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

The most relevant actors are: A vehicle with ID 40 is 10.3 meters away at (2.1, -10.1). A vehicle with ID 48 is 10.5 meters away at (-0.7, -10.5). A vehicle with ID 32 is 11.2 meters away at (4.8, -10.1). A vehicle with ID 31 is 12.5 meters away at (7.6, -9.9). A vehicle with ID 38 is 23.2 meters away at (2.2, -23.1). A vehicle with ID 43 is 23.5 meters away at (5.0, -23.0). A vehicle with ID 50 is 24.4 meters away at (7.9, -23.1). A vehicle with ID 25 is 26.1 meters away at (23.9, -10.6). A vehicle with ID 29 is 33.7 meters away at (24.4, -23.2). A vehicle with ID 20 is 33.9 meters away at (32.3, -10.3).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -2.3) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A pedestrian with ID 45 is 22.9 meters away at (18.4, -13.6). A pedestrian with ID 44 is 26.0 meters away at (-8.1, -24.7). A pedestrian with ID 39 is 45.9 meters away at (10.7, -44.6).

The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.4735147   0.25132874] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.6436466  -0.74624395] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0055364  -0.27819526] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -3.9) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A pedestrian with ID 45 is 7.3 meters away at (3.2, -6.5). A pedestrian with ID 44 is 27.5 meters away at (-18.8, -20.1).

The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.1831853  0.5282868] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.90367454 -0.8857726 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -4.4) m/s. Its current heading (yaw) is -0.51

The most relevant actors are: A pedestrian with ID 45 is 14.6 meters away at (-14.3, 2.8). A pedestrian with ID 44 is 34.5 meters away at (-31.8, -13.5). A unknown object with ID 34 is 66.0 meters away at (60.1, -27.3). A vehicle with ID 9 is 66.0 meters away at (24.8, -61.2). A vehicle with ID 10 is 68.7 meters away at (24.2, -64.2). A vehicle with ID 33 is 71.1 meters away at (24.2, -66.9). A vehicle with ID 43 is 73.6 meters away at (23.9, -69.6). A vehicle with ID 22 is 75.7 meters away at (22.3, -72.3). A vehicle with ID 7 is 76.7 meters away at (38.6, -66.3).

The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.1045173  0.5416694] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 1.0393535  -0.76731974] m/s.The unknown object with ID 34 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -4.5) m/s. Its current heading (yaw) is -0.54

The most relevant actors are: A unknown object with ID 37 is 9.6 meters away at (7.2, 6.3). A vehicle with ID 30 is 11.8 meters away at (-0.9, 11.8). A pedestrian with ID 45 is 34.7 meters away at (-32.3, 12.6). A vehicle with ID 5 is 43.9 meters away at (41.7, -13.5). A pedestrian with ID 44 is 45.5 meters away at (-45.1, -5.9). A vehicle with ID 9 is 53.4 meters away at (9.0, -52.6). A vehicle with ID 10 is 56.4 meters away at (8.5, -55.7). A vehicle with ID 7 is 62.1 meters away at (22.8, -57.7). A vehicle with ID 22 is 63.9 meters away at (6.5, -63.6). A vehicle with ID 31 is 69.1 meters away at (6.3, -68.8).

The unknown object with ID 37 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 pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.134593   0.3839925] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 1.085304   -0.69370747] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.09412698 -0.32481408] m/s.The vehicle with ID 10 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [7.195034 6.346655], 9.594193458557129 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 10.6) m/s. Its current heading (yaw) is 1.91

The most relevant actors are: A vehicle with ID 3 is 60.3 meters away at (-16.5, 58.0).

The vehicle with ID 3 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, 10.6) m/s. Its current heading (yaw) is 1.89

The most relevant actors are: A vehicle with ID 3 is 38.1 meters away at (-9.0, 37.1). A unknown object with ID 6 is 54.8 meters away at (6.1, -54.5).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 10.3) m/s. Its current heading (yaw) is 1.89

The most relevant actors are: A vehicle with ID 3 is 16.2 meters away at (-2.0, 16.0).

The vehicle with ID 3 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 (-3.3, 9.9) m/s. Its current heading (yaw) is 1.89

The most relevant actors are: A vehicle with ID 3 is 6.2 meters away at (4.7, -4.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 2.1) m/s. Its current heading (yaw) is 2.60

The most relevant actors are: A vehicle with ID 30 is 15.5 meters away at (-5.8, 14.4). A vehicle with ID 3 is 18.4 meters away at (-14.8, 11.0). A unknown object with ID 32 is 30.3 meters away at (28.7, -9.8). A vehicle with ID 34 is 33.0 meters away at (0.6, 33.0). A vehicle with ID 33 is 33.4 meters away at (5.4, 33.0). A vehicle with ID 40 is 47.5 meters away at (11.8, 46.0). A pedestrian with ID 5 is 50.4 meters away at (-43.3, 25.7). A vehicle with ID 6 is 52.4 meters away at (-45.5, 26.1). A unknown object with ID 35 is 55.4 meters away at (55.4, 0.3). A vehicle with ID 36 is 57.0 meters away at (56.9, 3.1).

The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.05410343  5.7874794 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.945266  2.90659 ] m/s.The unknown object with ID 32 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 [-2.5413053 -2.9372237] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [5.6512537 7.027881 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-3.9812436 -4.832978 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.5527924  0.7449631] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-18.302603  20.787949]
 [-18.625587  21.001965]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 3.0) m/s. Its current heading (yaw) is 2.47

The most relevant actors are: A vehicle with ID 3 is 20.1 meters away at (-16.0, 12.3). A vehicle with ID 30 is 22.0 meters away at (6.2, 21.1). A vehicle with ID 34 is 23.6 meters away at (3.5, 23.3). A vehicle with ID 40 is 35.8 meters away at (12.6, 33.5). A vehicle with ID 23 is 38.2 meters away at (-30.5, -23.0). A unknown object with ID 32 is 38.3 meters away at (35.4, -14.8). A vehicle with ID 26 is 41.5 meters away at (13.0, 39.5). A pedestrian with ID 5 is 43.7 meters away at (-37.6, 22.2). A vehicle with ID 6 is 44.1 meters away at (-38.6, 21.3). A vehicle with ID 33 is 49.6 meters away at (24.8, 43.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.2347198  3.4870608] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [5.131596  6.4066772] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-1.3341417 -1.5879153] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.3160686 -2.7587802] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [4.8937235 5.9459558] m/s.The unknown object with ID 32 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 [-5.005823  -6.0323515] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.5021952   0.38722306] m/s.The vehicle with ID 6 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 [6.42174  7.594729] m/s.

There are active red lights at the following coordinates: [[-18.302603  20.787949]
 [-18.625587  21.001965]]

Instruction: Slight left turn approaching.


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

The most relevant actors are: A vehicle with ID 34 is 17.7 meters away at (10.5, 14.2). A vehicle with ID 3 is 20.2 meters away at (-16.0, 12.3). A vehicle with ID 23 is 24.4 meters away at (-13.7, -20.2). A vehicle with ID 26 is 25.5 meters away at (13.0, 22.0). A vehicle with ID 40 is 28.7 meters away at (17.8, 22.5). A vehicle with ID 6 is 33.0 meters away at (-29.7, 14.3). A pedestrian with ID 5 is 33.3 meters away at (-29.4, 15.6). A vehicle with ID 4 is 39.1 meters away at (-34.5, 18.3). A vehicle with ID 30 is 39.9 meters away at (27.4, 28.9). A pedestrian with ID 41 is 50.1 meters away at (25.2, 43.3).

