The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.7) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 11 is 11.5 meters away at (-8.6, 7.6). A pedestrian with ID 63 is 18.0 meters away at (-11.4, 13.9). A vehicle with ID 54 is 18.3 meters away at (-10.7, 14.9). A vehicle with ID 56 is 26.9 meters away at (-20.6, 17.3). A vehicle with ID 62 is 27.7 meters away at (23.5, -14.6). A vehicle with ID 59 is 30.9 meters away at (-28.7, -11.2). A vehicle with ID 55 is 34.4 meters away at (-23.4, 25.3). A vehicle with ID 60 is 35.2 meters away at (-32.1, -14.4). A vehicle with ID 58 is 36.4 meters away at (-36.2, 3.8). A vehicle with ID 64 is 37.7 meters away at (-33.9, -16.5).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.4604397  2.0695128] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.01341943 -0.08850352] 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 [-3.7114615  3.1077282] 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 55 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 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.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 2.1) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A pedestrian with ID 63 is 13.7 meters away at (-7.8, 11.2). A vehicle with ID 54 is 14.0 meters away at (-7.2, 12.0). A vehicle with ID 11 is 16.1 meters away at (-12.1, 10.7). A vehicle with ID 46 is 24.6 meters away at (-21.7, 11.7). A unknown object with ID 37 is 28.9 meters away at (12.0, -26.3). A vehicle with ID 59 is 29.0 meters away at (-25.3, -14.1). A vehicle with ID 55 is 30.1 meters away at (-19.9, 22.5). A vehicle with ID 62 is 32.1 meters away at (27.0, -17.5). A vehicle with ID 58 is 32.7 meters away at (-32.7, 0.9). A vehicle with ID 56 is 33.0 meters away at (-25.2, 21.4).

The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.18978234  0.30837518] m/s.The vehicle with ID 54 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 [-4.244579   3.6223223] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 8.255141  -6.3418646] m/s.The unknown object with ID 37 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 55 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 58 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 [-4.33794    3.6981351] 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 (7.5, -3.8) m/s. Its current heading (yaw) is -0.47

The most relevant actors are: A vehicle with ID 56 is 27.0 meters away at (-27.0, -1.6). A vehicle with ID 57 is 30.6 meters away at (-30.3, 3.7). A vehicle with ID 58 is 36.7 meters away at (-32.4, -17.2). A pedestrian with ID 63 is 44.0 meters away at (43.6, -5.9). A cyclist with ID 21 is 52.4 meters away at (47.9, -21.2). A vehicle with ID 59 is 54.8 meters away at (-46.4, 29.2). A vehicle with ID 60 is 57.6 meters away at (-40.0, 41.5). A vehicle with ID 62 is 63.7 meters away at (-40.4, 49.2). A vehicle with ID 30 is 66.7 meters away at (60.4, -28.2).

The vehicle with ID 56 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 58 is traveling at a (x, y) velocity of [-4.5340447 -1.8016374] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.01604771 -0.00392282] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [10.91301  -4.587443] 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 62 is traveling at a (x, y) velocity of [-1.7795833 -4.770916 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [11.28597  -5.209826] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -3.8) m/s. Its current heading (yaw) is -0.43

The most relevant actors are: A pedestrian with ID 63 is 28.0 meters away at (27.9, 1.7). A unknown object with ID 40 is 33.6 meters away at (33.5, 1.9). A vehicle with ID 56 is 42.3 meters away at (-42.0, 5.4). A vehicle with ID 57 is 47.1 meters away at (-45.8, 11.2). A vehicle with ID 29 is 50.4 meters away at (17.4, -47.3). A pedestrian with ID 45 is 54.2 meters away at (-39.6, 37.0). A vehicle with ID 58 is 57.2 meters away at (-55.5, -14.1). A cyclist with ID 21 is 58.8 meters away at (54.2, -22.8). A vehicle with ID 59 is 72.4 meters away at (-63.2, 35.4). A vehicle with ID 30 is 73.9 meters away at (67.3, -30.7).

The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.02559746 -0.00394048] m/s.The unknown object with ID 40 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 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-2.8572454 -2.581559 ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [11.004363 -4.781959] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-0.7934548 -1.0913005] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [11.56903  -5.219036] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -3.7) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A pedestrian with ID 63 is 14.5 meters away at (11.3, 9.2). A unknown object with ID 32 is 25.8 meters away at (19.6, -16.7). A vehicle with ID 29 is 39.8 meters away at (0.6, -39.8). A vehicle with ID 47 is 55.0 meters away at (-6.7, -54.5). A vehicle with ID 36 is 55.1 meters away at (-3.9, -55.0). A vehicle with ID 56 is 59.9 meters away at (-58.5, 13.0). A cyclist with ID 21 is 61.3 meters away at (56.5, -23.8). A vehicle with ID 52 is 78.6 meters away at (-72.6, 30.3).

The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.01322101 -0.01676784] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 8.640242  -3.7772188] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.8287063  -0.94600433] m/s.

There are active red lights at the following coordinates: [[-27.827843    0.7206079]
 [-29.19381    -2.1908052]]

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, -3.7) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A pedestrian with ID 63 is 17.4 meters away at (-5.7, 16.4). A vehicle with ID 48 is 17.5 meters away at (-14.5, -9.7). A vehicle with ID 29 is 36.4 meters away at (-16.3, -32.5). A pedestrian with ID 51 is 41.1 meters away at (18.5, -36.7). A vehicle with ID 36 is 52.1 meters away at (-21.0, -47.7). A cyclist with ID 21 is 57.5 meters away at (53.4, -21.3). A pedestrian with ID 5 is 58.3 meters away at (56.2, -15.6). A unknown object with ID 2 is 64.5 meters away at (61.3, -20.1). A unknown object with ID 3 is 66.6 meters away at (63.2, -20.9). A pedestrian with ID 4 is 69.3 meters away at (65.5, -22.8).

The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.02709821 -0.04412749] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-10.982406   4.432151] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.6412807  0.5620797] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 6.0297103 -1.5478607] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.01725873 0.02610162] 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 3 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 [-0.19610721  1.1135904 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -0.0) m/s. Its current heading (yaw) is -3.11

The most relevant actors are: A unknown object with ID 1 is 13.5 meters away at (-2.1, 13.3). A vehicle with ID 22 is 22.0 meters away at (-13.2, 17.7). A unknown object with ID 21 is 37.5 meters away at (-24.4, 28.4). A pedestrian with ID 27 is 38.4 meters away at (-38.1, 4.5). A unknown object with ID 4 is 47.3 meters away at (-20.3, 42.7). A unknown object with ID 15 is 58.6 meters away at (58.0, 8.1). A cyclist with ID 25 is 68.2 meters away at (67.3, 11.2). A unknown object with ID 3 is 78.3 meters away at (-78.1, 5.2).

The unknown object with ID 1 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 unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1951594  -0.66490006] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 [5.1924443 3.717156 ] m/s.The unknown object with ID 3 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 [-2.1256337 13.335985 ], 13.504325866699219 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.12

The most relevant actors are: A vehicle with ID 22 is 21.6 meters away at (-12.4, 17.7). A unknown object with ID 21 is 37.0 meters away at (-23.7, 28.4). A pedestrian with ID 27 is 40.1 meters away at (-39.9, 3.6).

