The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 4.6) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 41 is 28.3 meters away at (-20.3, 19.7). A vehicle with ID 43 is 33.9 meters away at (-25.3, 22.5). A vehicle with ID 47 is 39.3 meters away at (-30.1, 25.3). A vehicle with ID 42 is 41.5 meters away at (-29.1, -29.7). A pedestrian with ID 44 is 46.0 meters away at (-25.3, -38.5). A vehicle with ID 45 is 46.9 meters away at (-32.4, -34.0). A vehicle with ID 46 is 53.0 meters away at (-28.3, -44.8). A vehicle with ID 48 is 53.8 meters away at (-36.8, -39.2). A vehicle with ID 49 is 58.3 meters away at (-31.9, -48.8). A vehicle with ID 50 is 60.5 meters away at (-41.1, -44.4).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [1.2403286  0.50782514] m/s.The vehicle with ID 45 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 48 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 50 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 (-6.1, 4.4) m/s. Its current heading (yaw) is 2.52

The most relevant actors are: A vehicle with ID 41 is 14.2 meters away at (-9.1, 10.8). A vehicle with ID 43 is 19.6 meters away at (-14.0, 13.6). A vehicle with ID 47 is 25.0 meters away at (-18.8, 16.4). A unknown object with ID 20 is 26.6 meters away at (26.2, -4.8). A pedestrian with ID 14 is 27.9 meters away at (-18.3, -21.0). A vehicle with ID 42 is 42.4 meters away at (-17.8, -38.5). A vehicle with ID 45 is 47.6 meters away at (-21.3, -42.6). A pedestrian with ID 44 is 47.7 meters away at (-11.4, -46.3). A vehicle with ID 25 is 49.9 meters away at (-36.9, 33.5). A vehicle with ID 48 is 54.5 meters away at (-25.7, -48.0).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 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 pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.0061133  0.0046323] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [1.231702  0.7340654] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 41 is 4.2 meters away at (3.5, 2.4). A vehicle with ID 43 is 5.3 meters away at (-1.3, 5.2). A vehicle with ID 47 is 10.0 meters away at (-6.0, 8.0). A unknown object with ID 18 is 10.7 meters away at (10.3, -2.9). A vehicle with ID 25 is 34.8 meters away at (-24.2, 25.1). A unknown object with ID 35 is 38.4 meters away at (37.1, -10.0). A unknown object with ID 20 is 41.1 meters away at (38.9, -13.3). A vehicle with ID 42 is 47.1 meters away at (-5.0, -46.9). A vehicle with ID 45 is 51.6 meters away at (-8.4, -51.0). A pedestrian with ID 44 is 53.5 meters away at (3.7, -53.4).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [1.1498562 0.6666205] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.3) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A vehicle with ID 47 is 7.3 meters away at (7.3, -0.4). A vehicle with ID 43 is 12.5 meters away at (12.1, -3.3). A vehicle with ID 41 is 18.0 meters away at (17.0, -6.1). A vehicle with ID 25 is 19.7 meters away at (-10.7, 16.5). A vehicle with ID 5 is 48.4 meters away at (-43.2, -21.8). A vehicle with ID 42 is 56.0 meters away at (8.5, -55.4). A vehicle with ID 3 is 58.4 meters away at (-56.2, -16.1). A unknown object with ID 26 is 58.9 meters away at (53.4, -25.1). A vehicle with ID 45 is 59.6 meters away at (5.0, -59.4). A vehicle with ID 4 is 60.0 meters away at (-56.9, -19.0).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -1.0) m/s. Its current heading (yaw) is -1.27

The most relevant actors are: A pedestrian with ID 38 is 4.5 meters away at (-4.4, -0.9). A pedestrian with ID 39 is 7.9 meters away at (7.9, -0.2). A cyclist with ID 46 is 9.1 meters away at (-6.3, -6.5). A vehicle with ID 44 is 11.2 meters away at (-11.2, -0.3). A vehicle with ID 40 is 12.3 meters away at (-4.3, 11.5). A vehicle with ID 41 is 14.8 meters away at (-10.0, -11.0). A vehicle with ID 42 is 18.2 meters away at (-15.3, -9.9). A vehicle with ID 43 is 18.4 meters away at (-7.4, -16.8). A vehicle with ID 49 is 26.5 meters away at (-26.4, 2.2). A cyclist with ID 45 is 26.5 meters away at (-21.0, -16.2).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.00952704 -0.01836638] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.7510259 -1.1581489] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [ 9.755699  -7.2752314] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 9.074519  -7.1472125] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.59148884  0.59306467] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 3.1020916 -4.942471 ] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [  1.7320861 -10.552306 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.9) m/s. Its current heading (yaw) is -1.14

The most relevant actors are: A pedestrian with ID 38 is 4.8 meters away at (-4.8, 0.2). A pedestrian with ID 39 is 9.1 meters away at (9.1, -1.1). A vehicle with ID 40 is 13.5 meters away at (-4.7, 12.7). A vehicle with ID 44 is 13.8 meters away at (6.9, -11.9). A vehicle with ID 41 is 14.7 meters away at (-13.6, -5.4). A vehicle with ID 43 is 17.4 meters away at (-8.0, -15.4). A vehicle with ID 42 is 17.8 meters away at (-15.6, -8.6). A vehicle with ID 49 is 23.0 meters away at (-21.6, -7.9). A cyclist with ID 46 is 23.4 meters away at (13.9, -18.8). A vehicle with ID 56 is 28.5 meters away at (-28.0, 5.2).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.00806392 0.01348584] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.86746025 -0.98344195] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [10.048679 -6.101941] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-2.5973294  4.103009 ] m/s.The vehicle with ID 43 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 [-0.4112975  0.6791838] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 2.215562  -6.8613024] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [10.561115 -6.3773  ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ 2.238028  -3.0941548] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -3.3) m/s. Its current heading (yaw) is -0.94