The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.5945972 -0.6322208] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.898494   3.7052226] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [2.975031  3.8455973] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-3.9028015 -4.345543 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-1.1255996 -1.1786273] m/s.The vehicle with ID 6 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 [-0.06803093  0.03067685] m/s.The vehicle with ID 4 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 [6.9714365 8.211344 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.2671854 -0.7581954] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.1) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 26 is 18.3 meters away at (16.7, 7.5). A vehicle with ID 3 is 19.5 meters away at (-15.9, 11.3). A vehicle with ID 34 is 20.5 meters away at (19.6, 6.1). A vehicle with ID 6 is 21.1 meters away at (-20.0, 6.7). A pedestrian with ID 5 is 21.1 meters away at (-19.6, 7.8). A vehicle with ID 23 is 22.6 meters away at (0.2, -22.6). A pedestrian with ID 12 is 24.3 meters away at (-24.1, 3.3). A pedestrian with ID 25 is 25.2 meters away at (-24.8, 4.2). A vehicle with ID 4 is 26.9 meters away at (-24.7, 10.6). A vehicle with ID 40 is 29.8 meters away at (26.4, 13.7).

The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.0673115 -2.3406906] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.94685    3.0912294] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.188733   -0.18339157] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [1.2119448 1.573277 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00535125  0.02628104] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.01197537 -0.00378165] m/s.The vehicle with ID 4 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.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 5.9) m/s. Its current heading (yaw) is 1.29

The most relevant actors are: A vehicle with ID 10 is 12.7 meters away at (7.4, 10.4). A vehicle with ID 25 is 16.9 meters away at (-11.1, -12.8). A vehicle with ID 31 is 18.0 meters away at (2.5, -17.8). A pedestrian with ID 30 is 19.3 meters away at (-19.2, -1.7). A pedestrian with ID 32 is 19.9 meters away at (-19.8, -1.9). A pedestrian with ID 33 is 20.3 meters away at (-20.1, -2.4). A vehicle with ID 35 is 22.9 meters away at (-8.6, -21.2). A vehicle with ID 29 is 26.2 meters away at (18.5, -18.6). A vehicle with ID 34 is 33.2 meters away at (-27.4, -18.8). A vehicle with ID 39 is 35.8 meters away at (24.9, -25.8).

The vehicle with ID 10 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 [-8.329634   2.9596796] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-8.650421   3.1704025] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.1832085  -0.51803786] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.1497965 -0.527125 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 1.092032   -0.59521794] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 9.922852  -3.3794997] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-8.81671    3.3970008] m/s.

There are active red lights at the following coordinates: [[-0.5723972 -2.485754 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 6.3) m/s. Its current heading (yaw) is 1.18

The most relevant actors are: A vehicle with ID 10 is 3.6 meters away at (3.0, -1.9). A vehicle with ID 23 is 18.8 meters away at (16.8, 8.4). A vehicle with ID 31 is 30.6 meters away at (-19.0, -24.0). A vehicle with ID 39 is 32.1 meters away at (3.4, -31.9). A vehicle with ID 34 is 44.6 meters away at (-31.8, -31.3). A vehicle with ID 37 is 70.2 meters away at (-19.9, -67.3). A vehicle with ID 38 is 72.1 meters away at (-28.9, -66.0). A vehicle with ID 43 is 77.8 meters away at (-30.6, -71.6).

The vehicle with ID 10 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 31 is traveling at a (x, y) velocity of [-8.649152   3.1211274] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-8.201059  2.919127] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 5.8) m/s. Its current heading (yaw) is 1.10

The most relevant actors are: A vehicle with ID 23 is 11.4 meters away at (10.8, -3.8). A vehicle with ID 10 is 14.2 meters away at (-2.9, -13.9). A pedestrian with ID 6 is 36.6 meters away at (-24.2, -27.4). A pedestrian with ID 7 is 37.4 meters away at (-24.9, -27.9). A vehicle with ID 39 is 42.4 meters away at (-19.2, -37.7). A vehicle with ID 12 is 53.7 meters away at (-37.4, -38.6). A vehicle with ID 34 is 57.3 meters away at (-37.6, -43.3).

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. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.99316484 -0.3713764 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.8599683  -0.44720986] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-8.4108925  2.9267182] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 9.670221  -3.5101209] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-11.573242  -8.665333]
 [-12.752126 -10.534937]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 5.5) m/s. Its current heading (yaw) is 1.18

The most relevant actors are: A vehicle with ID 23 is 16.2 meters away at (5.5, -15.2). A vehicle with ID 10 is 26.6 meters away at (-8.3, -25.3). A pedestrian with ID 6 is 47.9 meters away at (-27.0, -39.6). A pedestrian with ID 7 is 48.6 meters away at (-27.6, -40.0). A pedestrian with ID 9 is 49.5 meters away at (-28.2, -40.6). A vehicle with ID 14 is 53.8 meters away at (38.3, 37.7). A vehicle with ID 21 is 55.3 meters away at (-27.8, -47.8). A vehicle with ID 12 is 61.8 meters away at (-26.7, -55.7). A vehicle with ID 19 is 62.9 meters away at (-33.5, -53.3). A vehicle with ID 8 is 75.7 meters away at (16.5, 73.9).

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. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.2122679  -0.46933454] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.1865406  -0.45359805] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.2409633  -0.53307045] m/s.The vehicle with ID 14 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 [-9.428541   3.3273487] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 9.128532  -3.1899395] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 7.039872  -2.5471153] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 6.8) m/s. Its current heading (yaw) is 1.08

The most relevant actors are: A vehicle with ID 9 is 7.1 meters away at (-0.1, -7.1). A vehicle with ID 12 is 13.0 meters away at (-2.1, -12.8). A vehicle with ID 1 is 14.1 meters away at (13.8, 2.9). A vehicle with ID 15 is 16.6 meters away at (-6.6, -15.3). A pedestrian with ID 14 is 18.3 meters away at (-1.2, -18.3). A vehicle with ID 11 is 25.6 meters away at (-12.4, -22.4). A vehicle with ID 16 is 34.7 meters away at (2.0, -34.7). A vehicle with ID 23 is 40.4 meters away at (-13.7, -38.0). A pedestrian with ID 25 is 43.4 meters away at (-23.5, -36.5). A vehicle with ID 28 is 44.7 meters away at (-29.3, -33.7).

The vehicle with ID 9 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 1 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 [2.6988149 7.984694 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.01769637 -0.0298983 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.9113235 -2.5454168] m/s.The vehicle with ID 16 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 [2.3619113 7.5603504] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.46942523 1.5570579 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 4.2) m/s. Its current heading (yaw) is 1.18

The most relevant actors are: A vehicle with ID 1 is 11.6 meters away at (7.8, -8.6). A vehicle with ID 15 is 13.0 meters away at (-7.2, -10.8). A vehicle with ID 9 is 19.5 meters away at (-6.1, -18.5). A vehicle with ID 12 is 25.9 meters away at (-8.2, -24.6). A pedestrian with ID 14 is 30.8 meters away at (-7.5, -29.9). A vehicle with ID 23 is 37.3 meters away at (-15.1, -34.1). A vehicle with ID 11 is 42.6 meters away at (-19.8, -37.7). A pedestrian with ID 25 is 53.2 meters away at (-28.8, -44.7). A vehicle with ID 27 is 56.7 meters away at (-20.7, -52.8). A vehicle with ID 28 is 57.4 meters away at (-35.5, -45.1).