The vehicle with ID 22 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 pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1667084  -0.21555172] 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 -3.12

The most relevant actors are: A unknown object with ID 8 is 13.4 meters away at (-1.4, 13.4). A vehicle with ID 22 is 21.6 meters away at (-12.4, 17.7). A unknown object with ID 20 is 35.9 meters away at (-34.0, 11.7). A unknown object with ID 21 is 37.0 meters away at (-23.7, 28.4). A pedestrian with ID 27 is 42.5 meters away at (-42.3, 3.5).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1848893  -0.13345532] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-1.4125977 13.355762 ], 13.430256843566895 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.12

The most relevant actors are: A unknown object with ID 8 is 13.4 meters away at (-1.4, 13.3). A vehicle with ID 22 is 21.6 meters away at (-12.4, 17.7). A unknown object with ID 20 is 35.9 meters away at (-34.0, 11.7). A unknown object with ID 21 is 37.0 meters away at (-23.7, 28.4). A pedestrian with ID 27 is 44.8 meters away at (-44.7, 3.2). A vehicle with ID 17 is 75.6 meters away at (75.5, 4.3).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1631289  -0.12536094] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-8.552015   -0.58238286] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-1.4028115 13.344711 ], 13.418241500854492 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.5) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 8 is 21.8 meters away at (-15.4, 15.5). A cyclist with ID 9 is 29.8 meters away at (-23.2, 18.7). A vehicle with ID 10 is 34.6 meters away at (9.8, -33.2). A vehicle with ID 15 is 34.9 meters away at (-5.7, -34.4). A cyclist with ID 12 is 47.9 meters away at (-44.3, 18.3). A cyclist with ID 13 is 48.3 meters away at (-43.1, 21.8).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 9 is traveling at a (x, y) velocity of [ 3.9407458 -3.9027243] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.6080694 -2.7799268] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [3.234488  4.2594175] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [0.10522334 0.331153  ] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [ 0.01961166 -0.066762  ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A cyclist with ID 9 is 20.1 meters away at (-16.0, 12.1). A vehicle with ID 8 is 22.0 meters away at (-15.5, 15.6). A vehicle with ID 15 is 27.6 meters away at (-0.9, -27.6). A vehicle with ID 10 is 40.2 meters away at (3.1, -40.0). A unknown object with ID 3 is 40.3 meters away at (36.9, -16.3). A cyclist with ID 12 is 47.6 meters away at (-43.3, 19.8). A pedestrian with ID 4 is 49.7 meters away at (-46.4, 17.7).

The cyclist with ID 9 is traveling at a (x, y) velocity of [ 3.4106104 -2.615806 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [2.1517732 2.8804457] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.9526577 -3.9631214] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [0.76754373 0.3820275 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.4456373 -0.7987519] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A cyclist with ID 9 is 13.0 meters away at (-10.2, 8.1). A vehicle with ID 8 is 22.0 meters away at (-15.5, 15.6). A vehicle with ID 15 is 22.4 meters away at (3.8, -22.1). A pedestrian with ID 2 is 45.7 meters away at (-41.4, 19.3). A vehicle with ID 10 is 48.3 meters away at (-3.0, -48.2). A pedestrian with ID 4 is 51.1 meters away at (-48.3, 16.5).

The cyclist with ID 9 is traveling at a (x, y) velocity of [ 2.7835186 -2.2091596] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [3.36087   2.4191258] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.80742466 -0.6724568 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.2113547 -4.4733443] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.0444001 -0.2612487] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A cyclist with ID 9 is 7.6 meters away at (-6.2, 4.4). A vehicle with ID 8 is 22.0 meters away at (-15.6, 15.6). A vehicle with ID 15 is 24.0 meters away at (13.3, -20.0). A cyclist with ID 7 is 44.2 meters away at (-40.4, 17.9). A pedestrian with ID 4 is 52.5 meters away at (-50.0, 16.1). A vehicle with ID 10 is 58.6 meters away at (-9.9, -57.8).

The cyclist with ID 9 is traveling at a (x, y) velocity of [ 1.6227212 -1.4699163] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 6.232715  -0.7123739] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [ 0.82332045 -0.9206267 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.63862497 -0.23857296] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.4297066 -4.6634517] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -4.1) m/s. Its current heading (yaw) is -0.75

The most relevant actors are: A unknown object with ID 30 is 7.4 meters away at (1.7, -7.2). A vehicle with ID 32 is 15.2 meters away at (14.6, -4.5). A unknown object with ID 29 is 18.9 meters away at (1.6, 18.8). A unknown object with ID 16 is 22.2 meters away at (-0.2, 22.2). A vehicle with ID 33 is 22.4 meters away at (20.5, -8.9). A pedestrian with ID 35 is 25.6 meters away at (22.1, -13.0). A pedestrian with ID 36 is 28.3 meters away at (25.3, -12.6). A vehicle with ID 28 is 31.8 meters away at (27.6, -15.7). A vehicle with ID 34 is 32.1 meters away at (-18.1, -26.5). A cyclist with ID 31 is 34.5 meters away at (-33.8, -7.0).

The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 [-0.94473314  0.814123  ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.24431872 -0.48907527] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 5.226551 -4.438476] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-2.5552983 -1.8283464] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [ 1.7019806 -7.243371 ], 7.440642356872559 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -5.0) m/s. Its current heading (yaw) is -0.73

The most relevant actors are: A vehicle with ID 32 is 6.6 meters away at (4.7, 4.7). A unknown object with ID 30 is 8.4 meters away at (-8.2, 1.9). A vehicle with ID 33 is 10.5 meters away at (10.5, 0.3). A pedestrian with ID 35 is 10.8 meters away at (10.6, -2.1). A pedestrian with ID 36 is 15.7 meters away at (15.5, -2.6). A vehicle with ID 28 is 18.8 meters away at (17.7, -6.5). A unknown object with ID 26 is 22.5 meters away at (-7.4, 21.2). A unknown object with ID 9 is 27.0 meters away at (23.9, -12.5). A unknown object with ID 8 is 28.7 meters away at (25.3, -13.7). A pedestrian with ID 19 is 29.3 meters away at (-4.3, 29.0).

The vehicle with ID 32 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 vehicle with ID 33 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 [-0.81125927  0.62468165] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.01360567 -0.00889979] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.02390441 -0.01560974] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -5.8) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 28 is 6.8 meters away at (5.3, 4.2). A pedestrian with ID 36 is 8.7 meters away at (3.1, 8.1). A pedestrian with ID 35 is 10.6 meters away at (-3.4, 10.0). A vehicle with ID 33 is 11.2 meters away at (-1.9, 11.0). A unknown object with ID 9 is 11.6 meters away at (11.5, -1.7). A unknown object with ID 8 is 13.2 meters away at (12.8, -2.9). A vehicle with ID 32 is 17.1 meters away at (-7.7, 15.3). A unknown object with ID 30 is 24.3 meters away at (-20.7, 12.6). A vehicle with ID 34 is 31.1 meters away at (-19.9, -23.9). A pedestrian with ID 41 is 49.7 meters away at (-49.4, -5.3).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.00266176 -0.01191956] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.53122467  0.67341363] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 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 [ 3.4279478 -3.0900524] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.0598918  -0.66863626] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -6.3) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A unknown object with ID 8 is 9.3 meters away at (-1.3, 9.2). A unknown object with ID 9 is 10.7 meters away at (-2.7, 10.4). A vehicle with ID 28 is 18.5 meters away at (-8.9, 16.3). A pedestrian with ID 36 is 23.1 meters away at (-11.2, 20.2). A vehicle with ID 33 is 28.2 meters away at (-16.1, 23.1). A pedestrian with ID 35 is 30.4 meters away at (-18.9, 23.8). A vehicle with ID 34 is 34.7 meters away at (-30.2, -17.2). A vehicle with ID 32 is 35.2 meters away at (-22.1, 27.4). A vehicle with ID 7 is 36.7 meters away at (-2.9, -36.6). A vehicle with ID 2 is 43.4 meters away at (37.0, -22.7).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.04429032 -0.01427967] m/s.The vehicle with ID 33 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 [-0.5994289  0.6933525] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.81567824 -2.8949096 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-1.3367233  9.203569 ], 9.300135612487793 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 7.4) m/s. Its current heading (yaw) is 1.28

The most relevant actors are: A unknown object with ID 27 is 14.3 meters away at (-7.9, -11.9). A vehicle with ID 28 is 20.0 meters away at (9.9, 17.4). A vehicle with ID 9 is 29.5 meters away at (22.8, -18.8). A unknown object with ID 22 is 73.5 meters away at (27.3, 68.3).

