The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.79

The most relevant actors are: A cyclist with ID 49 is 5.1 meters away at (-2.1, 4.7). A pedestrian with ID 26 is 11.3 meters away at (-10.2, -5.0). A pedestrian with ID 50 is 13.7 meters away at (-13.0, -4.2). A vehicle with ID 62 is 16.1 meters away at (16.1, -0.2). A pedestrian with ID 60 is 24.0 meters away at (-3.0, 23.8). A vehicle with ID 51 is 24.1 meters away at (-23.8, -3.6). A pedestrian with ID 63 is 31.0 meters away at (-29.5, 9.5). A cyclist with ID 66 is 31.1 meters away at (-29.6, 9.5). A cyclist with ID 29 is 33.2 meters away at (-26.4, 20.1). A unknown object with ID 67 is 36.6 meters away at (-35.1, -10.3).

The cyclist with ID 49 is traveling at a (x, y) velocity of [-2.1708333  1.016281 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.37894973 -0.57185405] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.8104643  0.7335372] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-2.4021087  1.0695068] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.7752547   0.09138488] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.0322753  0.04135307] m/s.The cyclist with ID 66 is traveling at a (x, y) velocity of [0.00805608 0.01843224] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 1.5439556 -0.5190766] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 0.3) m/s. Its current heading (yaw) is 3.00

The most relevant actors are: A pedestrian with ID 26 is 10.6 meters away at (-8.0, -7.0). A pedestrian with ID 50 is 13.6 meters away at (-13.2, -3.0). A cyclist with ID 49 is 14.0 meters away at (-10.6, 9.1). A vehicle with ID 62 is 14.1 meters away at (14.0, 1.1). A vehicle with ID 51 is 21.8 meters away at (-21.5, -4.1). A pedestrian with ID 60 is 24.3 meters away at (-3.5, 24.1). A cyclist with ID 29 is 27.8 meters away at (-21.0, 18.2). A pedestrian with ID 63 is 28.5 meters away at (-27.1, 9.1). A vehicle with ID 69 is 34.3 meters away at (-21.7, 26.6). A unknown object with ID 67 is 34.5 meters away at (-32.8, -10.8).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.22227341 -0.8193466 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.284714   0.8154552] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-6.727644  3.127726] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-1.9404812  0.870009 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.5635028   0.52819365] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 1.216219  -0.6677625] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.00399357  0.01099771] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 3.0482254 -1.3659117] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -0.1) m/s. Its current heading (yaw) is -3.10

The most relevant actors are: A pedestrian with ID 26 is 9.6 meters away at (-4.4, -8.6). A pedestrian with ID 50 is 11.7 meters away at (-11.6, -1.6). A vehicle with ID 62 is 14.8 meters away at (14.6, 2.4). A vehicle with ID 51 is 17.9 meters away at (-17.3, -4.5). A cyclist with ID 29 is 21.5 meters away at (-14.4, 16.0). A vehicle with ID 69 is 24.5 meters away at (-9.5, 22.6). A pedestrian with ID 63 is 24.6 meters away at (-22.9, 8.8). A pedestrian with ID 60 is 24.9 meters away at (-2.5, 24.8). A cyclist with ID 49 is 28.6 meters away at (-23.5, 16.4). A vehicle with ID 48 is 29.4 meters away at (-26.6, -12.5).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.1743003 -0.5868144] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.2653123  0.8389511] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-1.4739118   0.65237266] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 1.1088481 -0.9188836] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 4.935495  -2.1588438] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.0189132  -0.00114143] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.5197022  0.540387 ] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-9.477176  4.057085] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [1.3309517 5.539256 ] m/s.

Instruction: Continue straight.

(The closest actor is a pedestrian at [-4.3822646 -8.573753 ], 9.6287841796875 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -0.8) m/s. Its current heading (yaw) is -2.84

The most relevant actors are: A pedestrian with ID 26 is 9.1 meters away at (-0.6, -9.1). A pedestrian with ID 50 is 9.8 meters away at (-9.8, 0.8). A vehicle with ID 51 is 13.7 meters away at (-13.1, -3.8). A vehicle with ID 62 is 16.2 meters away at (15.6, 4.5). A cyclist with ID 29 is 17.6 meters away at (-8.8, 15.2). A vehicle with ID 69 is 19.3 meters away at (5.9, 18.3). A pedestrian with ID 63 is 21.0 meters away at (-18.8, 9.5). A vehicle with ID 48 is 21.2 meters away at (-20.8, -3.7). A vehicle with ID 61 is 24.5 meters away at (-14.5, 19.7). A pedestrian with ID 60 is 26.5 meters away at (-1.2, 26.5).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00383023 -0.5291355 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.1068544   0.84642714] m/s.The vehicle with ID 51 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 [-1.356932    0.61113656] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 0.668365  -0.6288518] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 6.3743496 -2.8445876] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.02754668 0.00387456] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0.20595154 2.5518196 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 1.4412454  -0.77079654] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.2127944  0.5186942] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 3.9) m/s. Its current heading (yaw) is 1.01

The most relevant actors are: A unknown object with ID 33 is 3.8 meters away at (-0.7, 3.8). A unknown object with ID 34 is 38.2 meters away at (-24.4, -29.4). A vehicle with ID 35 is 59.6 meters away at (-21.1, 55.8). A unknown object with ID 36 is 61.2 meters away at (12.8, 59.8).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 5.0) m/s. Its current heading (yaw) is 1.02

The most relevant actors are: A unknown object with ID 33 is 8.4 meters away at (-6.5, -5.3). A unknown object with ID 2 is 17.8 meters away at (-14.3, 10.7). A unknown object with ID 15 is 29.0 meters away at (-24.6, 15.4). A vehicle with ID 30 is 37.0 meters away at (-29.3, 22.5). A unknown object with ID 25 is 40.5 meters away at (4.1, 40.3). A unknown object with ID 36 is 51.2 meters away at (7.2, 50.7). A vehicle with ID 35 is 53.7 meters away at (-26.7, 46.6).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-6.5161076 -5.258234 ], 8.373092651367188 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 5.1) m/s. Its current heading (yaw) is 0.99

The most relevant actors are: A unknown object with ID 33 is 20.3 meters away at (-13.0, -15.5). A unknown object with ID 14 is 20.3 meters away at (18.7, 7.8). A unknown object with ID 7 is 20.7 meters away at (-20.7, 0.5). A unknown object with ID 2 is 21.0 meters away at (-21.0, 0.1). A unknown object with ID 25 is 30.1 meters away at (-2.6, 30.0). A vehicle with ID 30 is 38.0 meters away at (-35.9, 12.2). A unknown object with ID 36 is 40.3 meters away at (0.7, 40.3). A vehicle with ID 35 is 49.2 meters away at (-33.3, 36.1). A unknown object with ID 20 is 51.3 meters away at (-45.4, 23.8). A unknown object with ID 16 is 52.0 meters away at (-45.8, 24.8).

The unknown object with ID 33 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [-13.037973 -15.545347], 20.28907585144043 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 3.6) m/s. Its current heading (yaw) is 0.99

The most relevant actors are: A pedestrian with ID 19 is 11.7 meters away at (10.4, -5.2). A unknown object with ID 25 is 22.8 meters away at (-8.6, 21.1). A unknown object with ID 21 is 23.7 meters away at (-10.7, 21.2). A unknown object with ID 7 is 28.0 meters away at (-26.7, -8.4). A unknown object with ID 2 is 28.3 meters away at (-26.9, -8.7). A unknown object with ID 33 is 31.0 meters away at (-19.0, -24.5). A unknown object with ID 36 is 32.0 meters away at (-5.5, 31.5). A vehicle with ID 23 is 41.2 meters away at (-40.6, 7.0). A vehicle with ID 35 is 47.7 meters away at (-39.3, 27.1). A unknown object with ID 26 is 52.5 meters away at (-50.8, 13.2).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01835823  0.04279166] 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 35 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: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -0.5) m/s. Its current heading (yaw) is -2.76

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.8) m/s. Its current heading (yaw) is 2.72

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 2.0) m/s. Its current heading (yaw) is 1.94

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 3.0) m/s. Its current heading (yaw) is 1.61

The most relevant actors are: A unknown object with ID 3 is 14.2 meters away at (10.7, -9.3).