The vehicle with ID 1 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 [2.7374518 7.898665 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00826737  0.02652786] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [2.3469687 7.970322 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.718365  -2.0272179] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.5449597 1.3993163] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.4458072 8.448101 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-13.495346 -22.788244]
 [-14.67423  -24.657848]]

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 1.30

The most relevant actors are: A vehicle with ID 15 is 3.5 meters away at (-3.5, -0.0). A vehicle with ID 1 is 14.4 meters away at (6.1, -13.1). A vehicle with ID 9 is 24.3 meters away at (-7.9, -23.0). A vehicle with ID 23 is 25.4 meters away at (-11.8, -22.4). A unknown object with ID 2 is 26.4 meters away at (14.0, 22.4). A vehicle with ID 12 is 30.8 meters away at (-10.0, -29.1). A pedestrian with ID 14 is 35.5 meters away at (-9.4, -34.3). A vehicle with ID 27 is 44.6 meters away at (-17.5, -41.0). A vehicle with ID 3 is 53.1 meters away at (-22.2, -48.2). A pedestrian with ID 25 is 55.0 meters away at (-29.4, -46.5).

The vehicle with ID 15 is traveling at a (x, y) velocity of [2.5956023 7.4063373] m/s.The vehicle with ID 1 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 23 is traveling at a (x, y) velocity of [2.7548707 8.177932 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.02625632 -0.0037294 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.3335528 8.113668 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.0636702 -4.956683 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.41338143 1.3613824 ] m/s.

There are active red lights at the following coordinates: [[-13.495346 -22.788244]
 [-14.67423  -24.657848]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.30

The most relevant actors are: A vehicle with ID 23 is 9.0 meters away at (-6.1, -6.5). A vehicle with ID 1 is 14.6 meters away at (5.9, -13.3). A vehicle with ID 15 is 14.6 meters away at (2.0, 14.5). A vehicle with ID 9 is 24.7 meters away at (-8.0, -23.3). A unknown object with ID 2 is 26.1 meters away at (13.9, 22.1). A vehicle with ID 27 is 28.1 meters away at (-12.7, -25.1). A vehicle with ID 12 is 31.0 meters away at (-10.0, -29.4). A pedestrian with ID 14 is 35.8 meters away at (-9.5, -34.5). A pedestrian with ID 25 is 52.5 meters away at (-28.5, -44.0). A vehicle with ID 3 is 58.9 meters away at (-14.0, -57.2).

The vehicle with ID 23 is traveling at a (x, y) velocity of [2.9574585 7.859007 ] m/s.The vehicle with ID 1 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 [2.887868 7.072893] m/s.The vehicle with ID 9 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 27 is traveling at a (x, y) velocity of [2.6628401 8.155392 ] m/s.The vehicle with ID 12 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 [-0.00026602 -0.00659621] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.2548821 1.3286881] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 6.2634263 -3.8766007] m/s.

There are active red lights at the following coordinates: [[-13.495346 -22.788244]
 [-14.67423  -24.657848]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -5.2) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A pedestrian with ID 23 is 14.6 meters away at (-14.3, 2.7). A unknown object with ID 38 is 22.8 meters away at (-4.7, 22.3). A unknown object with ID 39 is 23.5 meters away at (-4.8, 23.0). A unknown object with ID 40 is 23.6 meters away at (-4.8, 23.1). A unknown object with ID 41 is 23.8 meters away at (-5.1, 23.3). A pedestrian with ID 18 is 24.4 meters away at (-4.3, -24.0). A vehicle with ID 45 is 31.8 meters away at (-30.1, -10.3). A vehicle with ID 36 is 36.9 meters away at (-25.7, -26.4). A pedestrian with ID 48 is 37.7 meters away at (-27.9, -25.4). A vehicle with ID 37 is 41.1 meters away at (-23.4, -33.7).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.5733449 -1.2641925] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.67246276 -1.6163117 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.03448962 -0.01495892] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-15.910568  40.238514]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -4.7) m/s. Its current heading (yaw) is -2.00

The most relevant actors are: A pedestrian with ID 23 is 15.0 meters away at (-10.9, 10.3). A pedestrian with ID 18 is 17.2 meters away at (-1.4, -17.2). A vehicle with ID 45 is 25.8 meters away at (-25.8, -0.3). A vehicle with ID 26 is 26.8 meters away at (-21.9, 15.5). A vehicle with ID 36 is 27.0 meters away at (-21.4, -16.4). A vehicle with ID 37 is 29.8 meters away at (-19.2, -22.8). A unknown object with ID 38 is 32.2 meters away at (-0.4, 32.2). A unknown object with ID 39 is 32.8 meters away at (-0.5, 32.8). A unknown object with ID 40 is 33.0 meters away at (-0.5, 33.0). A unknown object with ID 41 is 33.2 meters away at (-0.9, 33.2).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.47031024 -1.1817541 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6689899 -1.541487 ] m/s.The vehicle with ID 45 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 [-0.7353463 -2.504436 ] m/s.The vehicle with ID 36 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 [0.02209037 0.601954  ] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -4.7) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A pedestrian with ID 18 is 10.7 meters away at (1.3, -10.7). A vehicle with ID 36 is 18.7 meters away at (-17.3, -7.0). A vehicle with ID 27 is 18.7 meters away at (-11.8, -14.5). A pedestrian with ID 23 is 19.1 meters away at (-8.0, 17.3). A vehicle with ID 37 is 19.6 meters away at (-14.9, -12.7). A vehicle with ID 45 is 23.5 meters away at (-21.7, 9.1). A vehicle with ID 26 is 26.9 meters away at (-17.9, 20.1). A pedestrian with ID 2 is 28.8 meters away at (-20.2, -20.4). A pedestrian with ID 29 is 29.6 meters away at (-28.6, -7.6). A unknown object with ID 35 is 32.3 meters away at (-7.4, -31.5).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.58170563 -1.3583659 ] m/s.The vehicle with ID 36 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 [4.26437  9.857475] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.51984906 -1.3209339 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 0.6091676 -1.7288398] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.04284239 -0.04921814] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.00296938 -0.00665687] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -4.9) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A pedestrian with ID 18 is 5.9 meters away at (3.9, -4.3). A vehicle with ID 37 is 11.0 meters away at (-10.7, -2.9). A vehicle with ID 27 is 12.4 meters away at (-0.3, 12.4). A vehicle with ID 36 is 13.4 meters away at (-13.2, 2.3). A pedestrian with ID 4 is 16.8 meters away at (-14.6, -8.4). A pedestrian with ID 2 is 19.6 meters away at (-16.2, -11.1). A pedestrian with ID 23 is 24.3 meters away at (-4.6, 23.8). A vehicle with ID 45 is 25.4 meters away at (-17.6, 18.3). A vehicle with ID 22 is 26.7 meters away at (10.5, 24.5). A vehicle with ID 26 is 30.2 meters away at (-12.5, 27.5).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6767485 -1.4740617] m/s.The vehicle with ID 37 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 [3.459335 7.973345] m/s.The vehicle with ID 36 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 [0.04052452 0.1141522 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.0016969   0.00364321] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.51706225 -1.3065981 ] m/s.The vehicle with ID 45 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 [-3.1340938 -6.8759437] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 0.6174985  -0.51544195] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 4.3) m/s. Its current heading (yaw) is 2.52

The most relevant actors are: A pedestrian with ID 32 is 10.9 meters away at (-0.6, -10.9). A pedestrian with ID 31 is 11.5 meters away at (0.1, -11.5). A vehicle with ID 33 is 27.0 meters away at (11.0, -24.6). A vehicle with ID 43 is 36.4 meters away at (18.3, 31.5). A vehicle with ID 36 is 36.9 meters away at (13.6, 34.3). A vehicle with ID 41 is 36.9 meters away at (23.2, 28.7). A vehicle with ID 30 is 39.4 meters away at (-37.1, 13.2). A vehicle with ID 48 is 51.5 meters away at (-4.4, 51.4). A cyclist with ID 44 is 51.9 meters away at (-17.2, 48.9). A vehicle with ID 3 is 53.0 meters away at (-50.7, 15.7).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.06656961 -0.00800786] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.13970558  0.2423369 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 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 cyclist with ID 44 is traveling at a (x, y) velocity of [-8.407558   5.0260606] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 4.0) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A unknown object with ID 22 is 4.5 meters away at (3.0, 3.3). A pedestrian with ID 32 is 22.3 meters away at (11.3, -19.2). A pedestrian with ID 31 is 23.0 meters away at (11.9, -19.7). A vehicle with ID 30 is 25.7 meters away at (-25.2, 4.9). A vehicle with ID 36 is 36.4 meters away at (25.3, 26.1). A vehicle with ID 43 is 38.0 meters away at (30.1, 23.3). A vehicle with ID 3 is 39.2 meters away at (-38.5, 7.2). A vehicle with ID 2 is 39.6 meters away at (-38.2, 10.7). A vehicle with ID 4 is 40.1 meters away at (-40.0, 2.2). A vehicle with ID 33 is 40.1 meters away at (22.9, -32.9).