The most relevant actors are: A pedestrian with ID 38 is 8.7 meters away at (-7.2, 4.9). A vehicle with ID 43 is 15.0 meters away at (-10.7, -10.5). A vehicle with ID 40 is 18.7 meters away at (-7.0, 17.3). A vehicle with ID 42 is 20.1 meters away at (-20.0, -1.4). A vehicle with ID 41 is 23.8 meters away at (-20.9, 11.4). A vehicle with ID 56 is 27.2 meters away at (-27.0, 3.7). A vehicle with ID 44 is 32.9 meters away at (26.5, -19.5). A cyclist with ID 17 is 37.1 meters away at (-7.7, -36.3). A pedestrian with ID 34 is 42.5 meters away at (-32.1, 27.9). A cyclist with ID 46 is 42.9 meters away at (33.5, -26.7).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.10633817 0.01690837] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-0.4478229   0.58259475] m/s.The vehicle with ID 40 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 [-1.6971148  2.839506 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.4280248  7.7696095] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ 2.0550325 -3.9814   ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [11.958957 -5.895161] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [-5.9619575 -1.8637817] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.23948441  0.10639665] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [11.425985 -5.943639] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -4.0) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A pedestrian with ID 38 is 19.0 meters away at (-14.2, 12.6). A vehicle with ID 43 is 20.5 meters away at (-20.4, -0.8). A pedestrian with ID 15 is 24.2 meters away at (-19.6, -14.2). A vehicle with ID 40 is 28.8 meters away at (-14.2, 25.0). A vehicle with ID 56 is 30.1 meters away at (-30.1, -0.3). A vehicle with ID 42 is 35.1 meters away at (-31.7, 15.1). A cyclist with ID 17 is 41.4 meters away at (-23.4, -34.2). A vehicle with ID 19 is 41.5 meters away at (-22.6, 34.7). A vehicle with ID 16 is 46.7 meters away at (-30.8, -35.1). A vehicle with ID 54 is 48.3 meters away at (-47.8, -6.7).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.05824049 -0.00550049] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.7583673  1.5930525] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.1208378  0.03707943] m/s.The vehicle 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 [ 1.908095  -7.7954755] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.04772    5.5483794] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [-3.4948015 -3.5829117] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ -0.953867 -12.188899] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 3.0) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 55 is 4.4 meters away at (-0.0, 4.4). A unknown object with ID 54 is 8.6 meters away at (-4.6, 7.3). A unknown object with ID 21 is 9.2 meters away at (-3.7, 8.4). A unknown object with ID 29 is 11.1 meters away at (-5.0, 9.9). A unknown object with ID 34 is 17.7 meters away at (-0.1, -17.7). A vehicle with ID 20 is 20.5 meters away at (15.6, -13.3). A vehicle with ID 62 is 22.7 meters away at (-19.6, 11.4). A unknown object with ID 56 is 36.5 meters away at (-25.3, 26.2). A vehicle with ID 13 is 37.6 meters away at (-37.3, 4.3). A vehicle with ID 60 is 40.0 meters away at (32.9, -22.7).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-5.8988867  5.11327  ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 5.6285825 -4.4947515] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.6) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A unknown object with ID 54 is 2.9 meters away at (0.9, 2.7). A vehicle with ID 62 is 3.9 meters away at (-1.2, -3.7). A unknown object with ID 21 is 4.3 meters away at (1.8, 3.9). A vehicle with ID 55 is 5.4 meters away at (5.4, -0.2). A vehicle with ID 20 is 14.3 meters away at (10.9, -9.3). A unknown object with ID 44 is 22.1 meters away at (0.5, -22.1). A unknown object with ID 48 is 22.7 meters away at (5.6, -22.1). A pedestrian with ID 36 is 26.5 meters away at (-9.8, -24.6). A unknown object with ID 56 is 29.4 meters away at (-19.8, 21.7). A vehicle with ID 49 is 31.7 meters away at (-15.1, -27.9).

The unknown object with ID 54 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 [ 7.3382325 -5.90088  ] m/s.The unknown object with ID 21 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 20 is traveling at a (x, y) velocity of [-4.203166   3.6026428] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 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. 0.] m/s.The unknown object with ID 56 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [0.9023466 2.7046223], 2.8511769771575928 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.7) m/s. Its current heading (yaw) is 2.39

The most relevant actors are: A unknown object with ID 54 is 3.2 meters away at (3.1, 0.9). A unknown object with ID 21 is 4.5 meters away at (4.0, 2.1). A vehicle with ID 55 is 8.0 meters away at (7.7, -2.1). A vehicle with ID 20 is 8.9 meters away at (6.8, -5.8). A unknown object with ID 32 is 22.3 meters away at (-4.1, -21.9). A vehicle with ID 62 is 25.0 meters away at (17.0, -18.4). A unknown object with ID 56 is 26.5 meters away at (-17.6, 19.8). A pedestrian with ID 36 is 27.5 meters away at (-7.6, -26.4). A vehicle with ID 13 is 29.6 meters away at (-29.6, -2.2). A unknown object with ID 26 is 30.6 meters away at (-28.1, 12.0).

The unknown object with ID 54 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 vehicle with ID 55 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 [-1.8933419  1.6272187] m/s.The unknown object with ID 32 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 [ 8.588438  -6.8777175] m/s.The unknown object with ID 56 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 [0.00161961 0.01602082] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [3.0818539 0.865386 ], 3.201049327850342 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 2.6) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A unknown object with ID 54 is 7.5 meters away at (7.1, -2.4). A unknown object with ID 21 is 8.1 meters away at (8.0, -1.3). A vehicle with ID 20 is 9.5 meters away at (7.2, -6.1). A vehicle with ID 55 is 12.7 meters away at (11.5, -5.3). A unknown object with ID 56 is 21.4 meters away at (-13.6, 16.5). A unknown object with ID 26 is 25.7 meters away at (-24.2, 8.7). A vehicle with ID 13 is 26.2 meters away at (-25.6, -5.4). A unknown object with ID 8 is 26.8 meters away at (-17.9, 19.9). A vehicle with ID 19 is 27.8 meters away at (-22.2, -16.7). A vehicle with ID 14 is 30.7 meters away at (-29.1, -9.6).

The unknown object with ID 54 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 vehicle with ID 20 is traveling at a (x, y) velocity of [-2.0253267  1.8194573] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 7.0780973 -2.4146128], 7.478623867034912 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 2.56

The most relevant actors are: A vehicle with ID 5 is 10.8 meters away at (9.0, -5.9). A vehicle with ID 7 is 12.7 meters away at (-6.7, -10.8). A vehicle with ID 8 is 14.8 meters away at (-0.5, -14.7). A vehicle with ID 19 is 23.5 meters away at (21.2, -10.2). A pedestrian with ID 6 is 23.8 meters away at (2.3, -23.7). A pedestrian with ID 17 is 24.1 meters away at (-23.4, -5.8). A vehicle with ID 22 is 29.9 meters away at (26.4, -14.1). A vehicle with ID 9 is 30.7 meters away at (-28.2, -12.3). A pedestrian with ID 10 is 34.7 meters away at (32.8, -11.3). A vehicle with ID 23 is 34.9 meters away at (-34.2, -6.9).

The vehicle with ID 5 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.2834896  -0.75344753] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.0562346  -0.82341135] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.07762473 0.4297219 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 1.1418447  -0.53489727] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 5 is 10.8 meters away at (9.0, -6.0). A vehicle with ID 7 is 12.7 meters away at (-6.7, -10.8). A vehicle with ID 8 is 14.8 meters away at (-0.5, -14.8). A pedestrian with ID 17 is 22.7 meters away at (-21.4, -7.6). A vehicle with ID 19 is 23.5 meters away at (21.1, -10.2). A vehicle with ID 9 is 28.2 meters away at (-27.2, -7.5). A vehicle with ID 22 is 29.9 meters away at (26.4, -13.9). A vehicle with ID 23 is 34.9 meters away at (-34.2, -6.9). A pedestrian with ID 30 is 36.2 meters away at (-36.1, -3.2). A vehicle with ID 27 is 36.6 meters away at (-34.8, -11.4).