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

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [10.671185 -9.330715], 14.17520523071289 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -2.1) m/s. Its current heading (yaw) is -1.12

The most relevant actors are: A vehicle with ID 4 is 9.7 meters away at (-2.3, 9.4). A cyclist with ID 70 is 13.6 meters away at (-4.5, -12.8). A vehicle with ID 71 is 13.9 meters away at (-11.0, 8.5). A vehicle with ID 69 is 14.6 meters away at (-6.6, 13.1). A vehicle with ID 73 is 17.3 meters away at (-12.8, 11.7). A vehicle with ID 74 is 19.4 meters away at (-19.4, 0.8). A vehicle with ID 72 is 20.4 meters away at (-3.8, 20.0). A vehicle with ID 76 is 26.5 meters away at (-26.1, 4.9). A vehicle with ID 77 is 29.9 meters away at (-26.8, -13.4). A vehicle with ID 78 is 30.9 meters away at (-30.8, 2.1).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [-0.0380402   0.06689404] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-1.9369395 -6.0766115] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.5887505 -4.7240496] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ -3.2482364 -11.8803625] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [2.5819643 8.48718  ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0.45460436 1.5434632 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [2.3404064 8.263764 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -3.7) m/s. Its current heading (yaw) is -0.80

The most relevant actors are: A cyclist with ID 70 is 10.9 meters away at (-8.9, -6.3). A vehicle with ID 4 is 15.3 meters away at (-6.5, 13.9). A vehicle with ID 71 is 19.5 meters away at (-19.5, 0.2). A vehicle with ID 73 is 21.8 meters away at (-21.0, 5.9). A vehicle with ID 69 is 22.1 meters away at (-11.1, 19.0). A vehicle with ID 72 is 27.7 meters away at (-8.1, 26.4). A vehicle with ID 37 is 29.5 meters away at (-0.2, -29.5). A vehicle with ID 77 is 31.1 meters away at (-30.6, -5.6). A vehicle with ID 82 is 34.0 meters away at (-33.6, -4.6). A vehicle with ID 74 is 34.7 meters away at (-29.4, -18.5).

The cyclist with ID 70 is traveling at a (x, y) velocity of [0.0199363 0.0258878] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 0.34655136 -2.2552314 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-2.1338482 -8.549836 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.9922202 -7.4909086] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.4715022 -1.2718812] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-6.5649028e+00 -2.1261242e-03] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [1.6758558 3.5015817] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ -2.4077559 -13.61843  ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -3.5) m/s. Its current heading (yaw) is -0.59

The most relevant actors are: A cyclist with ID 70 is 17.9 meters away at (-17.9, 0.6). A vehicle with ID 4 is 19.4 meters away at (-13.4, 14.0). A vehicle with ID 69 is 29.9 meters away at (-22.5, 19.8). A vehicle with ID 37 is 32.1 meters away at (-20.2, -24.9). A vehicle with ID 73 is 34.6 meters away at (-34.3, -4.4). A vehicle with ID 71 is 34.8 meters away at (-32.8, -11.7). A vehicle with ID 18 is 35.4 meters away at (-23.3, 26.6). A vehicle with ID 72 is 36.1 meters away at (-17.9, 31.3). A vehicle with ID 77 is 39.7 meters away at (-39.7, 1.4). A vehicle with ID 82 is 40.8 meters away at (-40.1, 7.2).

The cyclist with ID 70 is traveling at a (x, y) velocity of [-0.00147094 -0.01780919] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 2.2468474 -4.140263 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.5544093 -4.832432 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-4.4451785 -1.8489146] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-2.0794463 -9.570453 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [ -2.1138694 -10.696342 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -4.1067004 -12.163845 ] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.8818278 -2.8680549] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0.3139308  0.47941467] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.1) m/s. Its current heading (yaw) is -0.48

The most relevant actors are: A vehicle with ID 4 is 21.2 meters away at (-17.7, 11.6). A pedestrian with ID 56 is 29.1 meters away at (-28.3, 6.6). A pedestrian with ID 44 is 29.9 meters away at (-29.0, 7.0). A cyclist with ID 70 is 29.9 meters away at (-29.1, 7.0). A unknown object with ID 68 is 36.8 meters away at (-22.7, -29.0). A vehicle with ID 69 is 40.0 meters away at (-37.2, 14.8). A vehicle with ID 18 is 42.6 meters away at (-42.2, 5.8). A vehicle with ID 72 is 43.1 meters away at (-32.3, 28.6). A vehicle with ID 37 is 44.2 meters away at (-38.0, -22.4). A pedestrian with ID 1 is 47.2 meters away at (45.9, -10.9).

The vehicle with ID 4 is traveling at a (x, y) velocity of [ 4.671668  -4.3473983] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.01971466 -0.00563801] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.01699342 0.00479513] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [0.02880727 0.03443343] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.6435062 -5.8901815] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -3.625295 -15.568364] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-2.13845   -6.0165668] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.9246229 -2.0943258] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.64789    -0.65912694] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -3.2) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 20 is 17.9 meters away at (12.0, 13.3). A pedestrian with ID 1 is 25.3 meters away at (-8.3, -23.9). A unknown object with ID 5 is 29.9 meters away at (22.6, 19.6). A vehicle with ID 21 is 43.9 meters away at (-30.2, -32.0). A unknown object with ID 24 is 54.6 meters away at (3.3, 54.4). A unknown object with ID 26 is 57.9 meters away at (-42.8, 39.1). A pedestrian with ID 18 is 61.6 meters away at (31.5, 52.9). A vehicle with ID 11 is 74.5 meters away at (-9.5, 73.9).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.5176453 -0.9434878] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.0323442  -0.00677982] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 5.7247214 -7.201676 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.3) m/s. Its current heading (yaw) is -2.17

The most relevant actors are: A unknown object with ID 15 is 1.7 meters away at (-1.5, 0.8). A unknown object with ID 9 is 7.9 meters away at (-6.8, 4.0). A pedestrian with ID 1 is 21.1 meters away at (-5.9, -20.2). A vehicle with ID 20 is 24.5 meters away at (15.5, 18.9). A vehicle with ID 21 is 37.4 meters away at (-26.5, -26.4). A unknown object with ID 24 is 60.4 meters away at (6.7, 60.1). A vehicle with ID 11 is 66.2 meters away at (5.9, 66.0). A pedestrian with ID 18 is 68.3 meters away at (35.1, 58.5).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.47940895 -0.8727737 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.0371556 -7.1436353] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.0048107  0.00734309] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-1.5161114   0.81819534], 1.722799301147461 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.6) m/s. Its current heading (yaw) is -2.18

The most relevant actors are: A pedestrian with ID 1 is 18.7 meters away at (-4.2, -18.3). A vehicle with ID 20 is 29.3 meters away at (18.2, 22.9). A vehicle with ID 21 is 32.7 meters away at (-23.8, -22.4). A vehicle with ID 11 is 61.2 meters away at (22.8, 56.8). A vehicle with ID 17 is 63.5 meters away at (18.7, 60.7). A unknown object with ID 24 is 64.7 meters away at (9.4, 64.0).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.60172915 -0.92434675] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.9001155 -6.3577914] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [10.568637 -9.270886] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.5) m/s. Its current heading (yaw) is -2.18

The most relevant actors are: A pedestrian with ID 1 is 18.4 meters away at (-4.0, -18.0). A vehicle with ID 21 is 30.2 meters away at (-22.4, -20.3). A vehicle with ID 20 is 31.7 meters away at (19.7, 24.9). A vehicle with ID 11 is 61.8 meters away at (39.9, 47.2). A vehicle with ID 17 is 62.0 meters away at (35.1, 51.1). A unknown object with ID 24 is 67.1 meters away at (10.9, 66.2).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.57493615 -1.012909  ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 8.471527  -5.8393216] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.8837132 -5.5267406] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 2.3) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A pedestrian with ID 53 is 14.9 meters away at (-13.4, -6.6). A vehicle with ID 57 is 21.4 meters away at (-12.2, 17.6). A unknown object with ID 54 is 22.9 meters away at (1.2, -22.8). A vehicle with ID 49 is 24.0 meters away at (-15.7, 18.1). A vehicle with ID 26 is 27.7 meters away at (-19.5, 19.7). A vehicle with ID 60 is 32.3 meters away at (-10.7, 30.5). A vehicle with ID 13 is 33.1 meters away at (13.7, 30.1). A vehicle with ID 28 is 33.4 meters away at (31.4, 11.3). A vehicle with ID 38 is 39.2 meters away at (38.2, 8.8). A pedestrian with ID 59 is 39.9 meters away at (-22.0, -33.3).