The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-9.140345   -0.60948956] m/s.The unknown object with ID 22 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 [ -7.9145617 -11.881283 ], 14.27603530883789 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 8.1) m/s. Its current heading (yaw) is 1.27

The most relevant actors are: A vehicle with ID 28 is 5.6 meters away at (5.2, 2.1). A unknown object with ID 27 is 30.0 meters away at (-12.6, -27.3). A vehicle with ID 9 is 34.9 meters away at (4.1, -34.7).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.5106444   0.64235705] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.7) m/s. Its current heading (yaw) is 1.26

The most relevant actors are: A vehicle with ID 28 is 13.6 meters away at (0.3, -13.6). A vehicle with ID 9 is 45.5 meters away at (-8.9, -44.6). A unknown object with ID 27 is 46.3 meters away at (-17.4, -42.9). A unknown object with ID 26 is 53.5 meters away at (-25.5, -47.1). A unknown object with ID 15 is 62.1 meters away at (32.8, 52.7).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.4006264  5.232909 ] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.9) m/s. Its current heading (yaw) is 1.28

The most relevant actors are: A vehicle with ID 28 is 28.3 meters away at (-4.2, -27.9). A pedestrian with ID 1 is 32.3 meters away at (20.0, 25.4). A vehicle with ID 9 is 47.9 meters away at (-13.5, -46.0). A unknown object with ID 27 is 61.3 meters away at (-21.9, -57.2). A pedestrian with ID 16 is 66.0 meters away at (-45.7, 47.7). A unknown object with ID 24 is 67.7 meters away at (-29.0, -61.1). A unknown object with ID 26 is 68.3 meters away at (-29.9, -61.4).

The vehicle with ID 28 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 [-0.00721378  0.01181489] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [1.893257 8.380301] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.69126713  0.16961077] 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.6) m/s. Its current heading (yaw) is -2.05

The most relevant actors are: A vehicle with ID 22 is 18.0 meters away at (-13.0, -12.4). A vehicle with ID 21 is 26.5 meters away at (-10.4, 24.4). A vehicle with ID 24 is 49.0 meters away at (32.5, -36.7). A pedestrian with ID 26 is 51.7 meters away at (31.8, -40.7). A pedestrian with ID 14 is 51.8 meters away at (32.6, -40.3). A vehicle with ID 23 is 53.0 meters away at (52.4, -7.8). A vehicle with ID 27 is 56.9 meters away at (39.9, -40.6). A vehicle with ID 25 is 59.3 meters away at (59.2, -3.7).

The vehicle with ID 22 is traveling at a (x, y) velocity of [ 3.883657  -1.3330694] m/s.The vehicle with ID 21 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 26 is traveling at a (x, y) velocity of [-0.7953512   0.41170517] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.82277846  0.38341135] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-8.925099   4.9053574] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.2) m/s. Its current heading (yaw) is -2.06

The most relevant actors are: A vehicle with ID 22 is 12.5 meters away at (0.0, -12.5). A vehicle with ID 23 is 38.5 meters away at (38.1, 5.8). A vehicle with ID 24 is 47.4 meters away at (34.8, -32.2). A pedestrian with ID 14 is 48.5 meters away at (33.4, -35.1). A vehicle with ID 27 is 55.6 meters away at (42.2, -36.1). A vehicle with ID 25 is 61.6 meters away at (61.5, 0.9).

The vehicle with ID 22 is traveling at a (x, y) velocity of [ 6.6532226 -2.795406 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-7.489102  4.32719 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.782792   0.5848729] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -2.2) m/s. Its current heading (yaw) is -2.43

The most relevant actors are: A vehicle with ID 22 is 22.9 meters away at (17.6, -14.6). A unknown object with ID 18 is 29.2 meters away at (-2.2, 29.1). A vehicle with ID 23 is 32.5 meters away at (27.4, 17.4). A vehicle with ID 24 is 46.9 meters away at (38.0, -27.6). A vehicle with ID 27 is 55.3 meters away at (45.4, -31.5). A vehicle with ID 25 is 64.5 meters away at (64.3, 5.0).

The vehicle with ID 22 is traveling at a (x, y) velocity of [ 7.6370187 -3.4305112] m/s.The unknown object with ID 18 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 [-6.04998    2.6168728] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 0.9) m/s. Its current heading (yaw) is 2.92

The most relevant actors are: A vehicle with ID 23 is 30.2 meters away at (23.1, 19.6). A vehicle with ID 22 is 44.0 meters away at (38.9, -20.6). A pedestrian with ID 16 is 48.2 meters away at (39.0, -28.3). A vehicle with ID 24 is 51.9 meters away at (44.5, -26.9). A vehicle with ID 27 is 60.3 meters away at (52.0, -30.6). A vehicle with ID 25 is 71.6 meters away at (71.3, 6.2).

The vehicle with ID 23 is traveling at a (x, y) velocity of [-4.9670506 -1.7619555] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 6.9943004 -3.5946608] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.9264848   0.35894805] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.16359806 -0.27530107] m/s.The vehicle with ID 27 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 [ 0.15840244 -0.40147024] 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, -7.0) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 92 is 3.6 meters away at (-1.8, 3.1). A vehicle with ID 94 is 4.7 meters away at (-4.4, -1.7). A vehicle with ID 87 is 9.6 meters away at (2.0, 9.4). A vehicle with ID 97 is 9.8 meters away at (-7.3, -6.5). A unknown object with ID 59 is 14.0 meters away at (-1.8, -13.9). A vehicle with ID 49 is 15.1 meters away at (-10.3, -11.0). A vehicle with ID 85 is 15.4 meters away at (5.6, 14.4). A unknown object with ID 75 is 17.9 meters away at (-3.9, -17.4). A vehicle with ID 86 is 20.7 meters away at (8.0, 19.1). A vehicle with ID 103 is 21.0 meters away at (-13.5, -16.1).

The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -7.0) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 49 is 3.6 meters away at (-1.6, 3.3). A vehicle with ID 103 is 5.2 meters away at (-4.8, -1.8). A unknown object with ID 75 is 5.9 meters away at (4.9, -3.3). A unknown object with ID 59 is 6.9 meters away at (6.9, 0.2). A vehicle with ID 97 is 7.8 meters away at (1.3, 7.6). A vehicle with ID 105 is 9.9 meters away at (-7.5, -6.6). A pedestrian with ID 45 is 12.5 meters away at (-11.0, -6.0). A vehicle with ID 94 is 13.1 meters away at (4.3, 12.4). A vehicle with ID 48 is 17.2 meters away at (-11.5, -12.7). A vehicle with ID 92 is 18.8 meters away at (7.0, 17.5).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 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 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.5780601 -1.0966705] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 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 (-3.9, -6.2) m/s. Its current heading (yaw) is -2.13