The vehicle with ID 5 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.0374378 -0.9333387] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.7098073 4.3289456] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.0905377 -1.3907988] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -9.411845    2.4583127]
 [-12.902727    8.162944 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 5 is 10.8 meters away at (9.0, -6.0). A vehicle with ID 7 is 12.7 meters away at (-6.7, -10.8). A vehicle with ID 8 is 14.8 meters away at (-0.5, -14.7). A pedestrian with ID 17 is 21.4 meters away at (-19.3, -9.2). A vehicle with ID 19 is 23.5 meters away at (21.2, -10.2). A vehicle with ID 9 is 27.0 meters away at (-26.8, 3.6). A vehicle with ID 22 is 29.8 meters away at (26.4, -13.9). A vehicle with ID 23 is 34.9 meters away at (-34.2, -6.9). A vehicle with ID 27 is 36.6 meters away at (-34.8, -11.4). A pedestrian with ID 30 is 36.7 meters away at (-36.3, -5.8).

The vehicle with ID 5 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.0647867  -0.85232216] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.8617162  6.4814367] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.08968507 -1.4417558 ] m/s.

There are active red lights at the following coordinates: [[ -9.411845    2.4583127]
 [-12.902727    8.162944 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 5 is 10.8 meters away at (9.0, -6.0). A vehicle with ID 7 is 12.7 meters away at (-6.6, -10.8). A vehicle with ID 8 is 14.8 meters away at (-0.5, -14.8). A pedestrian with ID 17 is 20.2 meters away at (-17.3, -10.5). A vehicle with ID 19 is 23.5 meters away at (21.2, -10.2). A vehicle with ID 22 is 29.9 meters away at (26.5, -13.9). A vehicle with ID 23 is 34.9 meters away at (-34.2, -6.9). A vehicle with ID 9 is 36.2 meters away at (-32.1, 16.8). A vehicle with ID 27 is 36.6 meters away at (-34.8, -11.4). A unknown object with ID 28 is 37.1 meters away at (-36.9, -3.3).

The vehicle with ID 5 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.1127508 -0.5492169] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-4.175427  6.488245] m/s.The vehicle with ID 27 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.

There are active red lights at the following coordinates: [[ -9.411845    2.4583127]
 [-12.902727    8.162944 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 2.2) m/s. Its current heading (yaw) is 2.66

The most relevant actors are: A pedestrian with ID 8 is 72.6 meters away at (71.4, -13.1).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.05678073 -1.0392066 ] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [ 71.38934 -13.12459], 72.58576202392578 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 0.2) m/s. Its current heading (yaw) is 3.09

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -2.3) m/s. Its current heading (yaw) is -2.64

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -4.5) m/s. Its current heading (yaw) is -2.10

The most relevant actors are: A unknown object with ID 2 is 29.2 meters away at (-9.4, -27.6).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ -9.419594 -27.62844 ], 29.1900577545166 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 2.8) m/s. Its current heading (yaw) is 2.58

The most relevant actors are: A pedestrian with ID 49 is 10.6 meters away at (-4.3, 9.7). A pedestrian with ID 116 is 10.8 meters away at (-6.0, 9.0). A pedestrian with ID 82 is 11.6 meters away at (-6.6, 9.5). A pedestrian with ID 125 is 11.8 meters away at (-6.2, 10.1). A unknown object with ID 59 is 12.2 meters away at (-10.0, -6.9). A unknown object with ID 83 is 13.5 meters away at (-12.5, -5.1). A vehicle with ID 30 is 17.6 meters away at (-14.3, 10.2). A unknown object with ID 50 is 20.1 meters away at (-20.1, 0.6). A pedestrian with ID 80 is 36.0 meters away at (-23.2, 27.5). A pedestrian with ID 37 is 51.4 meters away at (-48.6, 16.7).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.00463971  0.00636644] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [ 0.00313262 -0.00693025] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-0.0117019  -0.01828781] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [-0.00640017 -0.00150479] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-3.8230903  2.4531903] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.00588405 -0.01238355] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [1.1958612  0.10716892] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 2.6) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A pedestrian with ID 82 is 4.5 meters away at (1.9, 4.1). A vehicle with ID 56 is 4.7 meters away at (1.2, 4.6). A pedestrian with ID 79 is 5.5 meters away at (3.4, 4.3). A pedestrian with ID 49 is 5.9 meters away at (4.2, 4.2). A unknown object with ID 51 is 11.0 meters away at (-8.0, -7.6). A unknown object with ID 59 is 12.4 meters away at (-1.6, -12.3). A vehicle with ID 30 is 16.0 meters away at (-13.0, 9.3). A unknown object with ID 48 is 16.3 meters away at (3.2, -16.0). A pedestrian with ID 80 is 26.4 meters away at (-14.8, 21.9). A vehicle with ID 100 is 35.9 meters away at (-35.6, -4.6).

The pedestrian with ID 82 is traveling at a (x, y) velocity of [-0.0106453   0.01925682] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.08814053  0.00306348] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.01342446 -0.00158121] 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-3.465313   2.2591684] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.02953104  0.00710907] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 2.5) m/s. Its current heading (yaw) is 2.53

The most relevant actors are: A unknown object with ID 126 is 10.9 meters away at (-4.5, -9.9). A pedestrian with ID 49 is 11.4 meters away at (11.4, -0.6). A unknown object with ID 51 is 13.3 meters away at (0.2, -13.3). A unknown object with ID 67 is 13.7 meters away at (0.8, -13.7). A unknown object with ID 88 is 14.6 meters away at (1.8, -14.5). A unknown object with ID 105 is 15.6 meters away at (2.9, -15.3). A vehicle with ID 30 is 16.2 meters away at (-13.3, 9.4). A unknown object with ID 53 is 22.9 meters away at (22.6, -3.7). A unknown object with ID 48 is 23.5 meters away at (10.5, -21.0). A unknown object with ID 75 is 26.2 meters away at (13.1, -22.7).

The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.03207773  0.00895735] 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-4.6734157  3.115239 ] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [-4.4879665 -9.906893 ], 10.876045227050781 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 2.5) m/s. Its current heading (yaw) is 2.54

The most relevant actors are: A unknown object with ID 84 is 16.2 meters away at (3.9, -15.8). A unknown object with ID 72 is 17.8 meters away at (5.5, -17.0). A unknown object with ID 46 is 18.5 meters away at (6.2, -17.4). A pedestrian with ID 37 is 18.7 meters away at (-18.6, -1.1). A unknown object with ID 91 is 18.9 meters away at (-18.5, -3.7). A pedestrian with ID 49 is 19.1 meters away at (18.3, -5.4). A unknown object with ID 51 is 19.5 meters away at (7.3, -18.1). A unknown object with ID 67 is 20.2 meters away at (7.9, -18.5). A vehicle with ID 30 is 20.3 meters away at (-16.7, 11.7). A vehicle with ID 68 is 23.2 meters away at (0.7, 23.2).