The unknown object with ID 22 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 [-0.00519512  0.01301884] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.02268442  0.00811296] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [3.0450974 3.2689304], 4.467496395111084 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 3.7) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A pedestrian with ID 20 is 10.4 meters away at (-8.0, -6.7). A vehicle with ID 30 is 14.3 meters away at (-14.0, -2.7). A vehicle with ID 2 is 27.2 meters away at (-27.1, 3.0). A vehicle with ID 3 is 27.8 meters away at (-27.8, -0.2). A vehicle with ID 4 is 29.3 meters away at (-28.8, -5.4). A pedestrian with ID 8 is 31.7 meters away at (-3.7, 31.5). A pedestrian with ID 32 is 35.0 meters away at (22.4, -26.8). A pedestrian with ID 31 is 35.8 meters away at (23.1, -27.3). A vehicle with ID 48 is 39.9 meters away at (18.7, 35.2). A vehicle with ID 36 is 40.9 meters away at (36.5, 18.4).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.02142727 -0.03379142] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.8717301 -0.5769194] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.01546852 -0.02520171] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00841664 -0.01622966] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 2.6) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A vehicle with ID 30 is 10.0 meters away at (-4.3, -9.1). A pedestrian with ID 13 is 14.8 meters away at (-7.4, -12.9). A vehicle with ID 2 is 17.6 meters away at (-17.2, -3.4). A vehicle with ID 3 is 19.3 meters away at (-18.2, -6.5). A vehicle with ID 4 is 22.4 meters away at (-19.0, -11.9). A pedestrian with ID 8 is 25.2 meters away at (8.1, 23.8). A pedestrian with ID 32 is 46.2 meters away at (32.1, -33.2). A pedestrian with ID 31 is 46.9 meters away at (32.7, -33.5). A vehicle with ID 36 is 47.9 meters away at (46.4, 12.0). A vehicle with ID 43 is 51.8 meters away at (51.0, 9.2).

The vehicle with ID 30 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 [-0.08190444  0.00512996] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.8959429 -0.7437921] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.03646615 0.02091488] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.03987246  0.039204  ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.6) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 31 is 16.2 meters away at (14.6, -7.2). A vehicle with ID 17 is 21.6 meters away at (-2.3, 21.5). A vehicle with ID 32 is 23.0 meters away at (19.9, -11.7). A vehicle with ID 33 is 34.0 meters away at (-14.3, -30.9). A unknown object with ID 36 is 34.4 meters away at (-24.0, 24.5). A unknown object with ID 35 is 55.2 meters away at (10.1, -54.3). A pedestrian with ID 4 is 72.5 meters away at (-53.3, 49.2). A pedestrian with ID 3 is 73.5 meters away at (-53.2, 50.6).

The vehicle with ID 31 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.223068   0.37649757] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.16058932 0.1572804 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 5.4) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 31 is 32.7 meters away at (27.3, -18.1). A vehicle with ID 32 is 39.7 meters away at (32.7, -22.7). A vehicle with ID 33 is 41.7 meters away at (-1.8, -41.7). A pedestrian with ID 4 is 55.4 meters away at (-40.3, 38.1). A pedestrian with ID 3 is 56.7 meters away at (-40.5, 39.6).

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 33 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 [ 0.4350693  -0.33880714] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.02070034 -0.05063878] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.9) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 27 is 3.4 meters away at (0.4, 3.4). A unknown object with ID 25 is 4.6 meters away at (-0.9, 4.5). A unknown object with ID 28 is 35.3 meters away at (-19.6, -29.4). A pedestrian with ID 4 is 39.8 meters away at (-28.4, 28.0). A pedestrian with ID 3 is 40.8 meters away at (-28.7, 29.0). A vehicle with ID 31 is 48.3 meters away at (39.2, -28.2). A vehicle with ID 33 is 52.6 meters away at (10.3, -51.6). A vehicle with ID 32 is 55.3 meters away at (44.5, -32.9).

The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 [-0.01972683  0.01246757] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.17669849 -0.263105  ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 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 [0.44691467 3.355442  ], 3.385073661804199 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.3) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 25 is 10.6 meters away at (9.6, -4.5). A unknown object with ID 27 is 12.3 meters away at (11.0, -5.7). A pedestrian with ID 4 is 25.8 meters away at (-17.6, 18.9). A pedestrian with ID 3 is 27.0 meters away at (-18.2, 19.9). A unknown object with ID 28 is 39.6 meters away at (-9.1, -38.5). A vehicle with ID 2 is 49.4 meters away at (-29.9, 39.3). A vehicle with ID 31 is 62.1 meters away at (49.7, -37.3). A vehicle with ID 9 is 65.8 meters away at (-64.9, -10.6).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.07479418 0.01100871] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.06385044 -0.0145053 ] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 9.645962 -4.491379], 10.640350341796875 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -4.8) m/s. Its current heading (yaw) is -2.05

The most relevant actors are: A vehicle with ID 16 is 9.0 meters away at (-7.8, -4.7). A vehicle with ID 50 is 14.1 meters away at (-2.9, 13.8). A unknown object with ID 52 is 21.4 meters away at (9.9, 19.0). A unknown object with ID 51 is 21.4 meters away at (4.4, 21.0). A unknown object with ID 56 is 25.4 meters away at (25.3, -1.6). A unknown object with ID 53 is 25.8 meters away at (-4.4, 25.4). A unknown object with ID 57 is 26.3 meters away at (26.3, -0.5). A unknown object with ID 18 is 26.3 meters away at (14.0, 22.3). A vehicle with ID 54 is 26.6 meters away at (-15.9, 21.4). A unknown object with ID 55 is 32.6 meters away at (-10.7, 30.9).

The vehicle with ID 16 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 [ 2.1463025 -1.8926356] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -5.0) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 16 is 4.9 meters away at (-0.6, 4.8). A vehicle with ID 50 is 20.9 meters away at (10.4, 18.2). A vehicle with ID 15 is 25.3 meters away at (-19.2, -16.5). A unknown object with ID 44 is 28.8 meters away at (24.8, -14.7). A vehicle with ID 10 is 30.3 meters away at (-20.3, -22.5). A vehicle with ID 54 is 32.1 meters away at (-8.5, 31.0). A unknown object with ID 51 is 32.8 meters away at (11.7, 30.6). A pedestrian with ID 29 is 33.3 meters away at (22.6, 24.4). A unknown object with ID 56 is 33.6 meters away at (32.6, 8.0). A unknown object with ID 57 is 34.8 meters away at (33.6, 9.1).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 3.7404008 -3.5101924] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.2392035 -2.5756233] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01817032 -0.00277152] m/s.The unknown object with ID 56 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -4.8) m/s. Its current heading (yaw) is -2.30

The most relevant actors are: A vehicle with ID 33 is 7.8 meters away at (-0.5, -7.8). A vehicle with ID 15 is 12.2 meters away at (-10.2, -6.6). A vehicle with ID 16 is 17.0 meters away at (8.4, 14.8). A vehicle with ID 10 is 21.2 meters away at (-14.2, -15.7). A pedestrian with ID 14 is 28.9 meters away at (-23.4, -17.0). A vehicle with ID 50 is 34.5 meters away at (28.3, 19.6). A vehicle with ID 54 is 40.9 meters away at (0.4, 40.9). A unknown object with ID 53 is 46.5 meters away at (12.0, 44.9). A pedestrian with ID 29 is 46.6 meters away at (31.5, 34.3). A unknown object with ID 55 is 50.7 meters away at (5.9, 50.4).