The most relevant actors are: A vehicle with ID 48 is 3.3 meters away at (-3.3, 0.6). A pedestrian with ID 45 is 6.6 meters away at (-3.9, 5.3). A vehicle with ID 105 is 6.7 meters away at (0.7, 6.6). A vehicle with ID 47 is 8.0 meters away at (-6.5, -4.6). A vehicle with ID 103 is 12.0 meters away at (3.4, 11.5). A unknown object with ID 66 is 13.7 meters away at (-1.1, -13.6). A unknown object with ID 82 is 17.4 meters away at (-2.9, -17.1). A vehicle with ID 49 is 17.9 meters away at (6.7, 16.6). A vehicle with ID 97 is 23.3 meters away at (9.8, 21.2). A vehicle with ID 46 is 27.0 meters away at (-13.5, -23.4).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.5857389 -1.1860759] m/s.The vehicle with ID 105 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 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 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 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -4.9) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 47 is 6.7 meters away at (1.6, 6.5). A unknown object with ID 66 is 7.5 meters away at (7.1, -2.4). A unknown object with ID 82 is 7.9 meters away at (5.3, -5.8). A vehicle with ID 48 is 12.8 meters away at (4.9, 11.8). A vehicle with ID 46 is 13.3 meters away at (-5.4, -12.2). A pedestrian with ID 45 is 14.7 meters away at (3.1, 14.4). A vehicle with ID 105 is 19.9 meters away at (8.9, 17.8). A vehicle with ID 3 is 20.6 meters away at (-10.0, -18.0). A unknown object with ID 78 is 30.1 meters away at (21.2, 21.4). A vehicle with ID 1 is 30.3 meters away at (-14.2, -26.7).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.6262379 -1.0234898] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 2.2) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A vehicle with ID 49 is 6.9 meters away at (-4.8, 5.0). A pedestrian with ID 22 is 8.7 meters away at (-2.6, 8.3). A pedestrian with ID 23 is 9.2 meters away at (-2.2, 8.9). A pedestrian with ID 50 is 10.6 meters away at (-8.7, -6.0). A pedestrian with ID 51 is 12.0 meters away at (-9.9, -6.7). A pedestrian with ID 54 is 12.5 meters away at (-10.6, -6.6). A vehicle with ID 59 is 16.0 meters away at (-14.0, 7.7). A vehicle with ID 64 is 20.2 meters away at (-20.2, -0.3). A vehicle with ID 56 is 20.9 meters away at (-7.7, -19.5). A vehicle with ID 65 is 22.6 meters away at (-20.2, 10.0).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1291627   0.46877733] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.1277539   0.46634802] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.00117787  0.00679424] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.00470198  0.01666097] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00085654 0.00733364] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 2.4) m/s. Its current heading (yaw) is 2.82

The most relevant actors are: A vehicle with ID 59 is 3.2 meters away at (-0.6, 3.2). A vehicle with ID 64 is 8.5 meters away at (-6.9, -4.9). A vehicle with ID 49 is 8.5 meters away at (8.5, 0.4). A vehicle with ID 65 is 8.7 meters away at (-6.8, 5.5). A pedestrian with ID 22 is 9.6 meters away at (8.5, 4.5). A pedestrian with ID 23 is 10.2 meters away at (8.8, 5.2). A pedestrian with ID 54 is 11.5 meters away at (2.8, -11.2). A pedestrian with ID 50 is 11.5 meters away at (4.7, -10.5). A pedestrian with ID 51 is 11.7 meters away at (3.5, -11.2). A vehicle with ID 39 is 12.3 meters away at (-11.9, -3.1).

The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1850399   0.43883207] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2068095   0.43836185] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01607177 -0.00057327] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.02327274  0.00191747] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.01077195 -0.00832858] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 2.4) m/s. Its current heading (yaw) is 2.82

The most relevant actors are: A vehicle with ID 25 is 3.1 meters away at (1.1, 2.9). A vehicle with ID 78 is 4.0 meters away at (1.2, -3.9). A vehicle with ID 65 is 7.3 meters away at (7.2, 0.8). A vehicle with ID 40 is 7.4 meters away at (-4.9, -5.5). A vehicle with ID 15 is 7.4 meters away at (-5.2, 5.3). A vehicle with ID 39 is 8.1 meters away at (2.1, -7.8). A pedestrian with ID 21 is 10.1 meters away at (-4.2, 9.1). A pedestrian with ID 13 is 10.3 meters away at (-5.0, 9.0). A vehicle with ID 41 is 11.4 meters away at (-10.9, -3.5). A vehicle with ID 64 is 12.3 meters away at (7.5, -9.7).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 1.7874361  -0.61986953] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.3766041   0.43879417] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.3858104   0.48681825] m/s.The vehicle with ID 41 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 2.6) m/s. Its current heading (yaw) is 2.81

The most relevant actors are: A vehicle with ID 38 is 4.6 meters away at (4.1, 2.1). A pedestrian with ID 20 is 7.6 meters away at (4.2, 6.3). A pedestrian with ID 13 is 8.4 meters away at (6.7, 5.1). A pedestrian with ID 21 is 9.2 meters away at (7.6, 5.1). A vehicle with ID 41 is 9.2 meters away at (3.7, -8.4). A vehicle with ID 15 is 9.2 meters away at (9.2, 0.4). A vehicle with ID 40 is 14.2 meters away at (9.6, -10.4). A vehicle with ID 25 is 15.8 meters away at (15.7, -2.1). A vehicle with ID 24 is 17.2 meters away at (-17.2, -0.7). A vehicle with ID 39 is 21.0 meters away at (16.7, -12.7).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.5158826   0.43871713] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.4891361   0.45825946] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.4600471  0.4727228] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.6) m/s. Its current heading (yaw) is -1.83

The most relevant actors are: A pedestrian with ID 26 is 5.5 meters away at (2.2, -5.0). A vehicle with ID 34 is 9.4 meters away at (5.8, -7.3). A unknown object with ID 32 is 10.8 meters away at (-2.5, -10.5). A unknown object with ID 31 is 13.5 meters away at (-9.0, -10.0). A unknown object with ID 29 is 14.7 meters away at (-11.5, -9.2). A unknown object with ID 28 is 17.1 meters away at (-15.3, -7.8). A unknown object with ID 25 is 17.9 meters away at (-17.5, -4.0). A vehicle with ID 35 is 18.0 meters away at (14.8, -10.3). A pedestrian with ID 33 is 18.2 meters away at (-17.3, -5.5). A vehicle with ID 38 is 26.1 meters away at (22.6, -13.1).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.78404355 -1.2238486 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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 pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.02049688 -0.00401448] 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: [[-61.510452   9.424312]
 [-63.714363  10.29273 ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -0.5) m/s. Its current heading (yaw) is -2.87

The most relevant actors are: A pedestrian with ID 26 is 6.4 meters away at (3.5, -5.3). A unknown object with ID 21 is 7.9 meters away at (-0.3, -7.9). A unknown object with ID 32 is 8.0 meters away at (0.0, -8.0). A vehicle with ID 34 is 9.6 meters away at (8.3, -4.9). A unknown object with ID 31 is 9.9 meters away at (-6.6, -7.5). A unknown object with ID 29 is 11.2 meters away at (-9.1, -6.6). A unknown object with ID 28 is 13.8 meters away at (-12.8, -5.2). A unknown object with ID 25 is 15.1 meters away at (-15.0, -1.4). A pedestrian with ID 33 is 15.1 meters away at (-14.8, -2.9). A vehicle with ID 35 is 18.9 meters away at (17.2, -7.8).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.5473328 -1.4536115] 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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 [-0.0219705  -0.01316616] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-53.248024  20.634712]
 [-56.346004  21.540747]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 0.7) m/s. Its current heading (yaw) is 2.80

The most relevant actors are: A unknown object with ID 31 is 8.5 meters away at (-3.0, -7.9). A unknown object with ID 29 is 8.9 meters away at (-5.5, -7.0). A unknown object with ID 21 is 9.0 meters away at (3.4, -8.4). A unknown object with ID 32 is 9.2 meters away at (3.6, -8.5). A pedestrian with ID 26 is 10.5 meters away at (6.8, -8.0). A unknown object with ID 28 is 10.8 meters away at (-9.2, -5.6). A unknown object with ID 25 is 11.5 meters away at (-11.4, -1.8). A pedestrian with ID 33 is 11.7 meters away at (-11.2, -3.3). A vehicle with ID 34 is 13.1 meters away at (11.9, -5.3). A unknown object with ID 16 is 14.5 meters away at (-13.8, -4.5).

