8 meters away at (-8.8, -7.9). A unknown object with ID 50 is 12.0 meters away at (-9.4, -7.4). A unknown object with ID 52 is 12.6 meters away at (-9.3, -8.4). A pedestrian with ID 12 is 14.8 meters away at (-8.2, 12.4). A pedestrian with ID 13 is 15.5 meters away at (-8.6, 13.0). A vehicle with ID 47 is 16.2 meters away at (-3.3, -15.8). A pedestrian with ID 10 is 16.4 meters away at (0.0, 16.4). A vehicle with ID 53 is 17.4 meters away at (-16.3, 6.1).

The vehicle with ID 51 is traveling at a (x, y) velocity of [1.7653054 4.0351934] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [2.0418162 3.574675 ] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 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 pedestrian with ID 12 is traveling at a (x, y) velocity of [1.0497326  0.81297517] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.04754  0.819988] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [1.0176051 2.3283138] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.63873696 1.5154258 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 4.1) m/s. Its current heading (yaw) is 1.18

The most relevant actors are: A vehicle with ID 51 is 4.5 meters away at (3.8, -2.4). A vehicle with ID 45 is 10.5 meters away at (9.7, 3.8). A pedestrian with ID 12 is 11.4 meters away at (-8.8, 7.4). A pedestrian with ID 13 is 12.0 meters away at (-9.0, 8.0). A pedestrian with ID 10 is 12.7 meters away at (-1.5, 12.6). A vehicle with ID 47 is 16.1 meters away at (-3.1, -15.8). A unknown object with ID 49 is 18.5 meters away at (-11.5, -14.5). A unknown object with ID 50 is 18.6 meters away at (-12.2, -14.0). A vehicle with ID 53 is 19.1 meters away at (-19.0, -0.6). A unknown object with ID 52 is 19.2 meters away at (-12.0, -15.0).

The vehicle with ID 51 is traveling at a (x, y) velocity of [3.5055554 4.865305 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [4.549183  2.9329214] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.0763409  0.73082274] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.1221852 0.7500968] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.6093733 1.4505624] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [1.8967087 4.250817 ] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 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 (2.0, 5.3) m/s. Its current heading (yaw) is 1.21

The most relevant actors are: A pedestrian with ID 10 is 7.0 meters away at (-4.0, 5.8). A vehicle with ID 51 is 10.0 meters away at (8.8, -4.9). A pedestrian with ID 12 is 10.1 meters away at (-10.1, -0.7). A pedestrian with ID 13 is 10.4 meters away at (-10.4, -0.2). A vehicle with ID 48 is 15.6 meters away at (-10.2, 11.8). A vehicle with ID 47 is 15.8 meters away at (-2.5, -15.6). A vehicle with ID 45 is 17.0 meters away at (16.9, -2.1). A vehicle with ID 1 is 21.8 meters away at (-9.3, 19.7). A unknown object with ID 55 is 23.2 meters away at (-23.0, -2.3). A vehicle with ID 54 is 24.6 meters away at (20.3, -13.9).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.709352  1.3740487] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [5.4000316 2.4454374] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.0239674 0.8708644] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.0378968 0.8204072] m/s.The vehicle with ID 48 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 [2.4533043 5.1647615] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [6.0634856 0.5153044] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.166784   -0.73215955] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 0.4) m/s. Its current heading (yaw) is 2.98

The most relevant actors are: A vehicle with ID 29 is 14.9 meters away at (9.0, -12.0). A vehicle with ID 30 is 16.4 meters away at (-4.9, -15.6). A vehicle with ID 33 is 16.5 meters away at (-15.9, -4.3). A vehicle with ID 31 is 23.7 meters away at (22.9, -6.2). A vehicle with ID 32 is 26.3 meters away at (20.9, -16.0). A vehicle with ID 35 is 28.3 meters away at (-28.2, 2.7). A unknown object with ID 8 is 29.7 meters away at (20.1, -21.9). A vehicle with ID 28 is 29.7 meters away at (-12.1, 27.1). A vehicle with ID 22 is 30.2 meters away at (29.0, -8.3). A vehicle with ID 34 is 33.8 meters away at (28.3, -18.6).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.22362146 1.2036061 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.1) m/s. Its current heading (yaw) is 2.87

The most relevant actors are: A unknown object with ID 11 is 3.6 meters away at (-1.1, 3.4). A vehicle with ID 33 is 13.9 meters away at (-13.8, -1.7). A vehicle with ID 30 is 16.2 meters away at (-2.8, -16.0). A vehicle with ID 29 is 16.6 meters away at (11.1, -12.3). A vehicle with ID 31 is 25.7 meters away at (24.9, -6.6). A vehicle with ID 35 is 26.3 meters away at (-26.2, 2.2). A vehicle with ID 32 is 28.2 meters away at (23.0, -16.4). A vehicle with ID 28 is 28.6 meters away at (-10.1, 26.7). A unknown object with ID 8 is 31.2 meters away at (22.0, -22.2). A vehicle with ID 22 is 32.4 meters away at (31.2, -8.7).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-0.47359997  2.3170645 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 [-1.1051273  3.4446974], 3.6176300048828125 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 1.1) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A vehicle with ID 33 is 14.7 meters away at (-14.4, 3.1). A vehicle with ID 30 is 17.0 meters away at (-0.1, -17.0). A vehicle with ID 29 is 19.1 meters away at (13.8, -13.2). A vehicle with ID 35 is 23.5 meters away at (-23.5, 1.1). A vehicle with ID 28 is 26.8 meters away at (-7.5, 25.7). A vehicle with ID 31 is 28.6 meters away at (27.6, -7.4). A vehicle with ID 32 is 31.0 meters away at (25.8, -17.2). A vehicle with ID 37 is 32.8 meters away at (-28.6, 16.1). A vehicle with ID 22 is 34.8 meters away at (33.5, -9.5). A vehicle with ID 38 is 37.1 meters away at (-32.6, 17.7).

The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.3550956  2.9261355] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 38 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 (-1.0, 4.4) m/s. Its current heading (yaw) is 1.80

The most relevant actors are: A vehicle with ID 35 is 19.7 meters away at (-19.3, -4.1). A vehicle with ID 33 is 20.2 meters away at (-20.0, 3.0). A vehicle with ID 28 is 20.7 meters away at (-3.3, 20.5). A vehicle with ID 30 is 22.7 meters away at (4.1, -22.3). A vehicle with ID 29 is 25.8 meters away at (18.1, -18.5). A vehicle with ID 37 is 26.6 meters away at (-24.3, 10.7). A vehicle with ID 40 is 33.4 meters away at (-31.0, 12.4). A vehicle with ID 39 is 33.6 meters away at (-33.6, -0.2). A vehicle with ID 31 is 34.3 meters away at (31.9, -12.6). A vehicle with ID 32 is 37.5 meters away at (30.0, -22.4).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-5.4222784  2.0859172] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -4.3) m/s. Its current heading (yaw) is -1.56

The most relevant actors are: A unknown object with ID 9 is 19.3 meters away at (-9.6, -16.7). A pedestrian with ID 6 is 24.4 meters away at (23.2, 7.3). A unknown object with ID 11 is 24.8 meters away at (-9.2, -23.0). A pedestrian with ID 7 is 24.9 meters away at (23.5, 8.2). A pedestrian with ID 8 is 25.3 meters away at (24.4, 6.8). A pedestrian with ID 12 is 78.3 meters away at (-7.6, 77.9).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.00837454 0.01203503] m/s.The unknown object with ID 11 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 [ 0.01345903 -0.02174642] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.00757076 0.01100186] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.0088124  0.00733593] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [ -9.623728 -16.72758 ], 19.29839515686035 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -5.2) m/s. Its current heading (yaw) is -1.53