The vehicle with ID 33 is traveling at a (x, y) velocity of [7.0359583 7.9750233] 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 vehicle with ID 10 is traveling at a (x, y) velocity of [-1.0570809 -1.1878422] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0068735 -1.2674127] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 5.374791 -5.157772] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.02375063 -0.01141148] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -2.9) m/s. Its current heading (yaw) is -2.31

The most relevant actors are: A vehicle with ID 15 is 3.5 meters away at (-3.4, 1.0). A vehicle with ID 10 is 14.1 meters away at (-9.9, -10.1). A pedestrian with ID 14 is 21.9 meters away at (-18.6, -11.5). A vehicle with ID 33 is 24.0 meters away at (19.0, 14.6). A vehicle with ID 16 is 27.3 meters away at (15.4, 22.5). A vehicle with ID 13 is 38.7 meters away at (-22.0, -31.8). A vehicle with ID 1 is 44.0 meters away at (-31.1, -31.1). A vehicle with ID 54 is 49.1 meters away at (7.3, 48.5). A vehicle with ID 3 is 50.9 meters away at (-35.6, -36.4). A vehicle with ID 25 is 54.0 meters away at (6.6, 53.6).

The vehicle with ID 15 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 [-1.9099103  -0.95524746] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0031896 -1.114357 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [5.091718  6.0216513] m/s.The vehicle 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 [6.284795  7.4714227] m/s.The vehicle with ID 1 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 3 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 [ 5.2391987 -4.625446 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.8) m/s. Its current heading (yaw) is -0.63

The most relevant actors are: A vehicle with ID 10 is 10.8 meters away at (10.1, 3.8). A pedestrian with ID 19 is 21.5 meters away at (9.0, 19.5). A vehicle with ID 16 is 23.3 meters away at (15.8, -17.1). A unknown object with ID 25 is 27.8 meters away at (12.6, -24.8). A pedestrian with ID 20 is 27.8 meters away at (16.0, -22.7). A pedestrian with ID 22 is 31.1 meters away at (27.1, 15.3). A vehicle with ID 26 is 31.1 meters away at (12.0, -28.7). A unknown object with ID 13 is 31.8 meters away at (31.5, 4.7). A pedestrian with ID 18 is 32.6 meters away at (15.0, -28.9). A pedestrian with ID 21 is 36.1 meters away at (-14.4, 33.1).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.0381904  5.163547 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.92072666  0.56359243] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [3.591899  6.1566777] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.1292436   0.04704577] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.5099245   0.12045603] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.79255205 -1.1158113 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.1049583 -0.8094559] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A vehicle with ID 10 is 14.4 meters away at (-3.2, 14.0). A pedestrian with ID 19 is 21.8 meters away at (7.6, 20.4). A vehicle with ID 16 is 23.2 meters away at (23.1, -2.4). A pedestrian with ID 20 is 26.3 meters away at (14.7, -21.8). A unknown object with ID 25 is 27.2 meters away at (12.0, -24.4). A pedestrian with ID 22 is 28.4 meters away at (23.7, 15.7). A vehicle with ID 26 is 30.4 meters away at (11.4, -28.2). A unknown object with ID 13 is 31.4 meters away at (31.0, 5.1). A pedestrian with ID 21 is 34.2 meters away at (-12.4, 31.8). A vehicle with ID 15 is 36.7 meters away at (6.5, -36.1).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-7.250858   4.4686174] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.584486    0.32284626] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [4.1068554 7.6064906] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.5124791  0.2697976] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.4828746  0.0508869] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.178294   -0.77994275] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A pedestrian with ID 19 is 22.0 meters away at (6.6, 21.0). A pedestrian with ID 20 is 25.4 meters away at (13.9, -21.2). A pedestrian with ID 22 is 26.1 meters away at (20.7, 15.8). A unknown object with ID 25 is 27.1 meters away at (12.0, -24.3). A vehicle with ID 10 is 30.1 meters away at (-18.6, 23.7). A vehicle with ID 26 is 30.4 meters away at (11.4, -28.2). A unknown object with ID 13 is 31.4 meters away at (30.9, 5.1). A pedestrian with ID 21 is 31.8 meters away at (-9.9, 30.3). A vehicle with ID 16 is 33.7 meters away at (31.3, 12.5). A vehicle with ID 15 is 36.7 meters away at (6.5, -36.1).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7328745   0.43304428] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.6130672  0.3979578] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.5794629   0.17333643] m/s.The unknown object with ID 25 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 [-8.140186   5.2644176] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.1267649 -0.8371423] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [4.326745 7.298886] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A pedestrian with ID 19 is 22.4 meters away at (5.7, 21.7). A pedestrian with ID 20 is 23.2 meters away at (11.6, -20.1). A pedestrian with ID 22 is 24.1 meters away at (17.8, 16.2). A unknown object with ID 25 is 27.1 meters away at (11.9, -24.3). A pedestrian with ID 21 is 29.5 meters away at (-7.4, 28.5). A vehicle with ID 26 is 30.4 meters away at (11.3, -28.3). A unknown object with ID 13 is 31.4 meters away at (30.9, 5.1). A vehicle with ID 15 is 36.7 meters away at (6.4, -36.1). A vehicle with ID 29 is 44.0 meters away at (41.7, -14.1). A vehicle with ID 16 is 48.8 meters away at (40.5, 27.4).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.4617985  0.313387 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.2176791  0.570383 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.5891489  0.3670602] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.126102  -0.8649771] m/s.The vehicle with ID 26 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 15 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 16 is traveling at a (x, y) velocity of [4.63221  7.499092] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.7) m/s. Its current heading (yaw) is 2.51

The most relevant actors are: A unknown object with ID 3 is 12.4 meters away at (-7.2, 10.1). A pedestrian with ID 42 is 23.6 meters away at (-14.4, 18.7). A unknown object with ID 41 is 41.6 meters away at (-41.3, -4.4). A vehicle with ID 43 is 45.7 meters away at (45.5, 4.5). A unknown object with ID 12 is 46.6 meters away at (-45.3, -11.2). A vehicle with ID 45 is 52.3 meters away at (40.8, -32.7). A unknown object with ID 23 is 53.0 meters away at (-41.9, -32.5). A unknown object with ID 31 is 56.4 meters away at (-27.4, -49.4). A vehicle with ID 46 is 59.4 meters away at (-52.8, -27.2). A pedestrian with ID 47 is 68.7 meters away at (24.4, -64.2).