The unknown object with ID 31 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.5146082 -1.1679115] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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 [0.03248006 0.03450224] m/s.The vehicle with ID 34 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: Slight right turn approaching.

(The closest actor is a unknown object at [-3.0203981 -7.916538 ], 8.473155975341797 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 1.3) m/s. Its current heading (yaw) is 2.78

The most relevant actors are: A unknown object with ID 25 is 7.0 meters away at (-5.9, -3.8). A unknown object with ID 28 is 8.5 meters away at (-3.7, -7.7). A unknown object with ID 29 is 9.1 meters away at (0.0, -9.1). A unknown object with ID 31 is 10.3 meters away at (2.5, -10.0). A unknown object with ID 21 is 13.7 meters away at (8.9, -10.5). A unknown object with ID 32 is 14.0 meters away at (9.2, -10.6). A pedestrian with ID 26 is 18.5 meters away at (14.5, -11.6). A vehicle with ID 34 is 18.9 meters away at (17.4, -7.4). A vehicle with ID 15 is 22.0 meters away at (22.0, 0.9). A vehicle with ID 35 is 28.5 meters away at (26.4, -10.5).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.2273132  -0.38406602] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 [-5.8666706 -3.8008249], 6.990285873413086 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 4.7) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A unknown object with ID 46 is 4.7 meters away at (-4.4, -1.7). A unknown object with ID 47 is 6.2 meters away at (-5.3, -3.1). A unknown object with ID 48 is 6.2 meters away at (-6.1, -0.7). A unknown object with ID 49 is 7.3 meters away at (-6.9, -2.3). A vehicle with ID 50 is 12.8 meters away at (-4.0, 12.1). A pedestrian with ID 51 is 16.8 meters away at (-4.8, 16.1). A pedestrian with ID 52 is 17.2 meters away at (-5.6, 16.3). A pedestrian with ID 53 is 24.5 meters away at (-13.7, 20.3). A pedestrian with ID 21 is 34.3 meters away at (-16.9, 29.9). A pedestrian with ID 34 is 36.9 meters away at (-20.2, 30.9).

The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.01854591  0.01218096] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.00517309  0.00599616] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.06419028  0.06158848] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.46048653  1.24196   ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.01194923 -0.01230617] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-4.388773  -1.7339201], 4.718877792358398 meters away.)


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

The most relevant actors are: A vehicle with ID 50 is 10.4 meters away at (10.1, 2.7). A pedestrian with ID 52 is 10.6 meters away at (8.3, 6.5). A pedestrian with ID 53 is 10.8 meters away at (0.5, 10.8). A pedestrian with ID 51 is 11.4 meters away at (9.4, 6.5). A unknown object with ID 48 is 13.0 meters away at (8.0, -10.2). A unknown object with ID 27 is 13.8 meters away at (7.8, -11.3). A unknown object with ID 49 is 13.9 meters away at (7.2, -11.9). A unknown object with ID 46 is 14.9 meters away at (9.8, -11.2). A vehicle with ID 54 is 15.3 meters away at (-7.2, 13.6). A unknown object with ID 47 is 15.5 meters away at (9.0, -12.6).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.2859511  -0.22355717] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.02191312 -0.00280324] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.06715142 -0.01643334] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 3.1223834 -2.1557777] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 4.8) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 54 is 13.7 meters away at (13.7, -0.1). A pedestrian with ID 34 is 14.5 meters away at (8.9, 11.5). A pedestrian with ID 53 is 15.5 meters away at (15.5, 1.0). A pedestrian with ID 21 is 19.5 meters away at (11.8, 15.5). A pedestrian with ID 52 is 23.4 meters away at (23.1, -3.4). A pedestrian with ID 51 is 24.5 meters away at (24.3, -3.3). A vehicle with ID 50 is 26.0 meters away at (25.0, -7.2). A vehicle with ID 23 is 29.9 meters away at (14.8, 26.0). A unknown object with ID 48 is 30.6 meters away at (23.0, -20.1). A unknown object with ID 27 is 31.0 meters away at (22.6, -21.2).

The vehicle with ID 54 is traveling at a (x, y) velocity of [ 2.4501734 -1.4969248] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.00788178 0.00419482] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.03184958  0.23123798] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.11813072  1.2457695 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.00515265  0.0030092 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.0003514   0.02092535] m/s.The vehicle with ID 50 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 [-3.0660934 -3.8102381] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 5.4) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A unknown object with ID 45 is 23.1 meters away at (22.4, 5.8). A pedestrian with ID 34 is 24.9 meters away at (24.8, 0.7). A pedestrian with ID 25 is 31.5 meters away at (-29.3, 11.5). A pedestrian with ID 53 is 33.0 meters away at (31.6, -9.4). A vehicle with ID 54 is 35.6 meters away at (33.2, -12.8). A pedestrian with ID 52 is 41.9 meters away at (39.6, -13.8). A pedestrian with ID 51 is 42.7 meters away at (40.4, -13.8). A vehicle with ID 50 is 44.9 meters away at (41.2, -17.9). A unknown object with ID 6 is 46.8 meters away at (-42.5, 19.6). A unknown object with ID 48 is 49.7 meters away at (39.2, -30.6).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.19341806 -0.14113016] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.1988581  0.5838611] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.00094374 0.04725926] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 0.8003212 -0.5567588] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.02765546 0.0246048 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.0192123   0.00561804] m/s.The vehicle with ID 50 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 48 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 [22.401657  5.780964], 23.13555145263672 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, -3.6) m/s. Its current heading (yaw) is -2.72

The most relevant actors are: A vehicle with ID 17 is 13.0 meters away at (-5.3, -11.8). A vehicle with ID 1 is 13.7 meters away at (13.7, -0.5). A unknown object with ID 16 is 15.0 meters away at (3.4, -14.6). A vehicle with ID 14 is 18.5 meters away at (13.7, 12.4). A vehicle with ID 22 is 20.7 meters away at (-12.0, -16.9). A vehicle with ID 15 is 25.4 meters away at (3.8, 25.1). A cyclist with ID 20 is 26.8 meters away at (-9.3, 25.1). A vehicle with ID 19 is 29.1 meters away at (28.7, -4.8). A vehicle with ID 23 is 29.8 meters away at (-8.0, 28.7). A vehicle with ID 32 is 30.4 meters away at (-17.5, -24.9).

The vehicle with ID 17 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 [-7.5570097  1.9145459] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.6974034  6.9783497] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0.57887363 0.55762494] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.730191   5.6426797] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [-0.04379959  0.01085467] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.332278   6.5413055] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [8.57841   6.4822907] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, -6.3) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A unknown object with ID 2 is 4.4 meters away at (0.4, 4.4). A vehicle with ID 22 is 7.1 meters away at (4.3, -5.7). A vehicle with ID 17 is 10.3 meters away at (10.2, -1.1). A vehicle with ID 32 is 12.6 meters away at (12.1, -3.7). A vehicle with ID 1 is 15.2 meters away at (12.5, 8.6). A unknown object with ID 16 is 19.5 meters away at (19.1, -3.7). A cyclist with ID 20 is 36.5 meters away at (5.9, 36.0). A vehicle with ID 19 is 38.7 meters away at (33.3, 19.7). A vehicle with ID 14 is 40.0 meters away at (14.7, 37.2). A vehicle with ID 24 is 40.2 meters away at (39.5, 7.3).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [5.0008082 3.6876779] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.470826  -3.8923097] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [-0.04177762  0.06194244] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.591808  6.786736] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-7.452594  7.33433 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.0381403  7.4236894] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [0.3693161 4.4190784], 4.434484004974365 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, -7.0) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 1 is 16.9 meters away at (13.2, 10.5). A vehicle with ID 22 is 22.7 meters away at (21.3, 7.8). A vehicle with ID 17 is 30.0 meters away at (27.3, 12.5). A unknown object with ID 16 is 37.5 meters away at (36.2, 9.8). A vehicle with ID 32 is 38.1 meters away at (35.5, 13.9). A cyclist with ID 20 is 54.5 meters away at (23.3, 49.3). A vehicle with ID 24 is 56.8 meters away at (43.9, 36.1). A vehicle with ID 25 is 57.3 meters away at (19.1, 54.0). A vehicle with ID 23 is 58.4 meters away at (24.7, 52.9). A vehicle with ID 19 is 60.7 meters away at (39.7, 46.0).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.16227  -6.393144] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [1.6104301 1.0178823] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ 0.20408638 -0.28307763] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.677733  7.822743] m/s.The vehicle with ID 25 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 19 is traveling at a (x, y) velocity of [-5.1914616  6.1289096] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.4, -8.0) m/s. Its current heading (yaw) is -2.44