The most relevant actors are: A unknown object with ID 9 is 12.4 meters away at (-9.9, -7.4). A unknown object with ID 11 is 16.7 meters away at (-9.5, -13.7).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-9.932764 -7.353426], 12.358506202697754 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -5.3) m/s. Its current heading (yaw) is -1.54

The most relevant actors are: A unknown object with ID 11 is 10.4 meters away at (-9.8, -3.4). A unknown object with ID 9 is 10.7 meters away at (-10.2, 3.0). A pedestrian with ID 5 is 73.9 meters away at (5.2, -73.7). A vehicle with ID 1 is 74.6 meters away at (3.2, -74.5).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.20231208 -0.395355  ] m/s.The vehicle with ID 1 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 [-9.830399  -3.3896198], 10.398377418518066 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -5.4) m/s. Its current heading (yaw) is -1.55

The most relevant actors are: A unknown object with ID 11 is 12.5 meters away at (-10.2, 7.3). A unknown object with ID 9 is 17.3 meters away at (-10.6, 13.7). A vehicle with ID 1 is 63.9 meters away at (2.9, -63.8).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-10.183993    7.2898026], 12.524174690246582 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -7.3) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A vehicle with ID 12 is 14.2 meters away at (-7.5, -12.0). A unknown object with ID 20 is 16.4 meters away at (-10.0, 13.0).

The vehicle with ID 12 is traveling at a (x, y) velocity of [-11.690374  10.674902] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -7.2) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A unknown object with ID 20 is 38.3 meters away at (-26.6, 27.5).

The unknown object with ID 20 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 [-26.629316  27.502449], 38.281917572021484 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -6.6) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A vehicle with ID 13 is 32.9 meters away at (11.9, -30.7). A unknown object with ID 20 is 59.7 meters away at (-42.8, 41.6).

The vehicle with ID 13 is traveling at a (x, y) velocity of [-8.996453  8.50107 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -5.7) m/s. Its current heading (yaw) is -0.64

The most relevant actors are: A vehicle with ID 13 is 21.5 meters away at (-21.4, -1.5).

The vehicle with ID 13 is traveling at a (x, y) velocity of [-8.950831  8.685268] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.4) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A vehicle with ID 8 is 7.3 meters away at (2.3, 6.9). A vehicle with ID 7 is 7.7 meters away at (-5.0, 5.8). A vehicle with ID 9 is 13.3 meters away at (-13.3, 0.2). A vehicle with ID 13 is 16.1 meters away at (4.7, 15.4). A vehicle with ID 12 is 18.4 meters away at (-11.5, -14.3). A vehicle with ID 15 is 23.0 meters away at (-4.9, -22.5). A vehicle with ID 16 is 24.0 meters away at (-13.3, -20.0). A unknown object with ID 11 is 27.3 meters away at (-26.5, -6.7). A vehicle with ID 17 is 29.2 meters away at (-14.8, -25.1). A vehicle with ID 21 is 34.2 meters away at (-34.1, -1.8).

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.The vehicle with ID 9 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A vehicle with ID 8 is 7.0 meters away at (2.2, 6.6). A vehicle with ID 7 is 7.5 meters away at (-5.1, 5.5). A vehicle with ID 9 is 13.3 meters away at (-13.3, -0.1). A vehicle with ID 13 is 15.7 meters away at (4.6, 15.1). A vehicle with ID 12 is 18.6 meters away at (-11.6, -14.6). A vehicle with ID 15 is 23.3 meters away at (-5.0, -22.8). A vehicle with ID 16 is 24.3 meters away at (-13.4, -20.3). A unknown object with ID 10 is 27.7 meters away at (-4.6, -27.3). A vehicle with ID 17 is 29.5 meters away at (-14.9, -25.4). A vehicle with ID 21 is 34.3 meters away at (-34.3, -2.1).

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.The vehicle with ID 9 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A vehicle with ID 8 is 6.9 meters away at (2.2, 6.6). A vehicle with ID 7 is 7.5 meters away at (-5.2, 5.4). A vehicle with ID 9 is 13.4 meters away at (-13.4, -0.1). A vehicle with ID 13 is 15.7 meters away at (4.6, 15.0). A vehicle with ID 12 is 18.6 meters away at (-11.6, -14.6). A vehicle with ID 15 is 23.4 meters away at (-5.0, -22.8). A vehicle with ID 16 is 24.4 meters away at (-13.4, -20.3). A unknown object with ID 10 is 27.7 meters away at (-4.7, -27.3). A vehicle with ID 17 is 29.5 meters away at (-14.9, -25.5). A vehicle with ID 21 is 34.3 meters away at (-34.2, -2.2).

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.The vehicle with ID 9 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A vehicle with ID 8 is 6.9 meters away at (2.2, 6.6). A vehicle with ID 7 is 7.5 meters away at (-5.1, 5.4). A vehicle with ID 9 is 13.4 meters away at (-13.4, -0.1). A vehicle with ID 13 is 15.7 meters away at (4.5, 15.0). A vehicle with ID 12 is 18.6 meters away at (-11.6, -14.6). A vehicle with ID 15 is 23.4 meters away at (-5.0, -22.9). A vehicle with ID 16 is 24.4 meters away at (-13.4, -20.3). A unknown object with ID 10 is 27.7 meters away at (-4.7, -27.3). A vehicle with ID 17 is 29.5 meters away at (-14.9, -25.5). A vehicle with ID 21 is 34.3 meters away at (-34.2, -2.3).

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.The vehicle with ID 9 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.4) m/s. Its current heading (yaw) is -0.63

The most relevant actors are: A unknown object with ID 45 is 9.5 meters away at (-9.3, -1.7). A vehicle with ID 49 is 12.4 meters away at (5.0, -11.4). A vehicle with ID 52 is 15.8 meters away at (1.5, -15.8). A vehicle with ID 60 is 22.0 meters away at (-3.4, -21.8). A pedestrian with ID 29 is 26.0 meters away at (18.8, -17.9). A vehicle with ID 51 is 27.3 meters away at (-7.4, -26.3). A vehicle with ID 61 is 28.0 meters away at (4.6, -27.7). A unknown object with ID 59 is 31.5 meters away at (-20.4, 24.1). A vehicle with ID 66 is 34.6 meters away at (-1.4, -34.6). A vehicle with ID 68 is 39.4 meters away at (-5.2, -39.1).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 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 [-0.3310235   0.20436004] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-0.06194118  0.36776748] m/s.The vehicle with ID 61 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 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: left u-turn approaching.

(The closest actor is a unknown object at [-9.34947   -1.6528608], 9.494447708129883 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -1.8) m/s. Its current heading (yaw) is -0.60

The most relevant actors are: A vehicle with ID 49 is 9.0 meters away at (1.5, -8.8). A unknown object with ID 45 is 12.9 meters away at (-12.9, 1.0). A vehicle with ID 52 is 13.3 meters away at (-2.0, -13.2). A pedestrian with ID 4 is 16.2 meters away at (-8.2, -14.0). A pedestrian with ID 5 is 16.6 meters away at (-7.5, -14.8). A vehicle with ID 60 is 20.5 meters away at (-7.0, -19.3). A vehicle with ID 61 is 25.1 meters away at (1.1, -25.1). A vehicle with ID 51 is 25.9 meters away at (-10.9, -23.5). A vehicle with ID 54 is 31.7 meters away at (-14.8, -28.0). A vehicle with ID 66 is 32.4 meters away at (-4.9, -32.1).