The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 1.2976506  -0.51889163] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 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 [-7.506682   5.2509828] 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.16589242 0.03000088] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.50

The most relevant actors are: A pedestrian with ID 42 is 20.9 meters away at (-11.4, 17.6). A vehicle with ID 45 is 35.3 meters away at (27.5, -22.2). A unknown object with ID 10 is 38.4 meters away at (-30.6, -23.2). A pedestrian with ID 4 is 39.4 meters away at (-39.1, 4.8). A unknown object with ID 41 is 41.2 meters away at (-40.9, -4.8). A vehicle with ID 43 is 46.3 meters away at (46.1, 4.0). A unknown object with ID 12 is 46.4 meters away at (-44.9, -11.5). A unknown object with ID 5 is 46.8 meters away at (-15.6, -44.2). A vehicle with ID 14 is 51.6 meters away at (-42.5, -29.3). A unknown object with ID 23 is 52.9 meters away at (-41.5, -32.8).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 1.3254454  -0.46881837] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-6.082789   5.0038295] m/s.The unknown object with ID 10 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 [-0.00346841  0.0015037 ] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 2.6) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A pedestrian with ID 42 is 15.3 meters away at (-6.4, 13.9). A vehicle with ID 45 is 25.2 meters away at (19.6, -15.8). A unknown object with ID 40 is 38.6 meters away at (-37.5, -9.3). A unknown object with ID 41 is 38.7 meters away at (-38.0, -7.2). A unknown object with ID 24 is 42.4 meters away at (-33.9, -25.6). A vehicle with ID 43 is 49.0 meters away at (49.0, 1.7). A vehicle with ID 46 is 57.7 meters away at (-49.5, -29.6). A pedestrian with ID 47 is 72.5 meters away at (27.8, -67.0). A vehicle with ID 48 is 73.4 meters away at (27.1, -68.2).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 1.0000468 -0.6869822] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-4.5635056  3.8596032] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.08445228 -0.01974765] m/s.The vehicle with ID 48 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 (-4.6, 4.0) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A pedestrian with ID 42 is 6.7 meters away at (2.9, 6.0). A vehicle with ID 45 is 24.6 meters away at (19.1, -15.5). A unknown object with ID 41 is 33.0 meters away at (-29.8, -14.1). A unknown object with ID 40 is 33.5 meters away at (-29.3, -16.3). A unknown object with ID 19 is 39.7 meters away at (-33.8, -20.8). A unknown object with ID 22 is 41.1 meters away at (-33.1, -24.4). A pedestrian with ID 6 is 42.4 meters away at (-25.7, -33.8). A vehicle with ID 18 is 49.0 meters away at (-30.9, -37.9). A pedestrian with ID 29 is 53.0 meters away at (-40.2, -34.5). A vehicle with ID 20 is 54.6 meters away at (-40.3, -36.8).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.47430605 -0.20217392] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-4.0363936  3.5656488] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.0671519   0.11380704] m/s.The vehicle with ID 18 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 [-0.02541477  0.01331262] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [2.9223337 6.03697  ], 6.707088947296143 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.7) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A unknown object with ID 18 is 16.3 meters away at (-11.9, 11.1). A unknown object with ID 21 is 17.7 meters away at (-13.8, 11.1). A unknown object with ID 9 is 19.1 meters away at (-13.4, 13.6). A unknown object with ID 25 is 19.5 meters away at (-15.8, 11.4). A unknown object with ID 10 is 21.3 meters away at (-17.6, 12.0). A unknown object with ID 13 is 23.2 meters away at (-19.3, 13.0). A unknown object with ID 14 is 23.9 meters away at (-19.9, 13.3). A unknown object with ID 17 is 25.2 meters away at (-21.0, 13.8). A unknown object with ID 19 is 27.0 meters away at (-22.7, 14.7). A unknown object with ID 20 is 28.9 meters away at (-24.3, 15.5).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.

There are active red lights at the following coordinates: [[16.99735  -8.10802 ]
 [15.272939 -3.004614]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-11.876772  11.141402], 16.284610748291016 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A unknown object with ID 18 is 17.1 meters away at (-12.6, 11.5). A unknown object with ID 21 is 18.5 meters away at (-14.6, 11.5). A unknown object with ID 9 is 20.0 meters away at (-14.3, 14.0). A unknown object with ID 25 is 20.3 meters away at (-16.5, 11.8). A unknown object with ID 10 is 22.3 meters away at (-18.5, 12.5). A vehicle with ID 36 is 32.9 meters away at (-25.8, 20.5). A unknown object with ID 28 is 39.4 meters away at (-32.4, 22.3). A unknown object with ID 30 is 50.4 meters away at (-46.9, 18.5). A unknown object with ID 38 is 50.4 meters away at (-45.9, 21.0). A unknown object with ID 39 is 51.7 meters away at (-46.2, 23.2).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[16.99735  -8.10802 ]
 [15.272939 -3.004614]]

Instruction: Sharp left turn approaching


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

The most relevant actors are: A unknown object with ID 18 is 17.3 meters away at (-12.8, 11.6). A unknown object with ID 21 is 18.7 meters away at (-14.7, 11.5). A unknown object with ID 9 is 20.1 meters away at (-14.5, 14.0). A unknown object with ID 25 is 20.4 meters away at (-16.6, 11.8). A unknown object with ID 10 is 22.5 meters away at (-18.6, 12.5). A vehicle with ID 36 is 32.9 meters away at (-25.8, 20.5). A unknown object with ID 28 is 39.5 meters away at (-32.6, 22.4). A unknown object with ID 30 is 50.6 meters away at (-47.0, 18.6). A unknown object with ID 38 is 50.6 meters away at (-46.0, 21.0). A unknown object with ID 39 is 51.8 meters away at (-46.3, 23.2).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[16.99735  -8.10802 ]
 [15.272939 -3.004614]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-12.792313  11.59387 ], 17.264446258544922 meters away.)


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

The most relevant actors are: A unknown object with ID 18 is 17.3 meters away at (-12.8, 11.6). A unknown object with ID 21 is 18.8 meters away at (-14.8, 11.5). A unknown object with ID 9 is 20.2 meters away at (-14.5, 14.0). A unknown object with ID 25 is 20.4 meters away at (-16.7, 11.8). A vehicle with ID 36 is 32.9 meters away at (-25.8, 20.5). A unknown object with ID 28 is 39.6 meters away at (-32.6, 22.4). A pedestrian with ID 3 is 49.2 meters away at (38.5, -30.7). A unknown object with ID 30 is 50.6 meters away at (-47.0, 18.7). A unknown object with ID 38 is 50.6 meters away at (-46.1, 21.1). A unknown object with ID 39 is 51.9 meters away at (-46.4, 23.3).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.5031362 -1.3298589] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[16.99735  -8.10802 ]
 [15.272939 -3.004614]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-12.837076  11.600285], 17.301939010620117 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -6.2) m/s. Its current heading (yaw) is -0.81

The most relevant actors are: A vehicle with ID 54 is 4.2 meters away at (-1.9, -3.8). A vehicle with ID 52 is 5.5 meters away at (-5.5, -0.1). A vehicle with ID 56 is 7.7 meters away at (1.8, -7.5). A vehicle with ID 50 is 9.9 meters away at (-9.1, 3.8). A vehicle with ID 58 is 12.6 meters away at (5.7, -11.3). A vehicle with ID 48 is 14.5 meters away at (-12.2, 7.8). A vehicle with ID 59 is 17.9 meters away at (9.7, -15.1). A vehicle with ID 47 is 20.5 meters away at (-15.2, 13.8). A vehicle with ID 61 is 22.9 meters away at (13.2, -18.7). A vehicle with ID 60 is 23.1 meters away at (22.7, -4.2).

The vehicle with ID 54 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 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 58 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 59 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 61 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.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -6.2) m/s. Its current heading (yaw) is -0.78

The most relevant actors are: A vehicle with ID 59 is 3.8 meters away at (-2.5, -2.9). A vehicle with ID 61 is 6.4 meters away at (0.9, -6.3). A vehicle with ID 58 is 6.6 meters away at (-6.5, 1.0). A vehicle with ID 63 is 11.0 meters away at (4.5, -10.0). A vehicle with ID 56 is 11.3 meters away at (-10.3, 4.7). A vehicle with ID 60 is 13.4 meters away at (10.5, 8.3). A vehicle with ID 62 is 14.0 meters away at (12.5, 6.2). A vehicle with ID 64 is 15.7 meters away at (8.1, -13.5). A vehicle with ID 54 is 16.5 meters away at (-14.1, 8.6). A vehicle with ID 44 is 20.6 meters away at (11.7, -16.9).