The most relevant actors are: A vehicle with ID 1 is 19.4 meters away at (15.1, 12.2). A vehicle with ID 22 is 45.7 meters away at (39.6, 22.7). A vehicle with ID 17 is 53.4 meters away at (45.8, 27.5). A unknown object with ID 16 is 60.0 meters away at (54.6, 24.8). A vehicle with ID 32 is 63.1 meters away at (55.5, 29.8).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.6558895 -6.9951134] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-9.739723 -6.86101 ]
 [-9.977619 -6.350188]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -7.5) m/s. Its current heading (yaw) is -2.06

The most relevant actors are: A unknown object with ID 73 is 4.0 meters away at (-2.6, 3.1). A vehicle with ID 72 is 6.1 meters away at (6.1, -0.7). A pedestrian with ID 74 is 6.1 meters away at (-6.1, 0.8). A vehicle with ID 78 is 6.3 meters away at (3.3, -5.4). A vehicle with ID 80 is 9.9 meters away at (0.4, -9.8). A vehicle with ID 71 is 10.0 meters away at (9.0, 4.3). A cyclist with ID 41 is 11.1 meters away at (-7.7, -8.0). A vehicle with ID 86 is 14.7 meters away at (-2.3, -14.5). A vehicle with ID 67 is 15.2 meters away at (12.0, 9.2). A vehicle with ID 69 is 21.5 meters away at (15.6, 14.9).

The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.7742622 -1.4458224] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [-3.0193737 -4.6154084] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-2.5831585  3.0881443], 4.026082992553711 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -7.6) m/s. Its current heading (yaw) is -2.09

The most relevant actors are: A cyclist with ID 41 is 5.3 meters away at (-5.1, -1.6). A vehicle with ID 86 is 5.9 meters away at (5.9, 0.7). A vehicle with ID 89 is 6.1 meters away at (2.1, -5.7). A vehicle with ID 80 is 10.0 meters away at (8.5, 5.3). A vehicle with ID 91 is 10.2 meters away at (-0.7, -10.2). A pedestrian with ID 74 is 13.2 meters away at (0.6, 13.2). A vehicle with ID 78 is 15.0 meters away at (11.4, 9.8). A vehicle with ID 95 is 15.0 meters away at (-3.6, -14.6). A unknown object with ID 73 is 19.1 meters away at (5.6, 18.3). A vehicle with ID 72 is 20.4 meters away at (14.3, 14.6).

The cyclist with ID 41 is traveling at a (x, y) velocity of [-2.7089527 -4.4820642] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.9467857 -1.4341611] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -7.6) m/s. Its current heading (yaw) is -2.15

The most relevant actors are: A cyclist with ID 41 is 5.4 meters away at (-0.8, 5.3). A vehicle with ID 95 is 5.6 meters away at (5.6, 0.5). A vehicle with ID 91 is 9.6 meters away at (8.4, 4.7). A vehicle with ID 89 is 14.5 meters away at (11.2, 9.3). A vehicle with ID 46 is 15.6 meters away at (-15.4, -2.5). A vehicle with ID 52 is 16.9 meters away at (3.8, -16.5). A vehicle with ID 56 is 17.5 meters away at (-16.9, -4.8). A vehicle with ID 86 is 21.7 meters away at (15.0, 15.7). A vehicle with ID 42 is 21.8 meters away at (-19.8, -9.1). A vehicle with ID 31 is 22.7 meters away at (11.6, 19.5).

The cyclist with ID 41 is traveling at a (x, y) velocity of [-2.212951 -4.169708] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-4.9181743 -8.604588 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -7.7) m/s. Its current heading (yaw) is -2.16

The most relevant actors are: A vehicle with ID 42 is 11.4 meters away at (-9.6, 6.1). A vehicle with ID 56 is 12.3 meters away at (-6.6, 10.4). A cyclist with ID 41 is 13.5 meters away at (4.9, 12.6). A vehicle with ID 46 is 13.7 meters away at (-5.1, 12.7). A vehicle with ID 52 is 14.0 meters away at (13.9, -1.4). A pedestrian with ID 43 is 17.5 meters away at (-13.3, -11.4). A vehicle with ID 33 is 21.1 meters away at (-6.2, -20.1). A vehicle with ID 31 is 21.5 meters away at (12.0, 17.8). A vehicle with ID 95 is 22.3 meters away at (15.9, 15.6). A vehicle with ID 91 is 27.4 meters away at (18.7, 20.0).

The vehicle with ID 42 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 cyclist with ID 41 is traveling at a (x, y) velocity of [-2.4501534 -3.9717057] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.7414553 -1.2959334] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-5.0083013 -8.5130625] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, 0.0) m/s. Its current heading (yaw) is 0.00

The most relevant actors are: A vehicle with ID 63 is 11.5 meters away at (6.4, -9.6). A vehicle with ID 68 is 15.5 meters away at (11.7, -10.1). A vehicle with ID 71 is 17.4 meters away at (14.5, -9.7). A vehicle with ID 59 is 19.6 meters away at (-18.0, 7.8). A vehicle with ID 74 is 19.9 meters away at (17.4, -9.7). A vehicle with ID 67 is 21.4 meters away at (0.9, -21.4). A vehicle with ID 69 is 22.0 meters away at (3.6, -21.7). A vehicle with ID 66 is 22.3 meters away at (-1.7, -22.2). A vehicle with ID 72 is 23.0 meters away at (6.3, -22.1). A pedestrian with ID 60 is 23.2 meters away at (-17.8, 14.9).

The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 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 [-2.6941047  2.3093028] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.16899593 1.5012931 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, 0.1) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A vehicle with ID 71 is 9.8 meters away at (-0.9, -9.8). A vehicle with ID 74 is 9.9 meters away at (1.9, -9.7). A vehicle with ID 68 is 10.8 meters away at (-3.7, -10.2). A vehicle with ID 80 is 12.2 meters away at (7.4, -9.8). A vehicle with ID 63 is 13.2 meters away at (-9.1, -9.6). A vehicle with ID 82 is 20.6 meters away at (12.0, -16.7). A vehicle with ID 77 is 22.3 meters away at (-0.9, -22.3). A vehicle with ID 75 is 22.8 meters away at (-3.9, -22.4). A vehicle with ID 81 is 22.8 meters away at (1.7, -22.7). A vehicle with ID 73 is 23.3 meters away at (-6.5, -22.4).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-1.9270339 -0.946231 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, 0.0) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A pedestrian with ID 61 is 11.6 meters away at (9.9, -6.0). A vehicle with ID 80 is 13.4 meters away at (-9.1, -9.9). A vehicle with ID 74 is 17.6 meters away at (-14.6, -9.8). A vehicle with ID 82 is 19.3 meters away at (-8.2, -17.4). A vehicle with ID 71 is 20.1 meters away at (-17.5, -9.9). A vehicle with ID 68 is 22.7 meters away at (-20.2, -10.3). A vehicle with ID 81 is 27.2 meters away at (-14.7, -22.8). A vehicle with ID 63 is 27.4 meters away at (-25.6, -9.7). A vehicle with ID 77 is 28.4 meters away at (-17.4, -22.4). A vehicle with ID 75 is 30.4 meters away at (-20.5, -22.5).