The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.79481506 -0.5300874 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 13 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.42416146 1.2656195 ] m/s.

There are active red lights at the following coordinates: [[-26.301159 -65.45775 ]
 [-26.498148 -65.41622 ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 0.9) m/s. Its current heading (yaw) is 1.25

The most relevant actors are: A pedestrian with ID 53 is 17.3 meters away at (-13.5, -10.8). A vehicle with ID 57 is 20.1 meters away at (-13.0, 15.3). A vehicle with ID 49 is 22.8 meters away at (-16.5, 15.8). A vehicle with ID 26 is 26.7 meters away at (-20.3, 17.4). A vehicle with ID 47 is 30.0 meters away at (-23.7, 18.5). A vehicle with ID 60 is 30.5 meters away at (-11.5, 28.3). A vehicle with ID 13 is 30.7 meters away at (12.9, 27.9). A vehicle with ID 28 is 31.9 meters away at (30.6, 9.0). A vehicle with ID 12 is 37.0 meters away at (36.9, 2.7). A vehicle with ID 38 is 37.9 meters away at (37.4, 6.4).

The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.47583166 -1.443509  ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 [-6.528483  2.370213] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-26.301159 -65.45775 ]
 [-26.498148 -65.41622 ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 3.5) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A vehicle with ID 57 is 18.2 meters away at (-14.6, 10.9). A vehicle with ID 49 is 21.5 meters away at (-18.1, 11.5). A vehicle with ID 12 is 23.4 meters away at (23.3, 2.8). A pedestrian with ID 53 is 24.0 meters away at (-16.3, -17.6). A vehicle with ID 26 is 25.4 meters away at (-21.9, 12.9). A vehicle with ID 13 is 26.0 meters away at (11.3, 23.4). A vehicle with ID 60 is 27.2 meters away at (-13.1, 23.8). A vehicle with ID 47 is 28.9 meters away at (-25.3, 14.0). A vehicle with ID 28 is 29.2 meters away at (28.9, 4.6). A vehicle with ID 38 is 35.7 meters away at (35.7, 1.9).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-5.0816774  1.8671194] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.5122505 -1.0304734] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 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 28 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.

There are active red lights at the following coordinates: [[-26.301159 -65.45775 ]
 [-26.498148 -65.41622 ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.8) m/s. Its current heading (yaw) is 1.27

The most relevant actors are: A vehicle with ID 12 is 12.7 meters away at (12.1, -3.7). A vehicle with ID 13 is 16.2 meters away at (8.1, 14.1). A vehicle with ID 57 is 17.8 meters away at (-17.8, 1.5). A vehicle with ID 49 is 21.4 meters away at (-21.3, 2.1). A vehicle with ID 60 is 21.7 meters away at (-16.2, 14.5). A vehicle with ID 11 is 24.6 meters away at (-23.1, 8.5). A vehicle with ID 26 is 25.3 meters away at (-25.1, 3.6). A vehicle with ID 10 is 26.1 meters away at (24.9, -7.8). A vehicle with ID 28 is 26.2 meters away at (25.8, -4.8). A vehicle with ID 47 is 28.9 meters away at (-28.5, 4.5).

The vehicle with ID 12 is traveling at a (x, y) velocity of [-2.8593538   0.92325616] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 11 is traveling at a (x, y) velocity of [ 5.9806356 -2.1805162] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.5998807  1.8200814] m/s.The vehicle with ID 28 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 (3.9, 9.9) m/s. Its current heading (yaw) is 1.19

The most relevant actors are: A cyclist with ID 44 is 12.7 meters away at (-8.0, -9.9). A cyclist with ID 45 is 16.5 meters away at (-7.5, -14.7). A unknown object with ID 31 is 17.1 meters away at (1.9, 17.0). A vehicle with ID 53 is 20.6 meters away at (20.4, -2.6). A vehicle with ID 47 is 21.8 meters away at (9.7, -19.5). A vehicle with ID 25 is 27.5 meters away at (12.0, 24.8). A vehicle with ID 46 is 31.9 meters away at (7.9, -30.9). A vehicle with ID 24 is 38.4 meters away at (-19.3, -33.2). A vehicle with ID 30 is 49.4 meters away at (34.1, 35.7). A vehicle with ID 52 is 53.9 meters away at (-19.4, -50.2).

The cyclist with ID 44 is traveling at a (x, y) velocity of [ 7.2122455 15.299043 ] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [ 6.203383 13.801329] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ -5.336792 -13.05656 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ -7.3126636 -14.730047 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 3.6482604 12.998567 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ -5.377221 -10.320104] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 8.031735 14.541015] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -2.970284 -10.437214] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [6.3272777 9.038523 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 10.5) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A cyclist with ID 44 is 3.3 meters away at (-3.0, 1.3). A cyclist with ID 45 is 5.6 meters away at (-3.6, -4.3). A unknown object with ID 31 is 6.6 meters away at (-5.8, -3.0). A vehicle with ID 30 is 20.6 meters away at (19.8, -5.8). A vehicle with ID 24 is 27.2 meters away at (-12.5, -24.2). A vehicle with ID 25 is 32.5 meters away at (10.4, 30.8). A vehicle with ID 53 is 47.8 meters away at (1.6, -47.8). A vehicle with ID 52 is 55.9 meters away at (-16.2, -53.5). A vehicle with ID 1 is 56.9 meters away at (-22.9, -52.0). A vehicle with ID 19 is 68.2 meters away at (38.9, 56.0).

The cyclist with ID 44 is traveling at a (x, y) velocity of [ 5.601831 15.745761] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [ 4.825988 14.278094] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -3.8682938 -10.357364 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 6.3113055 14.863686 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 2.7183623 13.224481 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ -6.1518116 -12.299378 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [4.375261  7.7843685] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.080263 15.036038] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 11.1) m/s. Its current heading (yaw) is 1.32

The most relevant actors are: A cyclist with ID 45 is 6.3 meters away at (-0.2, 6.3). A cyclist with ID 44 is 13.3 meters away at (0.0, 13.3). A vehicle with ID 24 is 17.3 meters away at (-7.8, -15.5). A vehicle with ID 37 is 24.8 meters away at (20.8, 13.5). A vehicle with ID 25 is 37.2 meters away at (9.5, 36.0). A vehicle with ID 1 is 44.4 meters away at (-14.7, -41.9). A vehicle with ID 19 is 48.0 meters away at (32.5, 35.3). A vehicle with ID 30 is 48.5 meters away at (4.6, -48.3). A vehicle with ID 17 is 52.7 meters away at (34.3, 40.0). A unknown object with ID 40 is 53.9 meters away at (33.7, 42.1).

The cyclist with ID 45 is traveling at a (x, y) velocity of [ 3.959716 13.935285] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [ 4.0999923 16.462528 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 4.7344737 15.009466 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -5.0294733 -19.633533 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 2.8701756 13.202939 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 6.5174675 15.769328 ] m/s.The vehicle with ID 19 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 [ -4.919349 -10.948434] m/s.The vehicle with ID 17 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 10.7) m/s. Its current heading (yaw) is 1.36

The most relevant actors are: A vehicle with ID 24 is 8.3 meters away at (-4.7, -6.8). A cyclist with ID 18 is 18.6 meters away at (3.6, 18.3). A vehicle with ID 33 is 22.1 meters away at (21.7, 4.2). A cyclist with ID 44 is 26.9 meters away at (3.1, 26.8). A vehicle with ID 19 is 30.9 meters away at (27.6, 14.0). A vehicle with ID 1 is 32.8 meters away at (-8.2, -31.7). A vehicle with ID 17 is 34.8 meters away at (29.4, 18.6). A unknown object with ID 40 is 35.6 meters away at (28.8, 20.9). A unknown object with ID 42 is 37.0 meters away at (29.7, 22.1). A unknown object with ID 12 is 41.9 meters away at (33.2, 25.5).