The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.1445003 -0.7118654] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.00036499  0.00376727] 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 67 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 [-5.4872303  3.7579741] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  3.8546658 -15.768784 ], 16.233083724975586 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -1.5) m/s. Its current heading (yaw) is -2.06

The most relevant actors are: A vehicle with ID 45 is 8.7 meters away at (8.4, 2.3). A vehicle with ID 55 is 10.0 meters away at (6.0, 8.0). A vehicle with ID 47 is 12.7 meters away at (10.8, 6.5). A vehicle with ID 63 is 16.4 meters away at (7.2, -14.7). A vehicle with ID 51 is 17.7 meters away at (13.9, 10.9). A vehicle with ID 60 is 19.9 meters away at (10.4, 16.9). A vehicle with ID 49 is 21.4 meters away at (-19.7, -8.3). A vehicle with ID 69 is 21.8 meters away at (11.5, -18.6). A vehicle with ID 53 is 23.1 meters away at (16.7, 16.0). A vehicle with ID 72 is 27.9 meters away at (0.5, -27.9).

The vehicle with ID 45 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 [-1.0282433 -1.6998743] m/s.The vehicle with ID 47 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 51 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 [-1.5582386 -2.492731 ] m/s.The vehicle with ID 49 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 53 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: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -1.8) m/s. Its current heading (yaw) is -2.37

The most relevant actors are: A vehicle with ID 55 is 10.1 meters away at (6.3, 7.9). A vehicle with ID 45 is 12.0 meters away at (10.6, 5.5). A vehicle with ID 63 is 14.9 meters away at (9.5, -11.5). A vehicle with ID 47 is 16.3 meters away at (13.0, 9.8). A pedestrian with ID 13 is 16.5 meters away at (-11.0, 12.3). A vehicle with ID 49 is 18.2 meters away at (-17.5, -5.1). A vehicle with ID 60 is 19.4 meters away at (10.2, 16.4). A vehicle with ID 69 is 20.5 meters away at (13.7, -15.3). A vehicle with ID 51 is 21.4 meters away at (16.0, 14.2). A cyclist with ID 46 is 23.6 meters away at (-19.7, 12.9).

The vehicle with ID 55 is traveling at a (x, y) velocity of [-0.988923  -1.7138766] m/s.The vehicle with ID 45 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.95608854 -0.69660044] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-1.0152109 -1.8144428] m/s.The vehicle with ID 69 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 cyclist with ID 46 is traveling at a (x, y) velocity of [ 3.3124218 -2.4095666] m/s.

There are active red lights at the following coordinates: [[-37.92847    7.410441]
 [-36.991974   8.204613]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 0.2) m/s. Its current heading (yaw) is 3.09

The most relevant actors are: A vehicle with ID 55 is 11.4 meters away at (9.4, 6.4). A vehicle with ID 49 is 12.6 meters away at (-12.2, -2.9). A cyclist with ID 46 is 12.7 meters away at (-8.0, 9.9). A unknown object with ID 32 is 12.7 meters away at (-1.8, -12.6). A vehicle with ID 63 is 17.5 meters away at (14.7, -9.5). A vehicle with ID 45 is 17.6 meters away at (15.9, 7.6). A vehicle with ID 60 is 20.0 meters away at (13.4, 14.8). A vehicle with ID 47 is 21.8 meters away at (18.3, 11.9). A vehicle with ID 69 is 23.1 meters away at (18.9, -13.3). A pedestrian with ID 67 is 23.7 meters away at (3.9, -23.3).

The vehicle with ID 55 is traveling at a (x, y) velocity of [-1.0649052 -1.8175809] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [ 2.9469912 -2.5650373] m/s.The unknown object with ID 32 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-1.0268557 -1.8857898] m/s.The vehicle with ID 47 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 pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.1098181  1.0060756] m/s.

There are active red lights at the following coordinates: [[-37.92847    7.410441]
 [-36.991974   8.204613]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 1.6) m/s. Its current heading (yaw) is 2.49

The most relevant actors are: A cyclist with ID 46 is 4.3 meters away at (1.8, 3.9). A vehicle with ID 49 is 8.7 meters away at (-7.1, -5.0). A vehicle with ID 55 is 12.4 meters away at (12.4, 0.7). A vehicle with ID 60 is 19.0 meters away at (16.7, 9.1). A vehicle with ID 45 is 21.8 meters away at (21.1, 5.4). A vehicle with ID 63 is 23.1 meters away at (19.9, -11.7). A pedestrian with ID 67 is 24.6 meters away at (6.6, -23.6). A vehicle with ID 47 is 25.4 meters away at (23.5, 9.6). A vehicle with ID 72 is 28.2 meters away at (13.3, -24.8). A pedestrian with ID 37 is 28.3 meters away at (7.3, -27.3).

The cyclist with ID 46 is traveling at a (x, y) velocity of [ 1.6866144 -1.5667955] m/s.The vehicle with ID 49 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 [-1.1072675 -1.7472476] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-0.9487932 -1.653507 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.1519102  0.7998429] m/s.The vehicle with ID 47 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 37 is traveling at a (x, y) velocity of [-0.029736    0.00812758] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.8) m/s. Its current heading (yaw) is -2.29

The most relevant actors are: A pedestrian with ID 64 is 9.0 meters away at (-8.5, -3.1). A pedestrian with ID 66 is 21.2 meters away at (-2.8, -21.0). A pedestrian with ID 67 is 21.8 meters away at (-2.6, -21.6). A pedestrian with ID 65 is 22.3 meters away at (-2.4, -22.2). A unknown object with ID 54 is 23.5 meters away at (-18.8, -14.1). A vehicle with ID 55 is 26.4 meters away at (-19.3, -18.1). A vehicle with ID 56 is 31.8 meters away at (-22.7, -22.3). A unknown object with ID 68 is 33.1 meters away at (28.2, 17.3). A vehicle with ID 59 is 35.4 meters away at (-16.8, -31.1). A vehicle with ID 71 is 36.0 meters away at (-8.4, 35.0).

The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.9855087 0.7418094] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.9496524 0.5490257] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.87968314 0.7211456 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.9292751 0.6345065] m/s.The unknown object with ID 54 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 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 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A pedestrian with ID 64 is 6.2 meters away at (-6.1, -1.0). A pedestrian with ID 66 is 19.3 meters away at (-0.4, -19.3). A pedestrian with ID 67 is 20.0 meters away at (-0.7, -20.0). A pedestrian with ID 65 is 20.6 meters away at (-0.1, -20.6). A unknown object with ID 54 is 23.2 meters away at (-18.6, -13.9). A vehicle with ID 55 is 26.0 meters away at (-19.0, -17.7). A vehicle with ID 56 is 31.3 meters away at (-22.4, -21.9). A unknown object with ID 68 is 33.4 meters away at (28.4, 17.5). A pedestrian with ID 45 is 33.5 meters away at (31.0, 12.5). A vehicle with ID 59 is 34.9 meters away at (-16.5, -30.7).