The vehicle with ID 49 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 vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.77724826 0.99674964] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.83334947 0.9448865 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 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 (3.6, -0.7) m/s. Its current heading (yaw) is -0.20

The most relevant actors are: A vehicle with ID 49 is 7.6 meters away at (-4.8, -5.8). A vehicle with ID 52 is 13.2 meters away at (-8.4, -10.2). A pedestrian with ID 4 is 15.8 meters away at (-12.8, -9.1). A pedestrian with ID 5 is 15.8 meters away at (-12.3, -9.9). A unknown object with ID 45 is 19.6 meters away at (-19.1, 4.2). A vehicle with ID 60 is 21.0 meters away at (-13.3, -16.3). A vehicle with ID 61 is 22.7 meters away at (-5.3, -22.0). A vehicle with ID 51 is 26.8 meters away at (-17.3, -20.5). A vehicle with ID 66 is 31.2 meters away at (-11.4, -29.0). A pedestrian with ID 13 is 31.8 meters away at (-23.4, -21.6).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.8298668  0.90129346] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.75415725 0.93087786] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 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 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.56989646 1.0877873 ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 2.1) m/s. Its current heading (yaw) is 0.51

The most relevant actors are: A vehicle with ID 49 is 14.2 meters away at (-12.4, -7.0). A unknown object with ID 34 is 17.1 meters away at (-12.5, 11.6). A vehicle with ID 52 is 19.6 meters away at (-15.9, -11.4). A pedestrian with ID 4 is 20.5 meters away at (-18.8, -8.4). A pedestrian with ID 5 is 20.6 meters away at (-18.5, -9.1). A vehicle with ID 61 is 26.5 meters away at (-13.0, -23.1). A pedestrian with ID 55 is 26.6 meters away at (21.9, 15.1). A pedestrian with ID 56 is 26.7 meters away at (22.6, 14.1). A vehicle with ID 60 is 27.2 meters away at (-20.9, -17.4). A pedestrian with ID 1 is 30.0 meters away at (29.9, 2.1).

The vehicle with ID 49 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.9013432 0.8680731] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.8566768  0.88786054] m/s.The vehicle with ID 61 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 [-0.8777042 -0.8965806] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9834284 -0.8594597] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.8829696  0.8698566] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.6) m/s. Its current heading (yaw) is -1.96

The most relevant actors are: A pedestrian with ID 80 is 4.7 meters away at (4.5, 1.3). A pedestrian with ID 85 is 17.3 meters away at (10.0, -14.1). A pedestrian with ID 86 is 17.9 meters away at (9.9, -14.9). A vehicle with ID 79 is 26.4 meters away at (5.3, 25.9). A pedestrian with ID 46 is 27.8 meters away at (-3.7, 27.5). A vehicle with ID 81 is 30.1 meters away at (3.4, 29.9). A unknown object with ID 90 is 33.1 meters away at (10.0, -31.6). A unknown object with ID 43 is 33.2 meters away at (11.5, -31.1). A unknown object with ID 91 is 34.6 meters away at (13.4, -31.9). A vehicle with ID 30 is 38.1 meters away at (-11.9, 36.2).

The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.27291283 0.7979948 ] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.0520695  0.4465223] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.0429934   0.49592805] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [2.388862 5.072185] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.14264283 -0.43045637] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.7) m/s. Its current heading (yaw) is -1.96

The most relevant actors are: A pedestrian with ID 86 is 14.6 meters away at (14.5, 1.7). A pedestrian with ID 85 is 14.8 meters away at (14.6, 2.6). A pedestrian with ID 57 is 17.1 meters away at (-17.0, -1.8). A pedestrian with ID 80 is 21.6 meters away at (11.4, 18.3). A unknown object with ID 90 is 23.1 meters away at (16.4, -16.2). A unknown object with ID 43 is 23.9 meters away at (17.9, -15.8). A unknown object with ID 92 is 24.5 meters away at (-5.7, -23.8). A unknown object with ID 93 is 25.1 meters away at (-7.2, -24.1). A unknown object with ID 38 is 25.6 meters away at (-4.8, -25.2). A unknown object with ID 91 is 25.7 meters away at (19.7, -16.6).

The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.8259634   0.76966673] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.85583174  0.72516036] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.48608428 -1.2690234 ] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.24877132 0.85346013] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -7.7) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A unknown object with ID 92 is 8.5 meters away at (1.1, -8.4). A unknown object with ID 93 is 8.6 meters away at (-0.5, -8.6). A unknown object with ID 38 is 9.8 meters away at (2.0, -9.6). A unknown object with ID 75 is 10.2 meters away at (-0.1, -10.2). A unknown object with ID 44 is 11.1 meters away at (-0.3, -11.1). A pedestrian with ID 57 is 16.0 meters away at (-11.2, 11.4). A unknown object with ID 90 is 23.0 meters away at (23.0, -1.0). A unknown object with ID 39 is 24.8 meters away at (-18.6, -16.4). A unknown object with ID 23 is 26.7 meters away at (26.6, -2.6). A unknown object with ID 22 is 26.7 meters away at (-19.3, -18.4).

The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 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 pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.4562645 -1.101793 ] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 1.0903015 -8.380104 ], 8.45073413848877 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -8.0) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A unknown object with ID 44 is 8.0 meters away at (6.7, 4.4). A unknown object with ID 72 is 8.6 meters away at (6.9, 5.1). A unknown object with ID 75 is 9.1 meters away at (7.1, 5.7). A unknown object with ID 55 is 9.1 meters away at (8.1, 4.1). A unknown object with ID 93 is 9.6 meters away at (6.6, 7.0). A unknown object with ID 31 is 9.6 meters away at (7.2, 6.3). A unknown object with ID 92 is 10.7 meters away at (8.0, 7.2). A unknown object with ID 39 is 11.6 meters away at (-11.6, -0.8). A unknown object with ID 74 is 12.3 meters away at (-12.3, 0.9). A unknown object with ID 22 is 12.6 meters away at (-12.3, -2.8).

The unknown object with ID 44 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 unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 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 92 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 74 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [6.6709404 4.442501 ], 8.014815330505371 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, -1.2) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A vehicle with ID 22 is 22.8 meters away at (12.8, -18.9). A vehicle with ID 26 is 24.0 meters away at (1.9, -24.0). A vehicle with ID 23 is 24.8 meters away at (12.0, -21.7). A vehicle with ID 29 is 31.6 meters away at (10.5, -29.8). A pedestrian with ID 31 is 32.1 meters away at (28.9, 13.9). A vehicle with ID 24 is 35.8 meters away at (26.2, -24.5). A vehicle with ID 42 is 36.3 meters away at (9.2, -35.2). A unknown object with ID 44 is 41.7 meters away at (12.4, 39.9). A pedestrian with ID 10 is 43.1 meters away at (32.3, -28.5). A vehicle with ID 45 is 45.8 meters away at (2.3, 45.8).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3844994 -0.9379375] m/s.The vehicle with ID 24 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 unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -2.2) m/s. Its current heading (yaw) is -0.55