The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 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 44 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 (6.5, -6.4) m/s. Its current heading (yaw) is -0.78

The most relevant actors are: A vehicle with ID 44 is 4.5 meters away at (-0.9, -4.4). A vehicle with ID 64 is 4.6 meters away at (-4.5, -1.0). A vehicle with ID 63 is 8.3 meters away at (-8.0, 2.5). A vehicle with ID 31 is 8.5 meters away at (2.7, -8.0). A vehicle with ID 61 is 13.2 meters away at (-11.7, 6.2). A vehicle with ID 59 is 18.1 meters away at (-15.2, 9.8). A vehicle with ID 62 is 18.8 meters away at (-0.1, 18.8). A pedestrian with ID 45 is 19.4 meters away at (18.7, -5.5). A pedestrian with ID 46 is 20.4 meters away at (19.7, -5.2). A vehicle with ID 60 is 20.8 meters away at (-2.2, 20.7).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.05341439 -0.03568602] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.01376949 0.00399342] m/s.The vehicle with ID 60 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 (6.7, -6.7) m/s. Its current heading (yaw) is -0.78

The most relevant actors are: A pedestrian with ID 45 is 9.3 meters away at (5.5, 7.5). A pedestrian with ID 46 is 10.2 meters away at (6.6, 7.8). A vehicle with ID 31 is 11.5 meters away at (-10.4, 5.0). A vehicle with ID 35 is 11.8 meters away at (-8.6, -8.0). A vehicle with ID 44 is 16.5 meters away at (-14.0, 8.7). A vehicle with ID 26 is 18.8 meters away at (10.5, -15.6). A vehicle with ID 43 is 19.1 meters away at (-12.6, -14.3). A vehicle with ID 64 is 21.4 meters away at (-17.6, 12.2). A vehicle with ID 25 is 23.6 meters away at (14.0, -18.9). A vehicle with ID 63 is 26.4 meters away at (-21.2, 15.7).

The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.01747855 -0.00852169] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.00501682 -0.02495664] 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 44 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 pedestrian at [5.511078  7.5111923], 9.31611442565918 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 43 is 11.9 meters away at (-4.4, 11.0). A pedestrian with ID 25 is 14.9 meters away at (-4.6, 14.2). A pedestrian with ID 37 is 15.3 meters away at (-3.5, 14.9). A vehicle with ID 38 is 17.1 meters away at (-7.7, 15.3). A pedestrian with ID 39 is 17.9 meters away at (-6.7, 16.6). A vehicle with ID 41 is 18.7 meters away at (15.7, -10.1). A vehicle with ID 42 is 21.9 meters away at (-11.9, 18.4). A pedestrian with ID 17 is 25.8 meters away at (-15.4, 20.7). A vehicle with ID 45 is 30.9 meters away at (-26.1, -16.6). A vehicle with ID 47 is 32.5 meters away at (-16.4, -28.0).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.0023118  -0.00497044] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00617607 -0.00896265] m/s.The vehicle with ID 38 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 [-0.04842339 -0.05844978] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.7773132   0.79842347] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00142161  0.04220384] m/s.The vehicle with ID 45 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.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -1.1) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 41 is 11.5 meters away at (9.9, -5.8). A vehicle with ID 43 is 13.7 meters away at (-6.0, 12.3). A pedestrian with ID 25 is 16.5 meters away at (-6.0, 15.3). A pedestrian with ID 37 is 17.1 meters away at (-5.1, 16.3). A vehicle with ID 38 is 18.9 meters away at (-9.2, 16.6). A vehicle with ID 42 is 23.8 meters away at (-13.3, 19.7). A unknown object with ID 5 is 28.8 meters away at (-8.0, -27.6). A vehicle with ID 45 is 32.0 meters away at (-28.0, -15.4). A vehicle with ID 33 is 32.1 meters away at (-22.0, -23.4). A vehicle with ID 47 is 32.2 meters away at (-18.0, -26.7).

The vehicle with ID 41 is traveling at a (x, y) velocity of [-2.4357264  2.3568902] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.1358413 -0.6340025] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00958297 -0.02669977] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -2.7) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 41 is 4.0 meters away at (-0.4, 4.0). A vehicle with ID 43 is 19.2 meters away at (-10.4, 16.1). A pedestrian with ID 25 is 20.8 meters away at (-10.5, 18.0). A pedestrian with ID 37 is 22.3 meters away at (-9.6, 20.1). A vehicle with ID 38 is 24.5 meters away at (-13.6, 20.4). A unknown object with ID 5 is 26.9 meters away at (-12.5, -23.8). A vehicle with ID 42 is 29.4 meters away at (-17.8, 23.4). A vehicle with ID 47 is 32.1 meters away at (-22.4, -23.0). A vehicle with ID 33 is 32.7 meters away at (-25.9, -20.1). A vehicle with ID 45 is 35.4 meters away at (-33.2, -12.1).

The vehicle with ID 41 is traveling at a (x, y) velocity of [-3.5307996  3.1482275] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.03062366 -0.5284207 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.21150537  0.0204251 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 [-0.49222997 -0.26017413] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -2.7) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 41 is 22.0 meters away at (-15.2, 15.9). A unknown object with ID 5 is 26.3 meters away at (-18.8, -18.4). A vehicle with ID 43 is 27.2 meters away at (-16.6, 21.5). A pedestrian with ID 25 is 27.9 meters away at (-15.9, 22.9). A pedestrian with ID 35 is 28.3 meters away at (-14.2, 24.4). A pedestrian with ID 1 is 29.8 meters away at (24.2, -17.4). A pedestrian with ID 37 is 30.3 meters away at (-16.4, 25.5). A pedestrian with ID 30 is 32.8 meters away at (-19.1, 26.7). A vehicle with ID 47 is 33.7 meters away at (-28.7, -17.5). A vehicle with ID 33 is 35.5 meters away at (-32.4, -14.5).

The vehicle with ID 41 is traveling at a (x, y) velocity of [-4.749122  3.63468 ] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.3900536  -0.02829719] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00322914 -0.00074365] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.01101456 -1.4202731 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.02347203 -0.30370542] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.02329293  0.02111374] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 1.0) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A vehicle with ID 17 is 7.4 meters away at (-7.4, 0.1). A vehicle with ID 16 is 15.5 meters away at (4.3, -14.9). A vehicle with ID 18 is 15.5 meters away at (-9.0, -12.7). A pedestrian with ID 10 is 17.5 meters away at (-5.1, -16.7). A vehicle with ID 19 is 20.3 meters away at (-9.6, -17.9). A vehicle with ID 8 is 22.9 meters away at (-9.7, -20.7). A vehicle with ID 21 is 28.4 meters away at (-11.2, -26.1). A vehicle with ID 22 is 31.5 meters away at (-21.1, -23.3). A vehicle with ID 4 is 33.5 meters away at (-11.4, -31.5). A vehicle with ID 25 is 42.6 meters away at (36.4, 22.1).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 3.3095555 -2.8010545] m/s.The vehicle with ID 16 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 pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.03909947 -0.01483442] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 2.6) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A vehicle with ID 17 is 10.1 meters away at (6.2, -7.9). A vehicle with ID 18 is 16.5 meters away at (-3.3, -16.1). A unknown object with ID 11 is 20.3 meters away at (0.8, -20.2). A vehicle with ID 16 is 21.0 meters away at (10.0, -18.4). A vehicle with ID 19 is 21.8 meters away at (-4.0, -21.4). A vehicle with ID 8 is 24.4 meters away at (-4.0, -24.1). A vehicle with ID 21 is 30.3 meters away at (-5.4, -29.8). A vehicle with ID 22 is 30.9 meters away at (-15.3, -26.9). A pedestrian with ID 20 is 34.5 meters away at (-33.1, 9.6). A vehicle with ID 4 is 35.4 meters away at (-5.7, -34.9).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.842829  -2.4060836] m/s.The vehicle with ID 18 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 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 pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.235039  -0.6168835] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 3.7) m/s. Its current heading (yaw) is 2.60