The pedestrian with ID 64 is traveling at a (x, y) velocity of [1.0993026 1.0966704] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [1.3703967 0.8075094] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [1.1916782 0.8335761] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [1.2459846 0.820447 ] m/s.The unknown object with ID 54 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 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 59 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 (-2.8, -3.3) m/s. Its current heading (yaw) is -2.27

The most relevant actors are: A pedestrian with ID 64 is 4.8 meters away at (-1.3, 4.6). A pedestrian with ID 66 is 14.8 meters away at (4.8, -14.0). A pedestrian with ID 67 is 15.5 meters away at (5.1, -14.7). A pedestrian with ID 65 is 16.2 meters away at (4.9, -15.4). A vehicle with ID 55 is 21.4 meters away at (-16.2, -14.1). A vehicle with ID 72 is 25.0 meters away at (-24.6, 4.1). A vehicle with ID 56 is 26.8 meters away at (-19.5, -18.3). A vehicle with ID 59 is 30.4 meters away at (-13.7, -27.1). A pedestrian with ID 76 is 34.6 meters away at (-28.4, -19.8). A vehicle with ID 60 is 36.0 meters away at (-17.4, -31.5).

The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.6324777 1.0370116] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.84463304 0.9490207 ] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.957725  0.9800398] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.9469097  0.93460906] m/s.The vehicle with ID 55 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 [ 3.848636  -2.7296376] m/s.The vehicle with ID 56 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 pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.080111    0.06458548] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.8) m/s. Its current heading (yaw) is -2.26

The most relevant actors are: A vehicle with ID 55 is 11.2 meters away at (-9.6, -5.7). A pedestrian with ID 66 is 13.5 meters away at (13.0, -3.6). A pedestrian with ID 67 is 14.2 meters away at (13.5, -4.2). A pedestrian with ID 65 is 14.5 meters away at (13.4, -5.4). A vehicle with ID 72 is 15.3 meters away at (-12.6, 8.6). A vehicle with ID 56 is 16.3 meters away at (-13.0, -9.8). A pedestrian with ID 64 is 16.7 meters away at (7.1, 15.1). A vehicle with ID 59 is 20.1 meters away at (-7.2, -18.7). A pedestrian with ID 76 is 24.6 meters away at (-21.8, -11.4). A vehicle with ID 60 is 25.5 meters away at (-10.8, -23.1).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.7037318 1.1011045] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.7470766 1.0877348] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.6685489 1.0059333] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 1.8189355 -1.2978272] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.78119916 1.0837063 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.05350791  0.04795834] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A vehicle with ID 11 is 7.8 meters away at (2.8, 7.3). A vehicle with ID 12 is 11.3 meters away at (-2.8, 11.0). A pedestrian with ID 10 is 12.6 meters away at (-9.4, 8.4). A vehicle with ID 14 is 12.8 meters away at (-9.4, -8.7). A vehicle with ID 15 is 14.5 meters away at (-13.6, 5.0). A vehicle with ID 16 is 14.6 meters away at (-10.8, 9.9). A vehicle with ID 17 is 15.1 meters away at (-2.1, -15.0). A vehicle with ID 18 is 15.2 meters away at (4.7, 14.4). A vehicle with ID 20 is 16.4 meters away at (-16.4, 0.2). A vehicle with ID 21 is 16.6 meters away at (-14.0, 9.0).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.47622538 1.2328272 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 9.793607 47.039135]
 [ 8.614723 45.169533]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A vehicle with ID 11 is 7.8 meters away at (2.8, 7.3). A vehicle with ID 12 is 11.3 meters away at (-2.8, 11.0). A vehicle with ID 14 is 12.9 meters away at (-9.4, -8.7). A pedestrian with ID 10 is 14.1 meters away at (-9.1, 10.8). A vehicle with ID 15 is 14.5 meters away at (-13.6, 5.0). A vehicle with ID 16 is 14.6 meters away at (-10.8, 9.9). A vehicle with ID 17 is 15.1 meters away at (-2.1, -15.0). A vehicle with ID 18 is 15.2 meters away at (4.7, 14.5). A vehicle with ID 20 is 16.4 meters away at (-16.4, 0.2). A vehicle with ID 21 is 16.6 meters away at (-14.0, 9.0).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.06456948 1.1717831 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 9.793607 47.039135]
 [ 8.614723 45.169533]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A vehicle with ID 11 is 7.9 meters away at (2.8, 7.4). A vehicle with ID 12 is 11.3 meters away at (-2.8, 11.0). A vehicle with ID 14 is 12.9 meters away at (-9.4, -8.8). A vehicle with ID 15 is 14.5 meters away at (-13.6, 5.0). A vehicle with ID 16 is 14.6 meters away at (-10.8, 9.9). A vehicle with ID 17 is 15.1 meters away at (-2.1, -15.0). A vehicle with ID 18 is 15.2 meters away at (4.7, 14.4). A vehicle with ID 20 is 16.4 meters away at (-16.4, 0.2). A vehicle with ID 21 is 16.6 meters away at (-14.0, 9.0). A vehicle with ID 24 is 22.3 meters away at (-12.4, -18.6).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 9.793607 47.039135]
 [ 8.614723 45.169533]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A vehicle with ID 11 is 7.8 meters away at (2.8, 7.3). A vehicle with ID 12 is 11.3 meters away at (-2.8, 11.0). A vehicle with ID 14 is 12.9 meters away at (-9.4, -8.8). A vehicle with ID 15 is 14.5 meters away at (-13.6, 5.0). A vehicle with ID 16 is 14.6 meters away at (-10.8, 9.9). A vehicle with ID 17 is 15.1 meters away at (-2.1, -15.0). A vehicle with ID 18 is 15.2 meters away at (4.7, 14.4). A vehicle with ID 20 is 16.4 meters away at (-16.4, 0.2). A vehicle with ID 21 is 16.6 meters away at (-14.0, 9.0). A vehicle with ID 24 is 22.3 meters away at (-12.4, -18.6).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.4) m/s. Its current heading (yaw) is 2.64

The most relevant actors are: A vehicle with ID 17 is 13.0 meters away at (-4.1, 12.4). A pedestrian with ID 18 is 18.9 meters away at (11.9, -14.7). A pedestrian with ID 20 is 33.2 meters away at (-9.9, 31.7). A pedestrian with ID 13 is 44.2 meters away at (-44.0, 3.9).

The vehicle with ID 17 is traveling at a (x, y) velocity of [3.3048246 5.099789 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.39555854  0.17699276] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.0709836  -0.01606026] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.7682696 -1.3572264] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 1.5) m/s. Its current heading (yaw) is 2.69

The most relevant actors are: A vehicle with ID 17 is 21.2 meters away at (5.8, 20.4). A pedestrian with ID 18 is 21.8 meters away at (14.8, -16.0). A pedestrian with ID 20 is 30.4 meters away at (-6.0, 29.8). A pedestrian with ID 13 is 41.6 meters away at (-41.6, -1.0). A pedestrian with ID 9 is 42.5 meters away at (-42.5, -0.5).