The most relevant actors are: A vehicle with ID 22 is 16.6 meters away at (6.8, -15.2). A vehicle with ID 23 is 19.0 meters away at (6.0, -18.1). A vehicle with ID 26 is 20.8 meters away at (-4.0, -20.4). A vehicle with ID 29 is 26.5 meters away at (4.4, -26.1). A vehicle with ID 24 is 29.0 meters away at (20.1, -20.8). A pedestrian with ID 31 is 30.2 meters away at (25.9, 15.6). A vehicle with ID 42 is 31.6 meters away at (3.1, -31.4). A unknown object with ID 14 is 37.0 meters away at (34.8, 12.5). A unknown object with ID 3 is 38.6 meters away at (0.5, -38.6). A pedestrian with ID 32 is 42.2 meters away at (37.9, -18.5).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.6066163 -1.0643616] m/s.The vehicle with ID 42 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 3 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 [-0.6156139  -0.55915684] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.7) m/s. Its current heading (yaw) is -0.56

The most relevant actors are: A vehicle with ID 22 is 11.3 meters away at (0.6, -11.3). A vehicle with ID 23 is 14.2 meters away at (-0.2, -14.2). A unknown object with ID 13 is 19.0 meters away at (3.7, -18.6). A vehicle with ID 26 is 19.4 meters away at (-10.1, -16.5). A vehicle with ID 24 is 21.9 meters away at (14.0, -16.9). A vehicle with ID 29 is 22.3 meters away at (-1.8, -22.3). A pedestrian with ID 31 is 28.9 meters away at (22.8, 17.7). A unknown object with ID 14 is 33.0 meters away at (28.7, 16.3). A pedestrian with ID 32 is 33.7 meters away at (29.7, -15.8). A pedestrian with ID 35 is 35.8 meters away at (30.8, -18.3).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.4482418 -0.8970257] m/s.The unknown object with ID 14 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 [-1.0017921  -0.46365246] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.0227964 -1.1879582] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, -1.3) m/s. Its current heading (yaw) is -0.55

The most relevant actors are: A vehicle with ID 22 is 9.2 meters away at (-4.0, -8.3). A vehicle with ID 23 is 12.1 meters away at (-4.7, -11.2). A vehicle with ID 24 is 16.6 meters away at (9.2, -13.9). A vehicle with ID 26 is 20.0 meters away at (-14.9, -13.4). A vehicle with ID 29 is 20.2 meters away at (-6.4, -19.2). A pedestrian with ID 32 is 26.4 meters away at (22.8, -13.5). A pedestrian with ID 31 is 28.1 meters away at (21.0, 18.6). A pedestrian with ID 35 is 29.3 meters away at (23.8, -17.2). A unknown object with ID 9 is 36.9 meters away at (34.5, -13.2). A unknown object with ID 44 is 50.6 meters away at (-4.5, 50.4).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.1312833 -0.3397022] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.469204   -0.90031505] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.1040587  -0.81112355] 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A vehicle with ID 19 is 3.2 meters away at (2.2, 2.3). A vehicle with ID 21 is 6.7 meters away at (-6.7, 0.4). A vehicle with ID 22 is 6.9 meters away at (-5.8, 3.7). A vehicle with ID 23 is 8.1 meters away at (7.2, -3.8). A vehicle with ID 25 is 9.1 meters away at (5.0, 7.5). A vehicle with ID 26 is 10.1 meters away at (-6.7, 7.6). A vehicle with ID 27 is 10.3 meters away at (7.0, -7.6). A vehicle with ID 10 is 15.1 meters away at (2.7, -14.9). A pedestrian with ID 39 is 29.5 meters away at (0.0, 29.5). A vehicle with ID 35 is 30.7 meters away at (-30.2, 5.8).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 8.293962 -4.561364] 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 [-1.9873744  1.0647843] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-7.419158   -0.01307003] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00033255 -0.00284578] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A vehicle with ID 19 is 3.2 meters away at (2.2, 2.3). A vehicle with ID 21 is 6.7 meters away at (-6.7, 0.4). A vehicle with ID 22 is 6.9 meters away at (-5.8, 3.7). A vehicle with ID 27 is 7.0 meters away at (3.9, -5.9). A vehicle with ID 23 is 8.1 meters away at (7.2, -3.8). A vehicle with ID 26 is 10.1 meters away at (-6.7, 7.6). A vehicle with ID 10 is 20.7 meters away at (-10.3, -18.0). A vehicle with ID 25 is 23.7 meters away at (23.5, -2.4). A pedestrian with ID 39 is 29.5 meters away at (0.0, 29.5). A vehicle with ID 35 is 30.8 meters away at (-30.2, 5.9).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 [-0.9584217  0.5138065] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.6246185 -2.7298372] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [10.153852  -5.0572476] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00615294  0.0016072 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61

The most relevant actors are: A vehicle with ID 19 is 3.2 meters away at (2.2, 2.3). A vehicle with ID 27 is 6.0 meters away at (2.8, -5.2). A vehicle with ID 21 is 6.7 meters away at (-6.7, 0.4). A vehicle with ID 22 is 6.9 meters away at (-5.8, 3.7). A vehicle with ID 23 is 8.1 meters away at (7.2, -3.8). A vehicle with ID 26 is 10.1 meters away at (-6.7, 7.6). A vehicle with ID 14 is 26.1 meters away at (-20.1, 16.6). A pedestrian with ID 39 is 29.5 meters away at (0.0, 29.5). A vehicle with ID 35 is 30.8 meters away at (-30.2, 5.8). A vehicle with ID 10 is 31.6 meters away at (-19.3, -25.1).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ -3.9127457 -14.0907545] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.00173756 0.004289  ] m/s.The vehicle with ID 35 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 [-3.1869946 -4.147173 ] 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 2.61

The most relevant actors are: A vehicle with ID 19 is 3.2 meters away at (2.2, 2.3). A vehicle with ID 27 is 5.9 meters away at (2.8, -5.2). A vehicle with ID 21 is 6.7 meters away at (-6.7, 0.4). A vehicle with ID 22 is 6.9 meters away at (-5.8, 3.7). A vehicle with ID 23 is 8.1 meters away at (7.2, -3.8). A vehicle with ID 26 is 10.1 meters away at (-6.7, 7.6). A vehicle with ID 15 is 29.0 meters away at (-26.4, -11.9). A pedestrian with ID 39 is 29.5 meters away at (0.0, 29.5). A vehicle with ID 35 is 30.8 meters away at (-30.3, 5.8). A unknown object with ID 8 is 32.9 meters away at (31.1, -10.8).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 [ -2.4243925 -14.838567 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.0012428   0.00551104] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 0.2) m/s. Its current heading (yaw) is 3.12

The most relevant actors are: A unknown object with ID 37 is 3.1 meters away at (0.3, 3.1). A vehicle with ID 39 is 10.4 meters away at (0.1, -10.4). A vehicle with ID 44 is 10.4 meters away at (-2.9, -10.0). A vehicle with ID 47 is 11.9 meters away at (-6.0, -10.3). A vehicle with ID 34 is 14.9 meters away at (11.2, -9.8). A vehicle with ID 50 is 15.0 meters away at (-11.3, -9.8). A vehicle with ID 30 is 17.3 meters away at (14.6, -9.3). A vehicle with ID 54 is 17.4 meters away at (-14.4, -9.7). A vehicle with ID 49 is 20.5 meters away at (-1.4, -20.4). A vehicle with ID 45 is 20.6 meters away at (4.6, -20.1).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [0.26796722 3.0508978 ], 3.06264328956604 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-10.0, 0.2) m/s. Its current heading (yaw) is 3.12