The vehicle with ID 24 is traveling at a (x, y) velocity of [ 3.5495174 15.150102 ] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [ 3.7620084 15.128272 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ -4.0346704 -16.580893 ] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [ 3.7771268 17.032013 ] m/s.The vehicle with ID 19 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 [ 4.7762814 15.644241 ] m/s.The vehicle with ID 17 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 2.2) m/s. Its current heading (yaw) is 2.16

The most relevant actors are: A vehicle with ID 20 is 11.2 meters away at (3.2, -10.7). A unknown object with ID 14 is 18.5 meters away at (-17.3, 6.6). A vehicle with ID 2 is 55.7 meters away at (38.3, 40.4).

The vehicle with ID 20 is traveling at a (x, y) velocity of [4.316437 9.225092] m/s.The unknown object with ID 14 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 [ -6.0905733 -11.690307 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 0.9) m/s. Its current heading (yaw) is 2.84

The most relevant actors are: A vehicle with ID 20 is 17.3 meters away at (16.6, 4.8). A vehicle with ID 2 is 34.8 meters away at (31.4, 14.9). A pedestrian with ID 9 is 35.4 meters away at (-34.9, -5.8).

The vehicle with ID 20 is traveling at a (x, y) velocity of [4.4888444 9.490813 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ -5.4243126 -11.058106 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.0299249  -0.00825972] 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, -0.9) m/s. Its current heading (yaw) is -2.85

The most relevant actors are: A vehicle with ID 2 is 27.9 meters away at (27.0, -7.0). A pedestrian with ID 9 is 29.4 meters away at (-28.8, -5.7). A vehicle with ID 20 is 38.5 meters away at (31.2, 22.6). A vehicle with ID 19 is 64.0 meters away at (-9.4, -63.3).

The vehicle with ID 2 is traveling at a (x, y) velocity of [ -4.948612 -10.655174] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.03721093 0.02273519] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [3.997717 8.34879 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 4.717337 11.385378] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.1) m/s. Its current heading (yaw) is -2.35

The most relevant actors are: A unknown object with ID 11 is 2.1 meters away at (0.9, -1.9). A unknown object with ID 18 is 2.2 meters away at (0.3, -2.2). A pedestrian with ID 4 is 16.8 meters away at (2.5, 16.7). A unknown object with ID 8 is 26.0 meters away at (-25.1, -7.0). A unknown object with ID 12 is 31.8 meters away at (-26.1, -18.1). A vehicle with ID 2 is 33.9 meters away at (22.4, -25.4). A vehicle with ID 19 is 37.9 meters away at (5.1, -37.6). A vehicle with ID 20 is 59.7 meters away at (43.7, 40.6).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.01165079  0.00034168] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 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 [ -4.596089  -10.8004675] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 4.436191 10.654369] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [3.575885  6.7529826] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 0.9162483 -1.9017491], 2.110962152481079 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 2.4) m/s. Its current heading (yaw) is 1.13

The most relevant actors are: A pedestrian with ID 24 is 11.6 meters away at (-10.3, -5.3). A pedestrian with ID 25 is 15.9 meters away at (-9.3, -12.8). A pedestrian with ID 26 is 16.1 meters away at (-9.0, -13.3). A unknown object with ID 31 is 16.2 meters away at (15.4, 5.1). A unknown object with ID 30 is 19.2 meters away at (13.3, -13.8). A unknown object with ID 14 is 19.7 meters away at (11.5, -16.0). A pedestrian with ID 29 is 20.3 meters away at (7.1, -19.0). A vehicle with ID 22 is 25.5 meters away at (-8.0, 24.2). A vehicle with ID 10 is 31.1 meters away at (-19.8, 24.0). A vehicle with ID 21 is 31.4 meters away at (-13.3, 28.5).

The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.01685805 0.02015379] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.01880012 0.01217232] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.00727782 0.00884551] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 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 [-0.08180446 -0.11659914] m/s.The vehicle with ID 22 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 21 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 (-0.4, 3.1) m/s. Its current heading (yaw) is 1.71

The most relevant actors are: A unknown object with ID 11 is 5.9 meters away at (-5.0, 3.1). A unknown object with ID 31 is 14.6 meters away at (14.6, -0.0). A pedestrian with ID 24 is 15.1 meters away at (-11.1, -10.3). A pedestrian with ID 25 is 20.5 meters away at (-10.2, -17.8). A pedestrian with ID 26 is 20.9 meters away at (-9.9, -18.3). A vehicle with ID 22 is 21.0 meters away at (-8.8, 19.1). A unknown object with ID 30 is 22.7 meters away at (12.4, -19.0). A pedestrian with ID 29 is 24.8 meters away at (5.8, -24.1). A vehicle with ID 21 is 27.3 meters away at (-14.0, 23.5). A vehicle with ID 10 is 28.3 meters away at (-20.8, 19.2).

The unknown object with ID 11 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 pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00237773  0.01092166] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.01131875  0.03276359] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00505863 -0.00675399] m/s.The vehicle with ID 22 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.13712268 -0.20740876] m/s.The vehicle with ID 21 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [-4.98295    3.0856638], 5.860982418060303 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 2.3) m/s. Its current heading (yaw) is 2.23

The most relevant actors are: A unknown object with ID 11 is 3.5 meters away at (-2.8, -2.2). A vehicle with ID 22 is 15.3 meters away at (-6.5, 13.8). A pedestrian with ID 18 is 17.1 meters away at (1.0, -17.1). A unknown object with ID 31 is 17.7 meters away at (16.9, -5.2). A vehicle with ID 21 is 21.6 meters away at (-11.7, 18.2). A vehicle with ID 10 is 23.1 meters away at (-18.4, 14.0). A pedestrian with ID 25 is 24.4 meters away at (-7.9, -23.1). A pedestrian with ID 26 is 24.7 meters away at (-7.6, -23.5). A unknown object with ID 30 is 28.4 meters away at (14.8, -24.2). A unknown object with ID 16 is 29.4 meters away at (12.9, -26.4).

The unknown object with ID 11 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 18 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 21 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 25 is traveling at a (x, y) velocity of [ 0.00070717 -0.01227848] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00266136 -0.00659044] 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.7593064 -2.1707249], 3.510814666748047 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 2.3) m/s. Its current heading (yaw) is 2.33

The most relevant actors are: A unknown object with ID 11 is 6.8 meters away at (1.4, -6.7). A vehicle with ID 22 is 9.6 meters away at (-2.5, 9.3). A vehicle with ID 21 is 15.7 meters away at (-7.7, 13.6). A vehicle with ID 10 is 17.2 meters away at (-14.4, 9.4). A unknown object with ID 31 is 23.1 meters away at (20.9, -9.7). A pedestrian with ID 25 is 27.9 meters away at (-3.8, -27.6). A vehicle with ID 1 is 28.1 meters away at (-22.9, 16.3). A pedestrian with ID 26 is 28.3 meters away at (-3.5, -28.1). A vehicle with ID 23 is 30.4 meters away at (-19.3, 23.5). A unknown object with ID 30 is 34.4 meters away at (18.9, -28.7).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.02553564 -0.00034594] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00342919 -0.0069906 ] m/s.The vehicle with ID 23 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 1.3582695 -6.684746 ], 6.821342945098877 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.1) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A unknown object with ID 77 is 5.2 meters away at (3.4, 3.9). A vehicle with ID 81 is 7.0 meters away at (-5.5, -4.4). A unknown object with ID 87 is 12.8 meters away at (-6.9, -10.7). A unknown object with ID 94 is 13.5 meters away at (-11.5, -7.0). A unknown object with ID 73 is 14.5 meters away at (-13.7, -4.9). A unknown object with ID 84 is 18.6 meters away at (17.5, 6.1). A vehicle with ID 29 is 18.8 meters away at (8.9, -16.5). A unknown object with ID 98 is 22.3 meters away at (-1.7, -22.3). A unknown object with ID 99 is 22.9 meters away at (-1.7, -22.8). A unknown object with ID 101 is 23.2 meters away at (-1.4, -23.1).