The vehicle with ID 17 is traveling at a (x, y) velocity of [3.1808953 4.0018883] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.63203245  0.4327636 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.01641628 0.2245035 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.77126473 -1.4634362 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.8113065 -1.4167562] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 1.9) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A pedestrian with ID 20 is 27.1 meters away at (1.5, 27.1). A pedestrian with ID 18 is 28.6 meters away at (21.4, -19.0). A vehicle with ID 17 is 29.6 meters away at (21.3, 20.5). A pedestrian with ID 13 is 36.2 meters away at (-35.4, -7.6). A vehicle with ID 8 is 36.7 meters away at (7.9, 35.8). A pedestrian with ID 9 is 37.0 meters away at (-36.3, -7.1).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.3021009   0.66454244] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6185091   0.39384878] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.5778356 -0.3542716] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.6672652 -1.3838505] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.5259776 -1.6742047] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.73337436 -1.3143913 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 0.6) m/s. Its current heading (yaw) is 3.02

The most relevant actors are: A pedestrian with ID 20 is 27.4 meters away at (10.5, 25.3). A pedestrian with ID 13 is 30.4 meters away at (-27.3, -13.5). A vehicle with ID 8 is 35.9 meters away at (22.0, 28.4). A pedestrian with ID 18 is 37.3 meters away at (30.4, -21.6). A vehicle with ID 17 is 43.4 meters away at (41.3, 13.5). A vehicle with ID 11 is 63.3 meters away at (-35.1, -52.7). A vehicle with ID 1 is 71.2 meters away at (-46.1, -54.3). A vehicle with ID 3 is 72.0 meters away at (-48.5, -53.2).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.1017735   0.20316766] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.62705004 -1.668751  ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.545162  -2.8540907] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.20666936  0.10334457] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 6.430585  -3.3424299] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.4383402 -7.5873737] m/s.The vehicle with ID 1 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.07

The most relevant actors are: A cyclist with ID 27 is 5.7 meters away at (0.2, 5.7). A vehicle with ID 30 is 31.5 meters away at (22.4, 22.2). A vehicle with ID 31 is 44.2 meters away at (37.9, 22.9). A unknown object with ID 34 is 45.7 meters away at (17.9, 42.1). A vehicle with ID 33 is 50.0 meters away at (-46.7, 18.0). A vehicle with ID 28 is 50.3 meters away at (31.0, 39.6). A pedestrian with ID 35 is 51.4 meters away at (-50.1, 11.8). A vehicle with ID 32 is 67.4 meters away at (28.2, 61.2).

The cyclist with ID 27 is traveling at a (x, y) velocity of [0.78819245 1.2422849 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [9.123301 0.563865] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [8.556316   0.33843154] m/s.The unknown object with ID 34 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 [-9.064288   1.4588438] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.56866777 -1.2297198 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2681805 -0.3936232] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.07

The most relevant actors are: A cyclist with ID 27 is 6.1 meters away at (0.4, 6.1). A unknown object with ID 34 is 45.7 meters away at (17.9, 42.1). A vehicle with ID 30 is 47.1 meters away at (40.9, 23.4). A pedestrian with ID 35 is 48.9 meters away at (-47.7, 11.1). A vehicle with ID 28 is 49.6 meters away at (30.6, 39.0). A vehicle with ID 31 is 61.5 meters away at (56.7, 23.8). A vehicle with ID 32 is 67.3 meters away at (28.2, 61.2). A vehicle with ID 33 is 69.4 meters away at (-65.4, 23.2).

The cyclist with ID 27 is traveling at a (x, y) velocity of [-0.02098239 -0.03446706] m/s.The unknown object with ID 34 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 [9.273161   0.50615543] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.224451   -0.30654803] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [10.108252    0.45204696] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-9.048777   3.3908768] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.3) m/s. Its current heading (yaw) is 1.07

The most relevant actors are: A cyclist with ID 27 is 10.1 meters away at (2.5, 9.8). A unknown object with ID 34 is 45.6 meters away at (17.8, 42.0). A pedestrian with ID 26 is 46.7 meters away at (-45.5, 10.5). A pedestrian with ID 35 is 46.8 meters away at (-45.5, 10.9). A vehicle with ID 28 is 49.3 meters away at (30.5, 38.7). A vehicle with ID 30 is 63.7 meters away at (59.0, 24.1). A vehicle with ID 32 is 67.0 meters away at (28.0, 60.9).

The cyclist with ID 27 is traveling at a (x, y) velocity of [2.1992838 3.9228845] m/s.The unknown object with ID 34 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 [ 1.0680519  -0.15522224] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.0813754  -0.12517442] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [9.717602   0.55408823] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 3.4) m/s. Its current heading (yaw) is 1.07

The most relevant actors are: A cyclist with ID 27 is 18.7 meters away at (7.4, 17.2). A unknown object with ID 12 is 19.9 meters away at (-2.3, 19.8). A unknown object with ID 34 is 41.1 meters away at (15.7, 38.0). A vehicle with ID 28 is 45.0 meters away at (28.5, 34.8). A pedestrian with ID 26 is 45.8 meters away at (-45.4, 5.9). A pedestrian with ID 35 is 45.8 meters away at (-45.3, 6.5). A cyclist with ID 20 is 49.5 meters away at (-46.7, 16.3). A unknown object with ID 13 is 50.0 meters away at (31.6, 38.7). A vehicle with ID 32 is 61.2 meters away at (25.5, 55.6). A vehicle with ID 15 is 80.3 meters away at (77.5, 21.1).

The cyclist with ID 27 is traveling at a (x, y) velocity of [4.338055 6.638606] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 26 is traveling at a (x, y) velocity of [ 1.3101382 -0.1938287] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2150104  -0.18712637] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [10.010443  -2.2403321] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [10.621734   0.5894842] m/s.

There are active red lights at the following coordinates: [[26.7443   31.755241]
 [26.95845  31.928192]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.1) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 64 is 4.6 meters away at (-2.3, 4.0). A vehicle with ID 57 is 5.3 meters away at (-5.2, -0.3). A vehicle with ID 56 is 9.0 meters away at (1.7, 8.8). A vehicle with ID 61 is 10.0 meters away at (-8.9, -4.6). A vehicle with ID 79 is 17.3 meters away at (15.7, 7.2). A vehicle with ID 26 is 18.5 meters away at (8.1, 16.6). A vehicle with ID 80 is 19.0 meters away at (18.2, 5.2). A vehicle with ID 63 is 20.3 meters away at (-19.3, -6.5). A vehicle with ID 82 is 22.1 meters away at (22.0, 2.1). A vehicle with ID 65 is 22.8 meters away at (1.0, -22.8).