The most relevant actors are: A vehicle with ID 9 is 10.7 meters away at (-8.0, 7.2). A vehicle with ID 54 is 11.4 meters away at (4.8, -10.3). A vehicle with ID 56 is 12.3 meters away at (-11.4, -4.4). A vehicle with ID 50 is 13.1 meters away at (8.1, -10.3). A vehicle with ID 47 is 17.2 meters away at (13.5, -10.7). A vehicle with ID 57 is 19.5 meters away at (-19.0, -4.2). A vehicle with ID 44 is 19.6 meters away at (16.6, -10.5). A unknown object with ID 37 is 19.8 meters away at (19.7, 2.4). A vehicle with ID 39 is 22.4 meters away at (19.5, -10.9). A vehicle with ID 52 is 23.6 meters away at (12.0, -20.4).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-10.6, -0.2) m/s. Its current heading (yaw) is -3.12

The most relevant actors are: A vehicle with ID 57 is 4.7 meters away at (1.7, -4.4). A vehicle with ID 13 is 10.0 meters away at (8.9, -4.6). A vehicle with ID 56 is 10.1 meters away at (9.0, -4.6). A vehicle with ID 9 is 14.9 meters away at (12.9, 7.3). A vehicle with ID 16 is 24.6 meters away at (3.3, -24.4). A vehicle with ID 54 is 27.5 meters away at (25.4, -10.5). A vehicle with ID 50 is 30.5 meters away at (28.7, -10.5). A vehicle with ID 47 is 35.8 meters away at (34.1, -10.7). A vehicle with ID 52 is 38.4 meters away at (32.4, -20.7). A vehicle with ID 44 is 38.6 meters away at (37.1, -10.7).

The vehicle with ID 57 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-10.8, -0.6) m/s. Its current heading (yaw) is -3.09

The most relevant actors are: A vehicle with ID 57 is 23.5 meters away at (23.2, -3.8). A vehicle with ID 56 is 30.5 meters away at (30.3, -3.9). A vehicle with ID 16 is 34.2 meters away at (24.6, -23.7). A vehicle with ID 54 is 47.8 meters away at (46.7, -9.9). A unknown object with ID 37 is 61.7 meters away at (61.6, 2.8). A vehicle with ID 49 is 63.0 meters away at (59.6, -20.4). A vehicle with ID 24 is 69.0 meters away at (65.9, -20.4).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -7.5) m/s. Its current heading (yaw) is -1.64

The most relevant actors are: A pedestrian with ID 30 is 12.4 meters away at (12.3, -1.6). A pedestrian with ID 29 is 12.6 meters away at (12.6, -0.8). A vehicle with ID 28 is 30.1 meters away at (-5.7, 29.5). A vehicle with ID 31 is 31.3 meters away at (5.5, -30.8). A vehicle with ID 22 is 45.0 meters away at (-30.0, -33.6). A unknown object with ID 21 is 66.6 meters away at (9.3, -65.9).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.01630221 -0.02984379] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.09078187 -0.05049748] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0.07450818 1.7834553 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-0.03309041 -9.957521  ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.9048327  1.0694863] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -6.0) m/s. Its current heading (yaw) is -1.59

The most relevant actors are: A pedestrian with ID 30 is 17.5 meters away at (12.9, 11.9). A pedestrian with ID 29 is 18.3 meters away at (13.2, 12.7). A vehicle with ID 22 is 37.5 meters away at (-32.9, -18.0). A vehicle with ID 31 is 37.9 meters away at (6.2, -37.4). A vehicle with ID 28 is 52.0 meters away at (-5.0, 51.8). A unknown object with ID 17 is 55.6 meters away at (-11.6, 54.4). A pedestrian with ID 24 is 61.8 meters away at (-0.3, -61.8). A pedestrian with ID 13 is 79.2 meters away at (-2.1, 79.2).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.01716988 0.00221014] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.00996493 -0.00368903] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.7039269  0.7815132] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ -0.01560697 -10.383563  ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0.0983925 6.208541 ] m/s.The unknown object with ID 17 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 [-0.01257442 -0.00418586] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00472214 0.00344198] 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, -4.6) m/s. Its current heading (yaw) is -1.56

The most relevant actors are: A vehicle with ID 22 is 36.7 meters away at (-36.1, -6.6). A pedestrian with ID 1 is 37.2 meters away at (-35.9, -9.7). A pedestrian with ID 2 is 38.0 meters away at (-36.8, -9.3). A pedestrian with ID 3 is 45.1 meters away at (12.4, -43.3). A vehicle with ID 31 is 48.5 meters away at (6.2, -48.1). A pedestrian with ID 24 is 51.2 meters away at (-0.1, -51.2).

The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.6843364 -0.0803569] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.01440077 -0.00683547] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.00206942  0.00350435] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.85900307  0.6675492 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ -0.06606811 -10.3242445 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.01342617 -0.00839606] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -2.8) m/s. Its current heading (yaw) is -1.65

The most relevant actors are: A pedestrian with ID 1 is 35.9 meters away at (-35.8, -2.5). A pedestrian with ID 3 is 36.3 meters away at (10.7, -34.7). A pedestrian with ID 2 is 36.7 meters away at (-36.7, -2.1). A vehicle with ID 22 is 39.0 meters away at (-39.0, -0.6). A pedestrian with ID 24 is 43.9 meters away at (-0.1, -43.9). A pedestrian with ID 15 is 44.0 meters away at (11.8, -42.3). A vehicle with ID 31 is 59.4 meters away at (6.5, -59.1).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.00951398 -0.00544435] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.69269276  0.93342507] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.0446314  0.00130589] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.2984989 -1.0339725] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.04330952 0.00780304] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.5586469  0.37101737] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 0.24112633 -7.476549  ] 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, -0.6) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 64 is 5.3 meters away at (4.3, -3.1). A pedestrian with ID 67 is 8.7 meters away at (-6.8, -5.4). A vehicle with ID 63 is 10.2 meters away at (9.1, 4.6). A unknown object with ID 65 is 14.2 meters away at (13.4, 4.4). A unknown object with ID 50 is 14.6 meters away at (13.9, 4.5). A unknown object with ID 66 is 14.7 meters away at (14.0, 4.2). A vehicle with ID 30 is 15.0 meters away at (9.1, -12.0). A vehicle with ID 68 is 21.7 meters away at (15.3, 15.4). A vehicle with ID 60 is 22.5 meters away at (-6.7, -21.4). A vehicle with ID 69 is 23.7 meters away at (8.2, 22.2).

The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.5494031 -1.083887 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.4) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 64 is 5.3 meters away at (4.7, -2.6). A pedestrian with ID 67 is 8.3 meters away at (-4.2, -7.2). A unknown object with ID 42 is 8.4 meters away at (-8.4, 0.2). A vehicle with ID 63 is 10.8 meters away at (9.4, 5.2). A unknown object with ID 65 is 14.4 meters away at (13.6, 4.9). A unknown object with ID 50 is 14.6 meters away at (13.8, 5.0). A vehicle with ID 30 is 14.9 meters away at (9.6, -11.4). A unknown object with ID 66 is 15.1 meters away at (14.2, 5.0). A vehicle with ID 60 is 21.8 meters away at (-6.3, -20.9). A vehicle with ID 68 is 22.3 meters away at (15.7, 15.9).