The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.2215548  -0.00745537] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-2.1716967   0.04051127] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A pedestrian with ID 61 is 11.7 meters away at (-9.9, -6.1). A vehicle with ID 27 is 18.8 meters away at (15.7, -10.4). A vehicle with ID 26 is 21.1 meters away at (18.5, -10.2). A vehicle with ID 23 is 23.6 meters away at (21.4, -10.1). A vehicle with ID 80 is 28.0 meters away at (-26.2, -9.8). A vehicle with ID 17 is 28.6 meters away at (26.6, -10.5). A vehicle with ID 74 is 33.2 meters away at (-31.8, -9.7). A pedestrian with ID 46 is 35.4 meters away at (19.6, -29.4). A vehicle with ID 71 is 36.0 meters away at (-34.7, -9.7). A vehicle with ID 82 is 36.1 meters away at (-31.8, -17.1).

The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.3432764  -0.03602231] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 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 [0.01450311 0.00846661] m/s.The vehicle with ID 71 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 [-4.083362    0.37228864] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a pedestrian at [-9.94191  -6.098856], 11.6635160446167 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, -8.6) m/s. Its current heading (yaw) is -2.32

The most relevant actors are: A vehicle with ID 50 is 8.6 meters away at (-3.1, 8.0). A vehicle with ID 52 is 11.5 meters away at (-11.5, 0.2). A vehicle with ID 51 is 14.8 meters away at (-12.0, 8.6). A vehicle with ID 38 is 16.6 meters away at (-15.0, 7.2). A vehicle with ID 53 is 17.0 meters away at (-16.3, 4.6). A unknown object with ID 40 is 17.7 meters away at (-17.0, -4.9). A vehicle with ID 55 is 22.1 meters away at (-19.1, -11.1). A vehicle with ID 46 is 24.0 meters away at (2.1, 23.9). A cyclist with ID 45 is 26.1 meters away at (11.2, 23.6). A vehicle with ID 39 is 29.6 meters away at (6.4, 28.9).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [2.1088362 1.8645773] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, -8.8) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A vehicle with ID 55 is 6.9 meters away at (-3.5, 5.9). A vehicle with ID 26 is 14.0 meters away at (-13.5, -4.0). A vehicle with ID 52 is 17.7 meters away at (4.1, 17.2). A vehicle with ID 53 is 21.7 meters away at (-0.7, 21.7). A vehicle with ID 38 is 24.5 meters away at (0.5, 24.5). A vehicle with ID 51 is 26.2 meters away at (3.4, 25.9). A vehicle with ID 50 is 28.1 meters away at (12.5, 25.2). A vehicle with ID 46 is 44.8 meters away at (17.6, 41.2). A vehicle with ID 39 is 51.0 meters away at (22.1, 46.0). A pedestrian with ID 42 is 54.0 meters away at (30.4, 44.6).

The vehicle with ID 55 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [1.57637   1.9572154] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, -8.6) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A unknown object with ID 30 is 8.8 meters away at (-5.9, 6.6). A vehicle with ID 26 is 13.1 meters away at (1.9, 13.0). A vehicle with ID 55 is 25.8 meters away at (11.9, 22.9). A unknown object with ID 41 is 32.4 meters away at (-24.9, -20.7). A vehicle with ID 27 is 38.1 meters away at (-22.4, -30.8). A vehicle with ID 31 is 38.6 meters away at (-28.0, -26.6). A vehicle with ID 52 is 39.6 meters away at (19.6, 34.4). A vehicle with ID 53 is 41.6 meters away at (14.7, 38.9). A vehicle with ID 20 is 44.0 meters away at (-31.6, -30.7). A vehicle with ID 51 is 47.2 meters away at (19.0, 43.2).

The unknown object with ID 30 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 55 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 vehicle with ID 27 is traveling at a (x, y) velocity of [7.399036  7.9046507] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-5.8811836  6.6017036], 8.841425895690918 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, -8.4) m/s. Its current heading (yaw) is -2.28

The most relevant actors are: A vehicle with ID 27 is 9.1 meters away at (8.4, 3.6). A vehicle with ID 31 is 16.3 meters away at (-13.2, -9.6). A vehicle with ID 20 is 21.7 meters away at (-16.8, -13.8). A unknown object with ID 30 is 25.1 meters away at (8.8, 23.5). A vehicle with ID 26 is 34.2 meters away at (16.7, 29.8). A vehicle with ID 14 is 43.2 meters away at (-31.5, -29.6). A unknown object with ID 36 is 47.5 meters away at (-36.8, 30.1). A vehicle with ID 55 is 48.0 meters away at (26.6, 39.9). A vehicle with ID 12 is 48.5 meters away at (-35.0, -33.6). A vehicle with ID 34 is 48.6 meters away at (-42.5, -23.5).

The vehicle with ID 27 is traveling at a (x, y) velocity of [8.549289 9.291052] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [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 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 (1.1, 2.9) m/s. Its current heading (yaw) is 1.20

The most relevant actors are: A vehicle with ID 49 is 5.1 meters away at (1.8, -4.8). A vehicle with ID 48 is 7.6 meters away at (6.5, 3.9). A unknown object with ID 50 is 12.9 meters away at (-9.2, -9.0). A unknown object with ID 51 is 13.1 meters away at (-9.9, -8.5). A unknown object with ID 52 is 13.7 meters away at (-9.8, -9.5). A unknown object with ID 42 is 13.8 meters away at (6.9, -11.9). A pedestrian with ID 54 is 14.2 meters away at (-8.1, 11.6). A pedestrian with ID 56 is 14.9 meters away at (-8.5, 12.3). A pedestrian with ID 55 is 15.9 meters away at (-0.2, 15.9). A vehicle with ID 53 is 16.1 meters away at (-3.3, -15.8).

The vehicle with ID 49 is traveling at a (x, y) velocity of [2.042951  4.5300674] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [2.5026314 3.7752402] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.1294287 0.8383044] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [1.1487787  0.84588516] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.5265176 1.5216705] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [1.2768251 2.9184217] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 4.5) m/s. Its current heading (yaw) is 1.19

The most relevant actors are: A vehicle with ID 49 is 5.2 meters away at (4.7, -2.3). A pedestrian with ID 54 is 10.7 meters away at (-8.9, 5.8). A pedestrian with ID 56 is 11.3 meters away at (-9.2, 6.5). A pedestrian with ID 55 is 11.5 meters away at (-2.0, 11.4). A vehicle with ID 48 is 11.6 meters away at (11.1, 3.2). A vehicle with ID 53 is 15.9 meters away at (-3.0, -15.6). A vehicle with ID 57 is 19.9 meters away at (-19.8, -2.5). A unknown object with ID 50 is 20.5 meters away at (-12.3, -16.3). A unknown object with ID 51 is 20.5 meters away at (-13.0, -15.9). A unknown object with ID 58 is 20.8 meters away at (-20.0, 5.5).

The vehicle with ID 49 is traveling at a (x, y) velocity of [4.0358257 4.473046 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.2337612 0.6660167] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [1.2276692 0.6715798] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.66396564 1.393249  ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [5.0107327 2.4559796] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [2.0537767 4.5818543] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 5.4) m/s. Its current heading (yaw) is 1.20

The most relevant actors are: A pedestrian with ID 55 is 6.1 meters away at (-4.5, 4.1). A pedestrian with ID 54 is 10.8 meters away at (-10.4, -2.6). A pedestrian with ID 56 is 11.0 meters away at (-10.8, -2.2). A vehicle with ID 49 is 12.1 meters away at (10.3, -6.3). A vehicle with ID 61 is 14.6 meters away at (-11.1, 9.5). A vehicle with ID 53 is 15.8 meters away at (-2.3, -15.7). A vehicle with ID 1 is 18.9 meters away at (-7.9, 17.2). A vehicle with ID 48 is 19.3 meters away at (18.8, -4.4). A vehicle with ID 40 is 20.0 meters away at (-13.9, 14.3). A unknown object with ID 58 is 24.4 meters away at (-23.9, -4.6).