The vehicle with ID 64 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 0.27504253 -0.2866367 ] m/s.The vehicle with ID 79 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 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 [0. 0.] m/s.The vehicle with ID 65 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 (4.7, 5.8) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 26 is 5.4 meters away at (-0.8, 5.4). A vehicle with ID 56 is 7.6 meters away at (-7.2, -2.4). A vehicle with ID 79 is 7.9 meters away at (6.8, -4.0). A vehicle with ID 80 is 11.1 meters away at (9.4, -6.0). A vehicle with ID 64 is 13.4 meters away at (-11.2, -7.3). A vehicle with ID 82 is 16.0 meters away at (13.1, -9.2). A vehicle with ID 57 is 18.3 meters away at (-14.2, -11.6). A vehicle with ID 59 is 19.1 meters away at (2.6, 18.9). A vehicle with ID 84 is 19.8 meters away at (16.2, -11.5). A vehicle with ID 60 is 21.0 meters away at (0.7, 21.0).

The vehicle with ID 26 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 79 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 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 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 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, 5.6) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 59 is 9.9 meters away at (-6.5, 7.4). A vehicle with ID 26 is 11.5 meters away at (-9.9, -6.0). A vehicle with ID 60 is 12.7 meters away at (-8.3, 9.6). A vehicle with ID 79 is 15.7 meters away at (-2.4, -15.5). A vehicle with ID 80 is 17.5 meters away at (0.1, -17.5). A vehicle with ID 13 is 17.9 meters away at (-12.6, 12.8). A vehicle with ID 7 is 19.0 meters away at (-0.7, 19.0). A vehicle with ID 9 is 20.3 meters away at (-3.2, 20.1). A vehicle with ID 82 is 21.0 meters away at (4.1, -20.6). A vehicle with ID 56 is 21.5 meters away at (-16.4, -14.0).

The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.2) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 7 is 12.4 meters away at (-9.5, 7.9). A unknown object with ID 2 is 13.5 meters away at (0.9, 13.5). A vehicle with ID 9 is 15.1 meters away at (-12.1, 9.0). A vehicle with ID 59 is 15.8 meters away at (-15.4, -3.7). A vehicle with ID 5 is 15.9 meters away at (-7.9, 13.8). A vehicle with ID 60 is 17.2 meters away at (-17.1, -1.4). A vehicle with ID 1 is 20.4 meters away at (3.3, 20.2). A vehicle with ID 13 is 21.3 meters away at (-21.2, 1.9). A vehicle with ID 3 is 23.3 meters away at (-0.7, 23.3). A vehicle with ID 26 is 25.4 meters away at (-18.7, -17.2).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 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 5 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.2) m/s. Its current heading (yaw) is -0.20

The most relevant actors are: A unknown object with ID 15 is 6.1 meters away at (-5.5, -2.6). A pedestrian with ID 2 is 13.4 meters away at (11.2, 7.4). A vehicle with ID 18 is 26.4 meters away at (24.0, -10.9). A pedestrian with ID 16 is 31.0 meters away at (26.9, 15.4). A unknown object with ID 6 is 31.3 meters away at (-29.6, -10.0). A unknown object with ID 3 is 35.8 meters away at (31.8, 16.4). A vehicle with ID 24 is 56.7 meters away at (51.0, -24.8). A cyclist with ID 19 is 57.3 meters away at (56.7, 8.0).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.80516404  0.7561652 ] m/s.The vehicle with ID 18 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 [-0.45843095 -0.95362395] 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 3 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 cyclist with ID 19 is traveling at a (x, y) velocity of [ 4.8719335 -2.934366 ] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-5.5041327 -2.627759 ], 6.099228858947754 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.25

The most relevant actors are: A unknown object with ID 15 is 6.7 meters away at (-6.1, -2.6). A pedestrian with ID 2 is 14.8 meters away at (11.0, 9.9). A vehicle with ID 18 is 25.7 meters away at (23.3, -10.8). A pedestrian with ID 16 is 29.0 meters away at (25.5, 13.7). A unknown object with ID 6 is 31.8 meters away at (-30.2, -9.9). A unknown object with ID 12 is 53.0 meters away at (22.8, 47.8). A vehicle with ID 24 is 56.1 meters away at (50.4, -24.8). A cyclist with ID 19 is 65.3 meters away at (65.2, 2.8).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.47022715 1.2516634 ] m/s.The vehicle with ID 18 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 [-0.44894063 -0.8786755 ] 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 12 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 cyclist with ID 19 is traveling at a (x, y) velocity of [ 4.5827026 -2.3873682] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-6.141213 -2.586977], 6.663853645324707 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -0.3) m/s. Its current heading (yaw) is -0.19

The most relevant actors are: A unknown object with ID 15 is 7.6 meters away at (-7.2, -2.3). A pedestrian with ID 2 is 16.5 meters away at (10.7, 12.6). A vehicle with ID 18 is 24.4 meters away at (22.1, -10.4). A pedestrian with ID 16 is 26.3 meters away at (23.2, 12.3). A vehicle with ID 24 is 54.9 meters away at (49.2, -24.5). A pedestrian with ID 7 is 55.1 meters away at (48.9, -25.2). A cyclist with ID 19 is 72.9 meters away at (72.9, -1.3).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.37706372 1.2056085 ] m/s.The vehicle with ID 18 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 [-0.5485755 -0.8959576] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.1494471  -0.11379683] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 4.351703  -2.3943565] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-7.2320395 -2.268643 ], 7.5795207023620605 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 0.9) m/s. Its current heading (yaw) is 0.24

The most relevant actors are: A unknown object with ID 13 is 11.6 meters away at (-11.5, -1.7). A unknown object with ID 15 is 13.7 meters away at (-13.5, -2.2). A pedestrian with ID 2 is 14.5 meters away at (5.0, 13.6). A vehicle with ID 18 is 19.1 meters away at (16.0, -10.5). A pedestrian with ID 16 is 19.4 meters away at (16.4, 10.3). A pedestrian with ID 4 is 43.6 meters away at (34.6, -26.5). A vehicle with ID 24 is 49.6 meters away at (43.0, -24.8). A pedestrian with ID 7 is 49.8 meters away at (42.6, -25.8). A cyclist with ID 19 is 76.1 meters away at (75.7, -7.4).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.05697486 -0.02586883] m/s.The vehicle with ID 18 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 [-0.37138453 -1.0474244 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.00123399 -0.00554297] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.0361755  -0.17740558] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 4.58477   -2.7749481] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 7.0) m/s. Its current heading (yaw) is 2.20

The most relevant actors are: A vehicle with ID 56 is 3.6 meters away at (3.4, 1.0). A vehicle with ID 77 is 10.6 meters away at (-10.2, 2.7). A vehicle with ID 62 is 10.8 meters away at (0.1, -10.8). A pedestrian with ID 60 is 11.0 meters away at (10.2, -4.3). A pedestrian with ID 65 is 11.1 meters away at (1.3, 11.1). A pedestrian with ID 68 is 11.8 meters away at (1.9, 11.6). A unknown object with ID 72 is 16.6 meters away at (-16.5, 1.1). A unknown object with ID 66 is 16.6 meters away at (-15.6, -5.8). A vehicle with ID 9 is 18.6 meters away at (10.2, -15.6). A unknown object with ID 28 is 20.1 meters away at (-16.6, -11.4).