The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 1.314965  -0.9196763] m/s.The unknown object with ID 42 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 unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -2.3) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 64 is 6.3 meters away at (6.3, 0.0). A pedestrian with ID 67 is 6.8 meters away at (-0.5, -6.7). A unknown object with ID 42 is 7.3 meters away at (-6.8, 2.8). A vehicle with ID 63 is 13.5 meters away at (11.0, 7.7). A vehicle with ID 30 is 14.3 meters away at (11.2, -8.9). A unknown object with ID 50 is 17.2 meters away at (15.4, 7.6). A unknown object with ID 65 is 17.5 meters away at (16.0, 7.3). A unknown object with ID 66 is 17.6 meters away at (15.9, 7.7). A vehicle with ID 60 is 18.9 meters away at (-4.7, -18.3). A vehicle with ID 75 is 20.1 meters away at (-8.2, -18.3).

The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.9705391 -1.0260968] m/s.The unknown object with ID 42 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 30 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0.81202435 1.248214  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -4.0) m/s. Its current heading (yaw) is -2.13

The most relevant actors are: A pedestrian with ID 67 is 5.5 meters away at (4.9, -2.5). A vehicle with ID 75 is 8.5 meters away at (-1.9, -8.3). A unknown object with ID 37 is 11.3 meters away at (11.0, -2.7). A vehicle with ID 60 is 11.7 meters away at (-0.6, -11.7). A vehicle with ID 64 is 12.3 meters away at (10.4, 6.6). A unknown object with ID 72 is 13.2 meters away at (-11.3, -6.8). A unknown object with ID 33 is 14.2 meters away at (1.7, -14.1). A unknown object with ID 31 is 15.1 meters away at (1.6, -15.0). A vehicle with ID 30 is 15.5 meters away at (15.3, -2.3). A vehicle with ID 58 is 16.3 meters away at (-3.2, -16.0).

The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.37088996 -1.317159  ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [1.5778186 2.5383086] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 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 unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.6) m/s. Its current heading (yaw) is 1.27

The most relevant actors are: A pedestrian with ID 15 is 10.2 meters away at (3.5, -9.6). A vehicle with ID 23 is 20.4 meters away at (19.9, 4.7). A pedestrian with ID 27 is 22.9 meters away at (-12.5, -19.2). A pedestrian with ID 28 is 23.7 meters away at (-13.2, -19.6). A pedestrian with ID 34 is 33.3 meters away at (32.8, 5.4). A pedestrian with ID 38 is 36.3 meters away at (-8.5, -35.3). A pedestrian with ID 40 is 37.1 meters away at (-8.8, -36.0).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.37753102 2.7283099 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 3.4317396 -1.7045331] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00108183  0.00367214] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.006829    0.00101779] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.00679175 0.01689362] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.02376814  0.0888956 ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.07746183  0.13629681] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.1) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A pedestrian with ID 15 is 8.4 meters away at (5.8, -6.1). A pedestrian with ID 27 is 23.3 meters away at (-12.7, -19.6). A pedestrian with ID 28 is 24.1 meters away at (-13.3, -20.1). A vehicle with ID 23 is 28.4 meters away at (28.4, -0.3). A pedestrian with ID 34 is 33.0 meters away at (32.7, 4.9). A pedestrian with ID 38 is 36.8 meters away at (-8.6, -35.7). A pedestrian with ID 40 is 37.4 meters away at (-9.0, -36.3).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [1.110345  1.4538879] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.00364501 0.01665351] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.01277236 0.02471243] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 5.0727773 -2.757517 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00029409 -0.01462824] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.00828645 -0.25110424] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.01091435 -0.38959846] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.6) m/s. Its current heading (yaw) is 1.20

The most relevant actors are: A pedestrian with ID 1 is 9.5 meters away at (8.7, -3.8). A pedestrian with ID 27 is 24.5 meters away at (-13.0, -20.8). A pedestrian with ID 28 is 25.2 meters away at (-13.7, -21.2). A pedestrian with ID 34 is 32.5 meters away at (32.3, 4.0). A pedestrian with ID 38 is 37.3 meters away at (-8.9, -36.2). A pedestrian with ID 40 is 38.2 meters away at (-9.1, -37.1). A vehicle with ID 23 is 39.9 meters away at (39.2, -7.2). A unknown object with ID 12 is 41.9 meters away at (41.7, -3.8). A unknown object with ID 7 is 47.7 meters away at (46.8, -9.2). A unknown object with ID 20 is 48.5 meters away at (47.6, -9.6).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.454212  1.4197956] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.0038175   0.01629164] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.01220525 0.02244342] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.01105111 0.03135423] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.05660116 0.84884155] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.15906544 0.8497365 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 5.9255986 -3.246901 ] 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 7 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: right u-turn approaching.

(The closest actor is a pedestrian at [ 8.749566  -3.7500849], 9.5193510055542 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.7) m/s. Its current heading (yaw) is 0.90

The most relevant actors are: A pedestrian with ID 1 is 11.8 meters away at (11.2, -3.6). A pedestrian with ID 27 is 25.8 meters away at (-13.6, -21.9). A pedestrian with ID 28 is 26.6 meters away at (-14.3, -22.4). A pedestrian with ID 34 is 31.8 meters away at (31.7, 2.9). A pedestrian with ID 38 is 36.5 meters away at (-9.4, -35.3). A pedestrian with ID 40 is 37.4 meters away at (-9.4, -36.2). A unknown object with ID 12 is 41.4 meters away at (41.1, -4.9). A unknown object with ID 11 is 41.4 meters away at (40.9, -6.3). A unknown object with ID 14 is 42.8 meters away at (42.1, -7.9). A unknown object with ID 16 is 45.1 meters away at (44.2, -8.9).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.6181847  0.27488697] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.03725637 0.00933173] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.00871211  0.00176863] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.01297899 0.00064337] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.11040273 1.0894344 ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.12453653 1.100959  ] 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, -5.9) m/s. Its current heading (yaw) is -2.49

The most relevant actors are: A unknown object with ID 15 is 3.3 meters away at (-2.6, 2.0). A vehicle with ID 18 is 5.3 meters away at (5.2, -0.4). A vehicle with ID 21 is 5.9 meters away at (-1.9, -5.6). A vehicle with ID 20 is 7.2 meters away at (5.6, -4.5). A vehicle with ID 22 is 9.0 meters away at (-0.3, -9.0). A vehicle with ID 23 is 12.4 meters away at (-7.3, -10.0). A unknown object with ID 19 is 17.3 meters away at (16.1, -6.4). A vehicle with ID 24 is 21.1 meters away at (-10.9, -18.0). A vehicle with ID 10 is 36.2 meters away at (-23.5, -27.6). A vehicle with ID 1 is 60.1 meters away at (-42.9, -42.1).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 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 [1.0481956  0.82742363] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.7291281 2.1437068] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [4.946025 3.587378] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.5902748  1.9711633], 3.254997491836548 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, -6.9) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 24 is 8.1 meters away at (7.0, -4.0). A vehicle with ID 23 is 9.6 meters away at (9.2, 2.8). A vehicle with ID 10 is 11.8 meters away at (-2.9, -11.5). A vehicle with ID 21 is 16.3 meters away at (14.6, 7.2). A vehicle with ID 22 is 16.7 meters away at (16.2, 3.8). A vehicle with ID 20 is 23.9 meters away at (22.4, 8.4). A vehicle with ID 18 is 25.2 meters away at (21.9, 12.5). A vehicle with ID 1 is 28.6 meters away at (-17.5, -22.7). A unknown object with ID 19 is 33.5 meters away at (32.8, 6.6). A vehicle with ID 17 is 54.5 meters away at (-39.1, -38.0).