The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.71703297 1.4982297 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.0846452 0.8214977] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [1.1004039  0.84459066] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [5.9032836 1.9386191] m/s.The vehicle with ID 61 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 [2.827827 5.129951] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.8541183  -0.22873873] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 6.256584   -0.19342916] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 1.4260231  -0.53607494] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 6.0) m/s. Its current heading (yaw) is 1.20

The most relevant actors are: A vehicle with ID 1 is 8.4 meters away at (-5.3, 6.6). A pedestrian with ID 55 is 9.0 meters away at (-7.8, -4.5). A vehicle with ID 6 is 13.3 meters away at (10.7, 8.0). A vehicle with ID 61 is 15.8 meters away at (-15.7, -2.1). A vehicle with ID 40 is 16.4 meters away at (-16.3, 1.9). A pedestrian with ID 56 is 17.5 meters away at (-13.2, -11.5). A pedestrian with ID 54 is 17.6 meters away at (-12.8, -12.1). A vehicle with ID 53 is 18.5 meters away at (1.5, -18.4). A vehicle with ID 11 is 21.4 meters away at (20.6, -5.6). A vehicle with ID 49 is 25.9 meters away at (19.4, -17.1).

The vehicle with ID 1 is traveling at a (x, y) velocity of [2.2009857  0.60328686] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.46645758 1.480608  ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.8504138 -4.096233 ] m/s.The vehicle with ID 61 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 [ 0.6019657  -0.23356876] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.9054519 1.1720842] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.88198733 1.16758   ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [5.5426326 3.2604787] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.9051913 -3.79772  ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 7.16654   -1.6241952] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.2) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A cyclist with ID 17 is 36.0 meters away at (-35.9, 2.0). A unknown object with ID 27 is 38.7 meters away at (-37.6, -9.3). A unknown object with ID 13 is 39.9 meters away at (-38.5, -10.3). A unknown object with ID 28 is 40.5 meters away at (-39.0, -10.8). A vehicle with ID 26 is 43.0 meters away at (-29.8, 31.0). A vehicle with ID 29 is 49.0 meters away at (49.0, 0.6). A vehicle with ID 25 is 50.4 meters away at (-35.7, 35.5). A vehicle with ID 30 is 52.1 meters away at (-40.6, -32.6). A cyclist with ID 32 is 57.5 meters away at (44.7, -36.1). A unknown object with ID 16 is 80.7 meters away at (29.7, -75.0).

The cyclist with ID 17 is traveling at a (x, y) velocity of [ 0.0811646  -0.01706611] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 cyclist with ID 32 is traveling at a (x, y) velocity of [-3.7461672  2.6634858] m/s.The unknown object with ID 16 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 (-1.8, 1.5) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A cyclist with ID 17 is 34.2 meters away at (-34.2, 0.5). A unknown object with ID 27 is 37.4 meters away at (-35.9, -10.7). A unknown object with ID 13 is 38.6 meters away at (-36.7, -11.9). A unknown object with ID 28 is 39.3 meters away at (-37.3, -12.4). A vehicle with ID 26 is 40.7 meters away at (-28.0, 29.5). A unknown object with ID 20 is 41.5 meters away at (-39.0, -13.9). A vehicle with ID 25 is 48.1 meters away at (-34.0, 34.0). A cyclist with ID 32 is 50.1 meters away at (39.1, -31.4). A vehicle with ID 29 is 50.8 meters away at (50.8, -1.0). A vehicle with ID 30 is 51.6 meters away at (-38.7, -34.1).

The cyclist with ID 17 is traveling at a (x, y) velocity of [ 0.06940676 -0.02701695] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-3.6201     3.0991228] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 3.3) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A cyclist with ID 17 is 28.7 meters away at (-28.3, -4.4). A vehicle with ID 26 is 33.0 meters away at (-22.2, 24.5). A unknown object with ID 13 is 35.1 meters away at (-30.8, -16.9). A unknown object with ID 20 is 38.1 meters away at (-33.1, -18.9). A unknown object with ID 14 is 40.5 meters away at (-33.8, -22.2). A vehicle with ID 25 is 40.5 meters away at (-28.2, 29.1). A cyclist with ID 32 is 48.4 meters away at (37.7, -30.3). A vehicle with ID 30 is 50.6 meters away at (-32.7, -38.7). A vehicle with ID 29 is 57.1 meters away at (56.8, -5.8).

The cyclist with ID 17 is traveling at a (x, y) velocity of [0.02212143 0.01065104] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-3.496852  2.937695] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 5.0) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 26 is 20.5 meters away at (-12.5, 16.3). A vehicle with ID 25 is 28.0 meters away at (-18.5, 21.0). A cyclist with ID 32 is 52.3 meters away at (40.6, -32.9). A vehicle with ID 30 is 52.3 meters away at (-23.1, -46.9). A vehicle with ID 22 is 53.5 meters away at (-33.0, 42.0). A unknown object with ID 24 is 67.5 meters away at (-64.9, 18.4). A vehicle with ID 29 is 67.8 meters away at (66.3, -14.2).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-3.3573012  2.7469833] m/s.The vehicle with ID 30 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 unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -0.8) m/s. Its current heading (yaw) is -0.38

The most relevant actors are: A vehicle with ID 67 is 8.1 meters away at (-3.5, 7.3). A vehicle with ID 20 is 8.5 meters away at (-8.2, 2.5). A pedestrian with ID 69 is 8.9 meters away at (1.9, 8.7). A vehicle with ID 71 is 14.2 meters away at (-1.3, -14.1). A vehicle with ID 72 is 16.6 meters away at (-16.4, 2.2). A vehicle with ID 75 is 19.7 meters away at (-18.7, 6.1). A vehicle with ID 47 is 21.1 meters away at (17.2, 12.3). A vehicle with ID 77 is 21.2 meters away at (3.3, -20.9). A vehicle with ID 78 is 21.3 meters away at (15.1, 15.1). A vehicle with ID 74 is 22.3 meters away at (-18.7, 12.1).

The vehicle with ID 67 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 [ 1.0642768  -0.38266915] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-1.3421291  0.399288 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ 1.1459984 -0.3852775] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-1.8443033 -3.7663598] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -1.6) m/s. Its current heading (yaw) is -0.35

The most relevant actors are: A vehicle with ID 20 is 11.6 meters away at (-11.0, 3.7). A vehicle with ID 47 is 12.7 meters away at (7.9, 9.9). A pedestrian with ID 69 is 13.7 meters away at (-6.8, 11.9). A vehicle with ID 67 is 14.0 meters away at (-10.1, 9.6). A vehicle with ID 71 is 14.1 meters away at (-7.8, -11.8). A pedestrian with ID 27 is 15.2 meters away at (4.5, 14.5). A pedestrian with ID 26 is 16.8 meters away at (16.8, 0.3). A vehicle with ID 77 is 18.9 meters away at (-3.3, -18.6). A vehicle with ID 78 is 19.5 meters away at (8.6, 17.5). A vehicle with ID 72 is 23.5 meters away at (-23.0, 4.6).

The vehicle with ID 20 is traveling at a (x, y) velocity of [ 2.2703605 -0.8256665] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-1.1527311 -1.8396113] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-1.0539738   0.24839377] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.3899199 -1.5523034] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.6504679 1.3785883] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.