The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.54580337  4.2191057 ] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [3.3653107 3.9348948], 5.177712917327881 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.9) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 81 is 12.0 meters away at (3.3, -11.6). A unknown object with ID 78 is 12.3 meters away at (-9.2, -8.1). A unknown object with ID 39 is 12.3 meters away at (-7.0, -10.1). A unknown object with ID 45 is 12.9 meters away at (-11.4, -6.1). A unknown object with ID 73 is 13.1 meters away at (-4.7, -12.2). A unknown object with ID 58 is 14.1 meters away at (-13.5, -4.0). A unknown object with ID 94 is 14.5 meters away at (-2.6, -14.3). A unknown object with ID 59 is 14.6 meters away at (-1.8, -14.5). A unknown object with ID 44 is 16.0 meters away at (-15.9, -1.9). A unknown object with ID 42 is 16.3 meters away at (-0.3, -16.3).

The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -6.163365 -10.34685 ]
 [ -5.116717  -8.697483]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 3.4) m/s. Its current heading (yaw) is 2.39

The most relevant actors are: A vehicle with ID 82 is 13.7 meters away at (-12.1, -6.5). A unknown object with ID 45 is 14.0 meters away at (-3.1, -13.7). A unknown object with ID 78 is 15.8 meters away at (-0.9, -15.8). A unknown object with ID 39 is 17.9 meters away at (1.3, -17.8). A unknown object with ID 73 is 20.2 meters away at (3.5, -19.9). A vehicle with ID 29 is 21.5 meters away at (15.5, -14.8). A vehicle with ID 81 is 22.4 meters away at (11.6, -19.2). A unknown object with ID 94 is 22.6 meters away at (5.7, -21.9). A vehicle with ID 18 is 23.0 meters away at (-22.1, -6.2). A unknown object with ID 59 is 23.1 meters away at (6.4, -22.2).

The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.8660371  3.7831159] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 3.0) m/s. Its current heading (yaw) is 2.41

The most relevant actors are: A vehicle with ID 82 is 14.1 meters away at (-4.8, -13.2). A vehicle with ID 18 is 19.7 meters away at (-14.8, -13.1). A pedestrian with ID 1 is 20.3 meters away at (-5.3, 19.6). A vehicle with ID 29 is 21.0 meters away at (15.3, -14.4). A vehicle with ID 38 is 24.2 meters away at (-17.2, 17.1). A vehicle with ID 69 is 26.8 meters away at (-18.6, -19.3). A vehicle with ID 83 is 29.4 meters away at (-28.2, 8.2). A vehicle with ID 50 is 32.0 meters away at (-21.4, -23.8). A unknown object with ID 59 is 32.1 meters away at (13.8, -29.0). A vehicle with ID 81 is 32.3 meters away at (19.0, -26.1).

The vehicle with ID 82 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 1 is traveling at a (x, y) velocity of [-0.91241246 -1.2148329 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.6493063  3.3908355] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 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 unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 1.8) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A pedestrian with ID 17 is 18.5 meters away at (-16.8, -7.8). A pedestrian with ID 11 is 19.4 meters away at (-17.5, -8.3). A pedestrian with ID 7 is 19.5 meters away at (-18.0, -7.5). A vehicle with ID 47 is 20.1 meters away at (18.9, 6.9). A vehicle with ID 58 is 20.6 meters away at (-7.8, 19.1). A vehicle with ID 74 is 24.9 meters away at (-22.6, 10.6). A vehicle with ID 44 is 28.1 meters away at (26.9, 8.0). A pedestrian with ID 53 is 29.3 meters away at (7.8, 28.2). A vehicle with ID 50 is 32.8 meters away at (-32.6, -3.1). A vehicle with ID 56 is 33.3 meters away at (-31.6, -10.4).

The pedestrian with ID 17 is traveling at a (x, y) velocity of [1.0784479  0.35149008] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.0180233 0.3133615] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [1.0268912 0.3844515] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 8.232595  -3.7219234] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 7.0488834 -3.0599132] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-0.9636255 -5.564337 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [2.3773682 1.4677287] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.33044738 -0.54318243] m/s.The vehicle with ID 50 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 [-3.9041138 -8.985763 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 1.1) m/s. Its current heading (yaw) is 2.83

The most relevant actors are: A pedestrian with ID 17 is 12.4 meters away at (-7.3, -10.1). A pedestrian with ID 7 is 13.1 meters away at (-8.6, -9.8). A pedestrian with ID 11 is 13.4 meters away at (-8.3, -10.5). A vehicle with ID 58 is 16.7 meters away at (13.2, 10.2). A vehicle with ID 73 is 20.1 meters away at (-19.2, 5.7). A vehicle with ID 74 is 20.1 meters away at (-19.6, -4.6). A vehicle with ID 50 is 25.9 meters away at (-25.3, -5.9). A pedestrian with ID 49 is 26.4 meters away at (-26.0, 4.3). A vehicle with ID 29 is 27.5 meters away at (-15.4, 22.9). A pedestrian with ID 53 is 28.9 meters away at (16.3, 23.9).

The pedestrian with ID 17 is traveling at a (x, y) velocity of [1.0848364  0.35762987] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [1.0081019  0.44933745] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.0197291  0.47274294] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 6.2784815 -2.741415 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.11967685 -5.038568  ] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-2.9912128 -6.719303 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.0088807 -0.2739378] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 9.846846 -4.172948] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.54421705 -0.7481977 ] 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, 0.0) m/s. Its current heading (yaw) is 3.13

The most relevant actors are: A pedestrian with ID 7 is 10.1 meters away at (0.0, -10.1). A pedestrian with ID 17 is 10.5 meters away at (1.5, -10.4). A pedestrian with ID 11 is 10.7 meters away at (0.3, -10.7). A vehicle with ID 73 is 16.2 meters away at (-14.8, -6.7). A pedestrian with ID 49 is 16.8 meters away at (-16.7, 1.7). A vehicle with ID 29 is 16.8 meters away at (10.8, 12.8). A vehicle with ID 50 is 19.9 meters away at (-18.7, -7.1). A vehicle with ID 74 is 28.4 meters away at (-19.7, -20.4). A vehicle with ID 58 is 31.0 meters away at (30.7, 4.3). A pedestrian with ID 63 is 31.9 meters away at (-15.2, 28.1).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.9146087  0.48149425] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.8901921  0.43555662] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.9003121 0.529381 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-2.2452385 -6.4163036] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.3232459  -0.90551805] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 9.440441  -4.8507905] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-3.615862 -7.65572 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 4.607713  -1.9687479] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.0284942   0.00499596] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.0) m/s. Its current heading (yaw) is -3.02