The vehicle with ID 24 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 10 is traveling at a (x, y) velocity of [0.8160185 0.6504744] 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 18 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 [3.8149567 2.781049 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.763195 3.424429] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, -7.7) m/s. Its current heading (yaw) is -2.45

The most relevant actors are: A vehicle with ID 1 is 7.7 meters away at (6.8, -3.5). A vehicle with ID 10 is 16.1 meters away at (15.8, 3.4). A vehicle with ID 17 is 20.6 meters away at (-11.8, -16.9). A vehicle with ID 24 is 27.7 meters away at (25.6, 10.8). A vehicle with ID 6 is 30.7 meters away at (27.9, 12.8). A vehicle with ID 23 is 32.7 meters away at (27.6, 17.5). A vehicle with ID 2 is 34.0 meters away at (-23.3, -24.8). A cyclist with ID 5 is 36.2 meters away at (-31.5, -17.9). A vehicle with ID 22 is 39.3 meters away at (34.6, 18.6). A vehicle with ID 21 is 39.7 meters away at (33.1, 22.0).

The vehicle with ID 1 is traveling at a (x, y) velocity of [1.886644 1.431337] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [3.910899  2.7598426] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 [3.939312  2.8263147] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-3.796994  -2.9349756] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 3.1455066 -6.7748218]
 [ 2.9076116 -6.264    ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, -8.0) m/s. Its current heading (yaw) is -2.44

The most relevant actors are: A vehicle with ID 2 is 4.6 meters away at (2.6, -3.8). A vehicle with ID 17 is 14.2 meters away at (13.7, 3.7). A cyclist with ID 5 is 22.4 meters away at (-20.9, -7.9). A unknown object with ID 3 is 24.4 meters away at (13.5, 20.3). A vehicle with ID 1 is 30.8 meters away at (27.5, 13.7). A pedestrian with ID 14 is 35.3 meters away at (22.9, 26.9). A vehicle with ID 10 is 39.3 meters away at (34.3, 19.2). A vehicle with ID 24 is 52.3 meters away at (44.7, 27.0). A vehicle with ID 23 is 57.0 meters away at (46.3, 33.3). A vehicle with ID 22 is 63.4 meters away at (53.3, 34.4).

The vehicle with ID 2 is traveling at a (x, y) velocity of [3.317345  2.3278646] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.86495   2.0709524] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-3.8608093 -3.0163867] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-2.7224808 -2.3925164] m/s.The vehicle with ID 10 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 3.1455066 -6.7748218]
 [ 2.9076116 -6.264    ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -1.8) m/s. Its current heading (yaw) is -2.03

The most relevant actors are: A vehicle with ID 7 is 31.3 meters away at (-31.2, 2.6). A unknown object with ID 9 is 34.8 meters away at (10.7, -33.1). A vehicle with ID 6 is 47.2 meters away at (-45.2, 13.7). A vehicle with ID 5 is 55.1 meters away at (-51.7, 18.9).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -2.0) m/s. Its current heading (yaw) is -2.42

The most relevant actors are: A vehicle with ID 7 is 29.1 meters away at (-28.3, 6.5). A unknown object with ID 9 is 32.2 meters away at (13.8, -29.1). A vehicle with ID 6 is 45.9 meters away at (-42.4, 17.5). A vehicle with ID 5 is 54.0 meters away at (-49.0, 22.7).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 0.2) m/s. Its current heading (yaw) is 3.10

The most relevant actors are: A vehicle with ID 7 is 23.4 meters away at (-21.6, 9.0). A unknown object with ID 9 is 33.7 meters away at (20.7, -26.5). A vehicle with ID 6 is 40.9 meters away at (-35.6, 20.1). A vehicle with ID 5 is 49.2 meters away at (-42.3, 25.2).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 3.0) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 7 is 13.7 meters away at (-12.6, 5.3). A vehicle with ID 6 is 31.4 meters away at (-26.7, 16.4). A vehicle with ID 5 is 39.4 meters away at (-33.1, 21.3). A unknown object with ID 9 is 42.4 meters away at (29.7, -30.2).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -1.7) m/s. Its current heading (yaw) is -2.73

The most relevant actors are: A unknown object with ID 22 is 28.8 meters away at (-16.8, -23.5). A unknown object with ID 19 is 30.3 meters away at (-18.1, -24.2). A unknown object with ID 20 is 32.5 meters away at (-18.7, -26.6). A unknown object with ID 4 is 54.8 meters away at (-33.4, -43.5). A unknown object with ID 1 is 56.7 meters away at (-34.9, -44.6).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-16.77955  -23.460993], 28.843917846679688 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -3.4) m/s. Its current heading (yaw) is -2.30

The most relevant actors are: A unknown object with ID 22 is 20.5 meters away at (-9.5, -18.2). A unknown object with ID 13 is 20.8 meters away at (-8.9, -18.8). A unknown object with ID 19 is 22.0 meters away at (-10.9, -19.0). A unknown object with ID 20 is 24.2 meters away at (-11.4, -21.3). A unknown object with ID 4 is 46.3 meters away at (-26.2, -38.2). A unknown object with ID 1 is 48.1 meters away at (-27.6, -39.4). A vehicle with ID 11 is 76.4 meters away at (-52.7, -55.3).

The unknown object with ID 22 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ -9.540739 -18.159311], 20.513076782226562 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -3.4) m/s. Its current heading (yaw) is -2.23

The most relevant actors are: A unknown object with ID 22 is 12.1 meters away at (-4.1, -11.4). A unknown object with ID 19 is 13.5 meters away at (-5.6, -12.3). A unknown object with ID 20 is 15.7 meters away at (-6.0, -14.6). A unknown object with ID 4 is 37.7 meters away at (-20.7, -31.5). A unknown object with ID 1 is 39.5 meters away at (-22.2, -32.6). A vehicle with ID 10 is 67.6 meters away at (-47.2, -48.5). A vehicle with ID 11 is 67.8 meters away at (-47.3, -48.6).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-78.26022 -73.9836 ]
 [-78.09257 -73.79814]]

Instruction: Continue straight.

(The closest actor is a unknown object at [ -4.101589 -11.426755], 12.140583038330078 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -3.4) m/s. Its current heading (yaw) is -2.38

The most relevant actors are: A unknown object with ID 22 is 5.3 meters away at (2.0, -4.9). A unknown object with ID 19 is 5.8 meters away at (0.7, -5.7). A unknown object with ID 20 is 8.0 meters away at (0.2, -8.0). A unknown object with ID 15 is 28.5 meters away at (-13.4, -25.1). A unknown object with ID 4 is 28.9 meters away at (-14.5, -24.9). A unknown object with ID 1 is 30.6 meters away at (-15.9, -26.1). A unknown object with ID 2 is 32.7 meters away at (-16.8, -28.0). A vehicle with ID 10 is 58.7 meters away at (-40.9, -42.0). A vehicle with ID 11 is 58.8 meters away at (-41.0, -42.1). A cyclist with ID 18 is 75.2 meters away at (-44.6, -60.6).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [ 11.425288 -10.190851] m/s.

There are active red lights at the following coordinates: [[-78.26022 -73.9836 ]
 [-78.09257 -73.79814]]

Instruction: Continue straight.