The most relevant actors are: A pedestrian with ID 20 is 20.1 meters away at (-20.0, 2.1). A vehicle with ID 18 is 23.4 meters away at (7.4, -22.2). A vehicle with ID 19 is 28.2 meters away at (6.3, -27.5). A unknown object with ID 11 is 28.9 meters away at (11.4, -26.6). A vehicle with ID 8 is 30.9 meters away at (6.6, -30.2). A vehicle with ID 16 is 32.2 meters away at (20.7, -24.6). A vehicle with ID 22 is 33.4 meters away at (-4.7, -33.1). A vehicle with ID 17 is 35.5 meters away at (28.7, -20.8). A vehicle with ID 21 is 36.0 meters away at (4.9, -35.6). A unknown object with ID 26 is 39.9 meters away at (5.9, 39.5).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.3260871 -0.5482108] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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 17 is traveling at a (x, y) velocity of [ 6.9572177 -4.051163 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.1) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A pedestrian with ID 20 is 7.6 meters away at (-3.7, -6.7). A pedestrian with ID 9 is 27.0 meters away at (-26.1, 6.8). A vehicle with ID 15 is 27.5 meters away at (-26.1, 8.8). A vehicle with ID 18 is 36.5 meters away at (21.1, -29.8). A unknown object with ID 26 is 37.5 meters away at (19.6, 31.9). A vehicle with ID 19 is 40.4 meters away at (20.2, -35.0). A vehicle with ID 8 is 43.0 meters away at (20.3, -37.8). A vehicle with ID 21 is 47.1 meters away at (18.8, -43.2). A vehicle with ID 16 is 47.2 meters away at (34.6, -32.1). A vehicle with ID 4 is 52.0 meters away at (18.6, -48.6).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.2917058 -0.3649334] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.05334997  0.09463837] m/s.The vehicle 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 unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [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 2.42

The most relevant actors are: A vehicle with ID 24 is 4.6 meters away at (4.0, 2.4). A vehicle with ID 25 is 8.3 meters away at (6.3, -5.4). A vehicle with ID 26 is 11.3 meters away at (-5.1, 10.1). A vehicle with ID 29 is 11.4 meters away at (10.9, -3.4). A vehicle with ID 28 is 11.6 meters away at (-8.9, 7.5). A vehicle with ID 33 is 16.1 meters away at (12.4, -10.3). A pedestrian with ID 36 is 16.5 meters away at (16.5, -1.5). A pedestrian with ID 37 is 16.7 meters away at (16.6, -2.2). A vehicle with ID 32 is 17.0 meters away at (-9.7, 14.0). A pedestrian with ID 31 is 17.1 meters away at (16.5, -4.5).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.00136618 -0.00295473] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.00113424 -0.00198595] m/s.The vehicle with ID 32 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 [-1.0416857  0.8179818] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.4) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 24 is 5.0 meters away at (4.6, 1.8). A vehicle with ID 25 is 9.2 meters away at (7.0, -6.0). A vehicle with ID 26 is 10.6 meters away at (-4.5, 9.6). A vehicle with ID 28 is 10.8 meters away at (-8.3, 6.9). A vehicle with ID 29 is 12.2 meters away at (11.6, -4.0). A pedestrian with ID 31 is 15.5 meters away at (15.2, -3.0). A vehicle with ID 32 is 16.2 meters away at (-9.0, 13.5). A vehicle with ID 33 is 16.9 meters away at (13.0, -10.8). A pedestrian with ID 36 is 17.4 meters away at (17.2, -2.2). A pedestrian with ID 37 is 17.5 meters away at (17.2, -2.8).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.07029     0.99253136] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.00729572  0.00978454] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00774949 -0.007454  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.3) m/s. Its current heading (yaw) is 2.39

The most relevant actors are: A vehicle with ID 24 is 5.5 meters away at (5.4, 1.2). A vehicle with ID 26 is 9.6 meters away at (-3.7, 8.9). A vehicle with ID 28 is 9.8 meters away at (-7.5, 6.2). A vehicle with ID 25 is 9.8 meters away at (7.5, -6.4). A unknown object with ID 20 is 11.4 meters away at (-3.4, 10.9). A vehicle with ID 29 is 13.2 meters away at (12.3, -4.6). A pedestrian with ID 31 is 14.1 meters away at (14.0, -1.5). A vehicle with ID 32 is 15.2 meters away at (-8.3, 12.8). A vehicle with ID 38 is 16.6 meters away at (-12.8, 10.6). A vehicle with ID 33 is 17.9 meters away at (13.8, -11.4).

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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.53005475  0.45093793] m/s.The unknown object with ID 20 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 [-1.0083013  0.9814665] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.2) m/s. Its current heading (yaw) is 2.39

The most relevant actors are: A vehicle with ID 24 is 5.9 meters away at (5.8, 0.8). A vehicle with ID 25 is 8.5 meters away at (6.5, -5.6). A vehicle with ID 26 is 9.1 meters away at (-3.3, 8.5). A vehicle with ID 28 is 9.2 meters away at (-7.1, 5.8). A pedestrian with ID 31 is 12.4 meters away at (12.4, -0.1). A vehicle with ID 29 is 13.7 meters away at (12.8, -5.0). A vehicle with ID 32 is 14.7 meters away at (-7.8, 12.4). A vehicle with ID 38 is 16.0 meters away at (-12.3, 10.2). A vehicle with ID 33 is 17.6 meters away at (13.6, -11.3). A pedestrian with ID 36 is 18.6 meters away at (18.3, -3.3).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.49794438  0.42252386] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.8760379  0.8201043] m/s.The vehicle with ID 29 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 38 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 [-0.7204203   0.57672065] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.02782368 -0.00495415] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -2.9) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 80 is 7.0 meters away at (-6.5, -2.5). A vehicle with ID 92 is 8.7 meters away at (7.7, 4.1). A vehicle with ID 84 is 10.6 meters away at (3.8, 9.9). A vehicle with ID 81 is 12.6 meters away at (-2.7, 12.3). A pedestrian with ID 89 is 13.1 meters away at (10.4, -8.0). A vehicle with ID 88 is 13.7 meters away at (11.7, 7.2). A vehicle with ID 90 is 16.0 meters away at (12.9, -9.4). A vehicle with ID 93 is 21.1 meters away at (18.0, -11.1). A vehicle with ID 77 is 21.7 meters away at (-17.6, 12.8). A vehicle with ID 95 is 26.5 meters away at (23.3, -12.7).

The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [-5.464679   1.9071732] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-1.0256089 -0.6731883] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -2.6) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A vehicle with ID 90 is 4.9 meters away at (-3.0, -3.9). A vehicle with ID 93 is 5.8 meters away at (1.8, -5.5). A vehicle with ID 99 is 7.5 meters away at (5.7, 4.8). A pedestrian with ID 89 is 8.9 meters away at (-8.1, -3.7). A vehicle with ID 95 is 10.1 meters away at (7.2, -7.2). A vehicle with ID 88 is 13.4 meters away at (-4.2, 12.8). A pedestrian with ID 57 is 19.7 meters away at (13.9, -13.9). A vehicle with ID 84 is 19.7 meters away at (-12.3, 15.4). A pedestrian with ID 58 is 20.0 meters away at (13.7, -14.6). A vehicle with ID 92 is 22.6 meters away at (-18.4, 13.1).

The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [-6.6223326  2.2436872] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-1.0003557  -0.41347405] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.7624366   0.81730133] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.48067126  0.84199595] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [-4.0760727  1.4205062] m/s.

Instruction: Slight left turn approaching.