The most relevant actors are: A pedestrian with ID 7 is 10.3 meters away at (4.8, -9.2). A pedestrian with ID 49 is 10.5 meters away at (-10.4, -0.9). A pedestrian with ID 11 is 11.0 meters away at (5.0, -9.8). A pedestrian with ID 17 is 11.3 meters away at (6.3, -9.4). A vehicle with ID 50 is 17.3 meters away at (-15.8, -6.9). A vehicle with ID 73 is 25.9 meters away at (-17.0, -19.5). A pedestrian with ID 63 is 30.9 meters away at (-12.4, 28.3). A unknown object with ID 2 is 31.9 meters away at (-27.6, -16.0). A vehicle with ID 8 is 33.3 meters away at (33.2, 2.5). A vehicle with ID 29 is 33.4 meters away at (33.3, 2.5).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.9488582 0.3548172] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.9972839 -1.7956806] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.0337425 0.355847 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [1.0639337  0.29654062] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-2.76917   -6.5936804] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-2.8498128e-02 -7.6142489e-05] m/s.The unknown object with ID 2 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 [10.636467  -5.1794333] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [10.4979725 -5.1944466] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -2.1) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A vehicle with ID 1 is 5.1 meters away at (1.8, -4.7). A unknown object with ID 7 is 5.4 meters away at (-0.2, 5.4). A unknown object with ID 37 is 6.7 meters away at (-2.2, 6.3). A unknown object with ID 38 is 8.4 meters away at (-4.2, 7.3). A pedestrian with ID 39 is 10.6 meters away at (-1.4, 10.5). A unknown object with ID 19 is 11.7 meters away at (7.0, -9.3). A unknown object with ID 42 is 12.4 meters away at (1.7, 12.3). A unknown object with ID 41 is 12.8 meters away at (0.4, 12.8). A pedestrian with ID 46 is 15.9 meters away at (5.0, -15.1). A pedestrian with ID 18 is 28.7 meters away at (-21.2, 19.4).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.7285633 -2.0886364] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 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 pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.97124577  0.6829139 ] 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 42 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 46 is traveling at a (x, y) velocity of [-0.23800008 -1.1346478 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.608999   -0.66963637] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -1.6) m/s. Its current heading (yaw) is -0.39

The most relevant actors are: A vehicle with ID 1 is 3.8 meters away at (-1.5, -3.5). A unknown object with ID 7 is 12.9 meters away at (-9.1, 9.1). A pedestrian with ID 46 is 13.8 meters away at (-4.0, -13.2). A unknown object with ID 37 is 15.0 meters away at (-11.2, 10.0). A unknown object with ID 34 is 16.5 meters away at (-5.9, 15.4). A unknown object with ID 38 is 17.1 meters away at (-13.1, 11.0). A unknown object with ID 42 is 17.5 meters away at (-7.2, 15.9). A unknown object with ID 41 is 18.5 meters away at (-8.4, 16.5). A unknown object with ID 31 is 19.6 meters away at (-9.7, 17.0). A pedestrian with ID 39 is 19.9 meters away at (-12.3, 15.6).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.3213875 -0.5719131] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.22370785 -1.2280898 ] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 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 pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.9106192  0.6744925] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.1) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A vehicle with ID 1 is 7.0 meters away at (-6.9, -1.2). A unknown object with ID 21 is 11.3 meters away at (-9.6, -5.8). A cyclist with ID 50 is 13.6 meters away at (6.0, 12.2). A pedestrian with ID 46 is 16.7 meters away at (-11.2, -12.4). A unknown object with ID 7 is 19.6 meters away at (-15.7, 11.8). A unknown object with ID 33 is 20.8 meters away at (-11.1, 17.5). A unknown object with ID 37 is 21.9 meters away at (-17.8, 12.7). A unknown object with ID 34 is 22.0 meters away at (-12.5, 18.1). A unknown object with ID 42 is 23.1 meters away at (-13.7, 18.6). A unknown object with ID 38 is 24.0 meters away at (-19.8, 13.6).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 0.76160735 -0.15481964] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [-3.7206113 -0.9082325] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.17306623 -1.1172571 ] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 0.6) m/s. Its current heading (yaw) is 0.24

The most relevant actors are: A vehicle with ID 1 is 9.8 meters away at (-9.8, -0.8). A unknown object with ID 7 is 24.5 meters away at (-21.0, 12.7). A unknown object with ID 34 is 25.8 meters away at (-17.7, 18.8). A unknown object with ID 37 is 26.8 meters away at (-23.0, 13.6). A unknown object with ID 42 is 27.1 meters away at (-18.9, 19.5). A unknown object with ID 41 is 28.4 meters away at (-20.1, 20.1). A pedestrian with ID 35 is 28.7 meters away at (10.3, -26.8). A unknown object with ID 38 is 28.9 meters away at (-25.0, 14.6). A unknown object with ID 31 is 29.7 meters away at (-21.4, 20.6). A vehicle with ID 53 is 43.8 meters away at (38.9, -20.1).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.5271078  -0.07066199] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 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 35 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 4.6911545 -2.4424064] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 1.9) m/s. Its current heading (yaw) is 0.61

The most relevant actors are: A vehicle with ID 2 is 10.4 meters away at (-8.4, -6.1).

The vehicle with ID 2 is traveling at a (x, y) velocity of [1.6923045 1.2151097] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 4.2) m/s. Its current heading (yaw) is 0.91

The most relevant actors are: A vehicle with ID 2 is 12.4 meters away at (-9.6, -7.9).

The vehicle with ID 2 is traveling at a (x, y) velocity of [3.6860409 2.6884809] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 6.3) m/s. Its current heading (yaw) is 1.64

The most relevant actors are: A vehicle with ID 2 is 13.1 meters away at (-5.3, -12.0). A unknown object with ID 6 is 14.9 meters away at (-14.0, 4.9).

The vehicle with ID 2 is traveling at a (x, y) velocity of [3.3838043 4.3735366] 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 (-3.8, 6.2) m/s. Its current heading (yaw) is 2.11

The most relevant actors are: A unknown object with ID 6 is 12.0 meters away at (-9.3, -7.6). A vehicle with ID 2 is 14.0 meters away at (3.3, -13.6).

The unknown object with ID 6 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 [0.03473261 6.1956654 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-9.28502  -7.552017], 11.96848201751709 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -4.6) m/s. Its current heading (yaw) is -1.91

The most relevant actors are: A vehicle with ID 38 is 2.9 meters away at (-2.9, 0.2). A vehicle with ID 33 is 6.6 meters away at (6.5, 1.0). A vehicle with ID 36 is 7.0 meters away at (-0.5, 7.0). A vehicle with ID 39 is 13.3 meters away at (1.7, 13.2). A vehicle with ID 69 is 17.2 meters away at (-2.0, -17.0). A vehicle with ID 4 is 20.0 meters away at (-18.3, -8.1). A vehicle with ID 49 is 24.9 meters away at (5.9, 24.2). A unknown object with ID 14 is 25.4 meters away at (-2.2, 25.4). A vehicle with ID 45 is 28.8 meters away at (9.4, -27.2). A vehicle with ID 68 is 32.5 meters away at (-7.5, -31.6).

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.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [1.5677565 4.4527383] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 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 68 is traveling at a (x, y) velocity of [0.72253793 1.959689  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.3) m/s. Its current heading (yaw) is -1.94

The most relevant actors are: A vehicle with ID 69 is 3.5 meters away at (2.9, -2.0). A vehicle with ID 38 is 4.9 meters away at (-1.2, 4.7). A vehicle with ID 33 is 10.0 meters away at (8.3, 5.6). A vehicle with ID 36 is 11.7 meters away at (1.2, 11.6). A vehicle with ID 4 is 16.9 meters away at (-16.5, -3.5). A vehicle with ID 39 is 18.3 meters away at (3.4, 17.9). A vehicle with ID 35 is 18.5 meters away at (10.2, -15.5). A vehicle with ID 68 is 21.8 meters away at (-3.8, -21.4). A vehicle with ID 34 is 24.9 meters away at (-24.9, -0.5). A vehicle with ID 45 is 25.2 meters away at (11.1, -22.6).

The vehicle with ID 69 is traveling at a (x, y) velocity of [1.8608407 6.0395546] 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.The vehicle with ID 36 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.1023471   0.75849366] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [1.3216381 3.7683344] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The 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 -1.94

The most relevant actors are: A vehicle with ID 38 is 5.2 meters away at (-1.1, 5.1). A vehicle with ID 33 is 10.3 meters away at (8.4, 5.9). A vehicle with ID 68 is 11.7 meters away at (-0.4, -11.7). A vehicle with ID 36 is 12.0 meters away at (1.3, 11.9). A vehicle with ID 69 is 13.7 meters away at (7.3, 11.6). A vehicle with ID 4 is 16.7 meters away at (-16.4, -3.1). A vehicle with ID 35 is 17.2 meters away at (9.0, -14.6). A vehicle with ID 39 is 18.4 meters away at (3.5, 18.1). A vehicle with ID 34 is 24.8 meters away at (-24.8, -0.1). A vehicle with ID 45 is 24.9 meters away at (11.2, -22.2).