(The closest actor is a unknown object at [ 2.042925 -4.85466 ], 5.266997814178467 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 1.9) m/s. Its current heading (yaw) is 0.79

The most relevant actors are: A vehicle with ID 47 is 5.1 meters away at (0.2, -5.1). A vehicle with ID 48 is 10.0 meters away at (-9.9, -1.8). A vehicle with ID 50 is 12.3 meters away at (-5.0, -11.2). A vehicle with ID 51 is 15.6 meters away at (-14.1, -6.7). A vehicle with ID 12 is 18.7 meters away at (17.8, -5.7). A vehicle with ID 52 is 19.8 meters away at (-10.0, -17.1). A vehicle with ID 53 is 21.7 meters away at (-18.3, -11.7). A unknown object with ID 57 is 22.1 meters away at (3.3, 21.8). A unknown object with ID 59 is 23.0 meters away at (2.4, 22.9). A unknown object with ID 49 is 23.2 meters away at (23.1, 0.7).

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 50 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 12 is traveling at a (x, y) velocity of [ 0.7765765 -0.9198823] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 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 (2.8, 0.7) m/s. Its current heading (yaw) is 0.24

The most relevant actors are: A vehicle with ID 47 is 9.2 meters away at (-4.4, -8.0). A vehicle with ID 48 is 15.3 meters away at (-14.5, -4.7). A vehicle with ID 50 is 17.7 meters away at (-10.0, -14.7). A vehicle with ID 12 is 18.6 meters away at (15.3, -10.6). A unknown object with ID 49 is 18.6 meters away at (18.5, -2.1). A unknown object with ID 57 is 19.0 meters away at (-1.4, 19.0). A unknown object with ID 11 is 19.5 meters away at (19.5, -1.0). A unknown object with ID 16 is 19.6 meters away at (-2.1, 19.4). A vehicle with ID 13 is 20.2 meters away at (-12.2, 16.1). A pedestrian with ID 32 is 20.9 meters away at (6.1, 20.0).

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 50 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 [ 1.0900221 -1.1631507] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 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 16 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 [ 1.559882  -1.3666664] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00839816 -1.0166466 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -1.6) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A unknown object with ID 49 is 11.5 meters away at (11.4, -1.5). A unknown object with ID 11 is 12.4 meters away at (12.4, -0.4). A vehicle with ID 47 is 13.6 meters away at (-11.4, -7.4). A vehicle with ID 12 is 15.7 meters away at (10.2, -12.0). A pedestrian with ID 32 is 19.5 meters away at (0.7, 19.5). A vehicle with ID 13 is 20.8 meters away at (-15.7, 13.7). A unknown object with ID 57 is 21.2 meters away at (-8.3, 19.5). A vehicle with ID 50 is 21.9 meters away at (-16.9, -13.9). A vehicle with ID 48 is 21.9 meters away at (-21.6, -4.0). A vehicle with ID 63 is 22.2 meters away at (1.8, 22.1).

The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 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 [ 0.6030391 -0.530722 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [1.0854971  0.27212375] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 2.3924003 -1.9813718] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [11.435446  -1.5075252], 11.534385681152344 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -3.5) m/s. Its current heading (yaw) is -0.67

The most relevant actors are: A unknown object with ID 49 is 4.8 meters away at (3.1, 3.7). A unknown object with ID 11 is 6.3 meters away at (4.1, 4.9). A vehicle with ID 12 is 8.1 meters away at (2.8, -7.6). A vehicle with ID 47 is 19.8 meters away at (-19.7, -2.1). A vehicle with ID 13 is 22.4 meters away at (-17.7, 13.7). A vehicle with ID 6 is 26.2 meters away at (14.4, -21.9). A pedestrian with ID 32 is 26.5 meters away at (-5.5, 25.9). A vehicle with ID 63 is 28.0 meters away at (-6.6, 27.2). A unknown object with ID 57 is 29.9 meters away at (-16.7, 24.8). A vehicle with ID 48 is 29.9 meters away at (-29.9, 1.2).

The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [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 13 is traveling at a (x, y) velocity of [ 3.9893665 -3.1074557] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.9886979 0.7959056] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.6723779 0.7148266] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 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 [3.120533  3.6704352], 4.817656993865967 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -5.9) m/s. Its current heading (yaw) is -1.22

The most relevant actors are: A unknown object with ID 33 is 9.8 meters away at (9.3, 3.0). A unknown object with ID 45 is 18.8 meters away at (12.7, -13.8). A pedestrian with ID 35 is 19.1 meters away at (-1.6, 19.1). A unknown object with ID 46 is 19.6 meters away at (13.0, -14.6). A unknown object with ID 47 is 20.3 meters away at (10.6, -17.3). A unknown object with ID 36 is 21.0 meters away at (-3.5, 20.7). A vehicle with ID 48 is 21.1 meters away at (12.0, -17.4). A unknown object with ID 41 is 22.4 meters away at (-18.6, 12.6). A unknown object with ID 38 is 23.3 meters away at (-1.9, 23.2). A unknown object with ID 42 is 24.0 meters away at (-19.0, 14.7).

The unknown object with ID 33 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 pedestrian with ID 35 is traveling at a (x, y) velocity of [0.0060005  0.01200357] 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [9.3228245 2.959465 ], 9.781282424926758 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -5.8) m/s. Its current heading (yaw) is -1.17

The most relevant actors are: A unknown object with ID 47 is 8.0 meters away at (5.9, -5.4). A unknown object with ID 45 is 8.3 meters away at (8.0, -2.0). A unknown object with ID 46 is 8.8 meters away at (8.3, -2.8). A vehicle with ID 48 is 9.0 meters away at (7.3, -5.2). A pedestrian with ID 39 is 30.4 meters away at (4.2, -30.1). A pedestrian with ID 40 is 30.8 meters away at (2.5, -30.7). A pedestrian with ID 35 is 31.5 meters away at (-6.2, 30.9). A unknown object with ID 36 is 33.5 meters away at (-8.1, 32.5). A unknown object with ID 41 is 33.7 meters away at (-23.2, 24.4). A unknown object with ID 43 is 35.4 meters away at (5.7, -35.0).

The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.57125753  0.3786967 ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.02311691  0.04185611] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.02595607 -0.00256598] 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 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [ 5.919363  -5.4440613], 8.042180061340332 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -5.0) m/s. Its current heading (yaw) is -1.09

The most relevant actors are: A unknown object with ID 47 is 5.9 meters away at (0.6, 5.9). A unknown object with ID 1 is 6.4 meters away at (4.8, 4.3). A vehicle with ID 48 is 6.5 meters away at (2.2, 6.1). A pedestrian with ID 39 is 18.9 meters away at (-1.9, -18.8). A pedestrian with ID 40 is 19.6 meters away at (-2.8, -19.4). A unknown object with ID 43 is 23.7 meters away at (0.5, -23.7). A pedestrian with ID 14 is 24.6 meters away at (-2.4, -24.5). A unknown object with ID 22 is 26.0 meters away at (-0.5, 26.0). A pedestrian with ID 35 is 43.8 meters away at (-11.5, 42.2). A unknown object with ID 41 is 45.8 meters away at (-28.6, 35.8).

The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.15619704 -0.03837707] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.02244767  0.04137134] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.01658613 0.00417637] m/s.The unknown object with ID 22 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 [0.00100204 0.01660074] m/s.The unknown object with ID 41 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 [0.63894176 5.875477  ], 5.910116195678711 meters away.)