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.The vehicle with ID 68 is traveling at a (x, y) velocity of [1.9087892 5.4123287] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [2.5446208 6.988775 ] m/s.The vehicle with ID 4 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 39 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 45 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 -1.94

The most relevant actors are: A vehicle with ID 68 is 3.8 meters away at (3.8, 0.6). A vehicle with ID 38 is 5.2 meters away at (-1.1, 5.1). A vehicle with ID 33 is 10.3 meters away at (8.4, 6.0). A vehicle with ID 36 is 12.1 meters away at (1.4, 12.0). A vehicle with ID 4 is 16.7 meters away at (-16.4, -3.1). A vehicle with ID 35 is 17.1 meters away at (9.0, -14.6). A vehicle with ID 39 is 18.4 meters away at (3.5, 18.1). A vehicle with ID 34 is 24.8 meters away at (-24.8, -0.1). A vehicle with ID 45 is 24.9 meters away at (11.2, -22.2). A vehicle with ID 69 is 28.6 meters away at (12.8, 25.6).

The vehicle with ID 68 is traveling at a (x, y) velocity of [2.2001038 6.63074  ] 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.The vehicle with ID 36 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 69 is traveling at a (x, y) velocity of [2.735511  6.8137465] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.2) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 37 is 26.7 meters away at (25.2, 8.8). A vehicle with ID 21 is 27.2 meters away at (-9.3, 25.5). A vehicle with ID 6 is 29.7 meters away at (19.8, 22.1). A pedestrian with ID 38 is 34.8 meters away at (27.5, 21.3). A vehicle with ID 10 is 48.0 meters away at (31.2, 36.5). A vehicle with ID 11 is 48.5 meters away at (-30.9, -37.4). A vehicle with ID 14 is 68.7 meters away at (44.2, 52.6). A pedestrian with ID 1 is 73.8 meters away at (40.0, 62.1).

The vehicle with ID 37 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 6 is traveling at a (x, y) velocity of [5.8604054 6.686778 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.89191014 -0.7781087 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [6.1480074 7.129751 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [6.425172 7.68188 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [6.4743757 7.5364203] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.97381365 1.0056981 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 5.9) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 37 is 15.2 meters away at (14.9, -3.2). A pedestrian with ID 38 is 17.6 meters away at (15.6, 8.1). A vehicle with ID 21 is 23.7 meters away at (-19.5, 13.4). A vehicle with ID 6 is 32.1 meters away at (21.8, 23.5). A vehicle with ID 11 is 44.9 meters away at (-28.7, -34.6). A unknown object with ID 19 is 49.1 meters away at (46.5, -15.8). A vehicle with ID 10 is 51.3 meters away at (33.4, 39.0). A vehicle with ID 25 is 58.6 meters away at (-46.5, 35.6). A pedestrian with ID 22 is 59.0 meters away at (-48.8, 33.2). A pedestrian with ID 32 is 59.5 meters away at (-48.5, 34.6).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.5812228  -0.38190117] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [6.7015634 6.9822574] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [6.169285  7.2038894] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [5.967853 7.368845] m/s.The vehicle 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 [0.01952811 0.01416295] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.14526857 -0.08800609] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 5.8) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A pedestrian with ID 38 is 6.2 meters away at (5.1, -3.5). A vehicle with ID 37 is 15.6 meters away at (5.2, -14.8). A vehicle with ID 21 is 29.5 meters away at (-29.4, 2.0). A vehicle with ID 6 is 36.7 meters away at (25.7, 26.2). A vehicle with ID 11 is 41.9 meters away at (-26.7, -32.3). A unknown object with ID 19 is 45.8 meters away at (36.8, -27.3). A pedestrian with ID 1 is 47.9 meters away at (23.1, 42.0). A vehicle with ID 10 is 53.3 meters away at (34.7, 40.5). A vehicle with ID 25 is 61.2 meters away at (-56.3, 24.1). A unknown object with ID 23 is 61.6 meters away at (56.8, -23.7).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.03680933  0.05785789] m/s.The vehicle with ID 37 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 6 is traveling at a (x, y) velocity of [6.489453 7.082404] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [5.71847   6.8037367] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.688477  0.9185248] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [4.619719 5.605516] m/s.The vehicle with ID 25 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 (5.1, 6.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A pedestrian with ID 38 is 16.2 meters away at (-5.0, -15.4). A vehicle with ID 37 is 27.0 meters away at (-4.8, -26.6). A pedestrian with ID 1 is 35.3 meters away at (14.5, 32.1). A vehicle with ID 11 is 39.4 meters away at (-25.1, -30.3). A vehicle with ID 6 is 39.4 meters away at (27.8, 27.9). A vehicle with ID 21 is 40.5 meters away at (-39.2, -9.9). A pedestrian with ID 33 is 42.2 meters away at (-41.4, -8.3). A unknown object with ID 19 is 47.4 meters away at (26.8, -39.1). A vehicle with ID 10 is 48.7 meters away at (31.7, 37.0). A vehicle with ID 14 is 58.8 meters away at (37.9, 44.9).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.0161577  -0.01265133] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.799296  1.0012395] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [6.0535784 7.091116 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [5.5598364 6.170216 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.02601019 0.00282758] m/s.The unknown object with ID 19 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 [2.4593449 2.9599574] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [1.221319 1.449944] 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, -7.5) m/s. Its current heading (yaw) is -1.61

The most relevant actors are: A unknown object with ID 34 is 20.6 meters away at (-11.6, 17.1). A vehicle with ID 35 is 36.6 meters away at (35.8, 7.6). A unknown object with ID 18 is 41.5 meters away at (-6.5, -41.0). A unknown object with ID 38 is 54.6 meters away at (54.5, 2.4). A vehicle with ID 40 is 58.6 meters away at (58.5, 3.7). A pedestrian with ID 41 is 59.0 meters away at (59.0, -1.0). A unknown object with ID 33 is 65.2 meters away at (-24.4, -60.5). A vehicle with ID 36 is 67.3 meters away at (-2.7, 67.2). A pedestrian with ID 37 is 68.1 meters away at (0.4, 68.1). A unknown object with ID 6 is 68.8 meters away at (-25.0, -64.1).

The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-5.2043653 -0.0881009] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.06577512 -0.01702128] m/s.The unknown object with ID 33 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 37 is traveling at a (x, y) velocity of [-0.41870445 -0.41324806] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-11.605814  17.07882 ], 20.64899444580078 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -7.5) m/s. Its current heading (yaw) is -1.66

The most relevant actors are: A unknown object with ID 34 is 33.8 meters away at (-10.6, 32.1). A vehicle with ID 35 is 35.8 meters away at (27.7, 22.7). A unknown object with ID 33 is 51.0 meters away at (-23.4, -45.3). A unknown object with ID 29 is 54.7 meters away at (-23.9, -49.2). A unknown object with ID 6 is 54.7 meters away at (-23.7, -49.3). A vehicle with ID 8 is 56.2 meters away at (-26.4, -49.7). A unknown object with ID 3 is 58.5 meters away at (-25.3, -52.8). A unknown object with ID 2 is 61.4 meters away at (-26.3, -55.5). A vehicle with ID 25 is 64.0 meters away at (-28.7, -57.2). A cyclist with ID 1 is 65.8 meters away at (-19.3, -62.9).

The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-4.1259007   0.05502805] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 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 cyclist with ID 1 is traveling at a (x, y) velocity of [-0.01017132  0.03016928] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-10.555132  32.133705], 33.82285690307617 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -7.4) m/s. Its current heading (yaw) is -1.71

The most relevant actors are: A unknown object with ID 33 is 37.4 meters away at (-21.6, -30.5). A unknown object with ID 24 is 38.7 meters away at (-25.0, -29.5). A unknown object with ID 29 is 40.8 meters away at (-22.2, -34.2). A unknown object with ID 6 is 40.9 meters away at (-22.0, -34.4). A vehicle with ID 35 is 43.8 meters away at (22.6, 37.6). A vehicle with ID 8 is 43.9 meters away at (-25.1, -36.1). A unknown object with ID 3 is 44.6 meters away at (-23.4, -38.0). A unknown object with ID 2 is 47.5 meters away at (-24.6, -40.6). A unknown object with ID 34 is 47.8 meters away at (-9.0, 47.0). A cyclist with ID 1 is 51.3 meters away at (-17.5, -48.2).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-1.9385008   0.03444247] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.13810384 -0.36211988] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 0.00886758 -0.0631167 ] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-21.621794 -30.51912 ], 37.40211868286133 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -6.7) m/s. Its current heading (yaw) is -1.79

The most relevant actors are: A unknown object with ID 10 is 25.1 meters away at (-22.6, -10.9). A unknown object with ID 33 is 25.4 meters away at (-19.2, -16.6). A unknown object with ID 24 is 27.5 meters away at (-22.6, -15.6). A unknown object with ID 29 is 28.3 meters away at (-19.7, -20.2). A unknown object with ID 6 is 28.3 meters away at (-19.6, -20.5). A unknown object with ID 20 is 28.4 meters away at (-22.7, -17.0). A unknown object with ID 3 is 31.9 meters away at (-21.0, -24.1). A vehicle with ID 8 is 32.5 meters away at (-22.9, -23.1). A unknown object with ID 2 is 34.7 meters away at (-22.1, -26.7). A cyclist with ID 1 is 37.6 meters away at (-15.1, -34.4).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 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 unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [0.04135723 0.01586723] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.7) m/s. Its current heading (yaw) is -0.57

The most relevant actors are: A pedestrian with ID 28 is 18.7 meters away at (-18.2, 4.3). A pedestrian with ID 26 is 30.2 meters away at (30.0, 3.0). A cyclist with ID 38 is 32.2 meters away at (30.0, -11.9). A vehicle with ID 39 is 35.2 meters away at (35.2, 1.5). A vehicle with ID 36 is 35.3 meters away at (-0.3, -35.3). A pedestrian with ID 34 is 39.1 meters away at (-37.0, -12.6). A vehicle with ID 19 is 42.5 meters away at (41.8, 7.7). A vehicle with ID 24 is 48.1 meters away at (46.7, 11.5). A pedestrian with ID 29 is 55.1 meters away at (-21.6, -50.7). A vehicle with ID 37 is 55.3 meters away at (-17.4, -52.5).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2096378  0.5805858] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.16999406 -1.7648727 ] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [-3.3830385  3.9983246] m/s.The vehicle with ID 39 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 [-7.3888326 -8.976248 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.362312   -0.22471146] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.97572505 1.162501  ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-8.123215 -9.720264] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -3.8) m/s. Its current heading (yaw) is -0.96

The most relevant actors are: A cyclist with ID 38 is 17.3 meters away at (16.9, 4.0). A pedestrian with ID 26 is 23.7 meters away at (22.9, 6.1). A vehicle with ID 39 is 28.0 meters away at (26.7, 8.6). A pedestrian with ID 28 is 31.8 meters away at (-29.3, 12.5). A vehicle with ID 19 is 36.5 meters away at (33.3, 14.9). A unknown object with ID 14 is 40.4 meters away at (33.9, 22.0). A vehicle with ID 18 is 42.4 meters away at (42.4, 1.4). A vehicle with ID 24 is 42.5 meters away at (38.2, 18.7). A pedestrian with ID 34 is 48.7 meters away at (-48.3, -6.2). A pedestrian with ID 29 is 49.9 meters away at (-27.6, -41.6).

The cyclist with ID 38 is traveling at a (x, y) velocity of [-2.0327172  4.6327224] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.618452  -1.4574186] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.448009    0.50622004] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.5723244  -0.59002984] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.0611062 1.0824412] m/s.

There are active red lights at the following coordinates: [[ 42.888195 -15.985277]
 [ 40.969402 -14.601047]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -5.0) m/s. Its current heading (yaw) is -1.74

The most relevant actors are: A pedestrian with ID 26 is 25.6 meters away at (22.5, 12.2). A cyclist with ID 38 is 26.6 meters away at (14.8, 22.1). A unknown object with ID 17 is 29.4 meters away at (26.9, -12.0). A vehicle with ID 39 is 29.8 meters away at (24.1, 17.4). A cyclist with ID 25 is 32.5 meters away at (32.2, 4.4). A vehicle with ID 19 is 38.9 meters away at (30.8, 23.8). A pedestrian with ID 28 is 41.3 meters away at (-34.7, 22.4). A pedestrian with ID 29 is 41.7 meters away at (-28.0, -30.9). A unknown object with ID 14 is 44.0 meters away at (31.3, 30.9). A vehicle with ID 24 is 45.2 meters away at (35.8, 27.6).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.270944  -1.0842953] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [2.565051  3.5969033] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-5.015367   1.7035983] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.47221    0.5123056] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.85350806 1.0587059 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 42.888195 -15.985277]
 [ 40.969402 -14.601047]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -4.0) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A pedestrian with ID 29 is 28.7 meters away at (-21.6, -19.0). A cyclist with ID 25 is 33.7 meters away at (29.0, 17.1). A pedestrian with ID 26 is 35.7 meters away at (30.5, 18.5). A vehicle with ID 39 is 39.5 meters away at (29.6, 26.2). A cyclist with ID 38 is 45.3 meters away at (29.2, 34.6). A pedestrian with ID 28 is 45.8 meters away at (-31.8, 32.9). A unknown object with ID 13 is 50.1 meters away at (31.0, 39.4). A cyclist with ID 4 is 50.8 meters away at (32.5, 39.0). A pedestrian with ID 34 is 53.1 meters away at (-51.7, 11.9). A unknown object with ID 14 is 54.2 meters away at (36.9, 39.6).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.7777339 1.457247 ] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-4.026437  2.409858] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0860339 -1.1513836] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [5.047151 2.62014 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2067839  0.6880948] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 4 is traveling at a (x, y) velocity of [-4.357321 -3.510678] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.4259269   0.20344555] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 42.888195 -15.985277]
 [ 40.969402 -14.601047]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 1.5) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 11 is 12.5 meters away at (-9.3, 8.3). A vehicle with ID 56 is 22.0 meters away at (-16.8, 14.2). A vehicle with ID 62 is 22.9 meters away at (19.8, -11.5). A vehicle with ID 54 is 23.1 meters away at (-14.4, 18.0). A unknown object with ID 61 is 23.3 meters away at (-23.2, -1.0). A pedestrian with ID 63 is 26.3 meters away at (-16.6, 20.5). A vehicle with ID 59 is 33.5 meters away at (-32.5, -8.1). A vehicle with ID 65 is 35.4 meters away at (-26.9, 23.0). A vehicle with ID 60 is 37.5 meters away at (-35.8, -11.2). A vehicle with ID 55 is 39.2 meters away at (-27.0, 28.5).

The vehicle with ID 11 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 62 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.26594773 -1.5619202 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-1.2623793  1.0493698] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 44.535423 -41.188328]
 [ 44.15845  -41.749565]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.7) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 11 is 9.9 meters away at (-7.4, 6.6). A vehicle with ID 54 is 20.3 meters away at (-12.3, 16.2). A vehicle with ID 56 is 21.2 meters away at (-16.3, 13.7). A pedestrian with ID 63 is 21.4 meters away at (-14.1, 16.1). A vehicle with ID 62 is 25.6 meters away at (21.9, -13.3). A vehicle with ID 59 is 31.9 meters away at (-30.3, -9.9). A vehicle with ID 60 is 36.1 meters away at (-33.7, -13.0). A vehicle with ID 55 is 36.6 meters away at (-24.9, 26.8). A vehicle with ID 58 is 38.1 meters away at (-37.8, 5.2). A vehicle with ID 64 is 38.6 meters away at (-35.5, -15.0).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.32982233  0.28140053] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-1.6864378  1.3628068] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.8673196 -0.9354051] m/s.The vehicle with ID 62 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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.

There are active red lights at the following coordinates: [[ 44.535423 -41.188328]
 [ 44.15845  -41.749565]]

Instruction: Slight right turn approaching.