The vehicle with ID 56 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 [ 3.6606908 -5.2107644] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 3.0982432 -4.4054313] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.9376662 -0.6661308] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.00448729 -0.0001156 ] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.01742907 -0.00229703] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 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 [-4.3307962  6.632979 ] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 5.9) m/s. Its current heading (yaw) is 2.21

The most relevant actors are: A vehicle with ID 55 is 6.1 meters away at (-0.1, 6.1). A pedestrian with ID 65 is 11.2 meters away at (10.9, -2.1). A pedestrian with ID 68 is 11.6 meters away at (11.5, -1.6). A pedestrian with ID 83 is 12.4 meters away at (0.1, 12.4). A vehicle with ID 69 is 13.1 meters away at (5.0, -12.2). A vehicle with ID 57 is 13.8 meters away at (-5.3, 12.7). A vehicle with ID 56 is 17.9 meters away at (13.1, -12.2). A vehicle with ID 85 is 19.7 meters away at (1.7, -19.6). A pedestrian with ID 76 is 19.8 meters away at (-19.7, 1.5). A unknown object with ID 49 is 19.8 meters away at (-14.3, -13.8).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.02570137  0.01365316] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.00586422  0.02556635] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.8657233 -1.1173803] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-8.044247 10.77336 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 5.2159767 -7.3092785] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [ 0.84968126 -1.4079319 ] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 3.6) m/s. Its current heading (yaw) is 2.18

The most relevant actors are: A vehicle with ID 69 is 3.8 meters away at (-3.3, -1.9). A vehicle with ID 57 is 3.8 meters away at (1.5, 3.5). A vehicle with ID 55 is 7.4 meters away at (6.7, -3.2). A vehicle with ID 42 is 7.5 meters away at (-5.3, -5.2). A pedestrian with ID 83 is 8.8 meters away at (8.8, 0.7). A pedestrian with ID 4 is 13.1 meters away at (2.1, 12.9). A pedestrian with ID 3 is 13.5 meters away at (1.6, 13.4). A pedestrian with ID 76 is 15.3 meters away at (-11.1, -10.5). A pedestrian with ID 7 is 16.7 meters away at (-5.5, 15.7). A vehicle with ID 9 is 17.7 meters away at (10.4, -14.2).

The vehicle with ID 69 is traveling at a (x, y) velocity of [-6.6387186  8.17596  ] m/s.The vehicle with ID 57 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 42 is traveling at a (x, y) velocity of [ 5.0542665 -6.7745695] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.93840456 -1.159069  ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00077904  0.02471501] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.01365    0.02193881] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [ 0.8350645 -1.4124856] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.09849202  0.03413512] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-3.8421996  5.3154225] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 1.6) m/s. Its current heading (yaw) is 2.19

The most relevant actors are: A vehicle with ID 57 is 5.2 meters away at (5.0, -1.4). A pedestrian with ID 4 is 9.8 meters away at (5.8, 8.0). A pedestrian with ID 3 is 9.9 meters away at (5.2, 8.4). A pedestrian with ID 7 is 10.9 meters away at (-1.9, 10.7). A vehicle with ID 69 is 12.0 meters away at (-9.1, 7.9). A vehicle with ID 9 is 12.7 meters away at (7.4, -10.3). A vehicle with ID 55 is 13.1 meters away at (10.3, -8.2). A pedestrian with ID 83 is 16.0 meters away at (14.6, -6.5). A pedestrian with ID 67 is 17.2 meters away at (-17.1, 1.4). A pedestrian with ID 70 is 18.2 meters away at (-18.1, 2.5).

The vehicle with ID 57 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 [0.0068152  0.00049074] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00373635 -0.00098192] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.00283206  0.00221353] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.876916  7.56187 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.5823243  3.4053993] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 1.0610386 -1.0152065] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.01300877 0.01222179] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.0225886  0.02380806] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -5.3) m/s. Its current heading (yaw) is -1.18

The most relevant actors are: A vehicle with ID 3 is 22.5 meters away at (-9.7, 20.3). A unknown object with ID 11 is 24.7 meters away at (13.1, -20.9). A pedestrian with ID 20 is 26.2 meters away at (25.7, -4.8). A vehicle with ID 17 is 29.2 meters away at (-8.9, 27.8). A pedestrian with ID 18 is 32.0 meters away at (-21.9, 23.3). A unknown object with ID 13 is 35.6 meters away at (29.4, -20.1). A pedestrian with ID 19 is 39.5 meters away at (-27.4, 28.5). A unknown object with ID 8 is 51.7 meters away at (-17.0, 48.8). A vehicle with ID 22 is 56.1 meters away at (-12.2, 54.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.229487  -4.9491086] m/s.The unknown object with ID 11 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 [-1.1864241   0.48822275] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.01704937 -0.02204891] m/s.The unknown object with ID 13 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 [-0.01822222 -0.0089574 ] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.21007796 -5.422171  ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -5.5) m/s. Its current heading (yaw) is -1.16

The most relevant actors are: A pedestrian with ID 20 is 20.1 meters away at (18.8, 7.2). A vehicle with ID 3 is 22.9 meters away at (-9.5, 20.9). A vehicle with ID 17 is 40.9 meters away at (-13.5, 38.6). A pedestrian with ID 18 is 43.3 meters away at (-26.6, 34.1). A vehicle with ID 22 is 58.0 meters away at (-16.2, 55.7).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.07086    0.5594759] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.4862378 -5.4302692] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.03537935  0.03695359] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.3121189 -4.340804 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -5.4) m/s. Its current heading (yaw) is -1.15

The most relevant actors are: A pedestrian with ID 20 is 22.5 meters away at (11.6, 19.3). A vehicle with ID 3 is 23.0 meters away at (-9.7, 20.9). A vehicle with ID 17 is 52.8 meters away at (-18.3, 49.5). A vehicle with ID 22 is 63.2 meters away at (-20.9, 59.7).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.2059356   0.62310773] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.3425603 -5.3069735] m/s.The vehicle with ID 17 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 [-0.26052836 -3.1245642 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -5.1) m/s. Its current heading (yaw) is -1.12

The most relevant actors are: A vehicle with ID 3 is 23.3 meters away at (-9.9, 21.1). A pedestrian with ID 20 is 31.1 meters away at (4.4, 30.8). A vehicle with ID 17 is 64.2 meters away at (-23.1, 59.9).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.1702988 -4.784506 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.1040289  0.5492027] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 6.4) m/s. Its current heading (yaw) is 2.36

The most relevant actors are: A vehicle with ID 2 is 10.4 meters away at (-4.8, 9.3). A vehicle with ID 52 is 14.3 meters away at (11.3, 8.8). A pedestrian with ID 46 is 19.3 meters away at (12.7, 14.5). A vehicle with ID 53 is 80.5 meters away at (56.1, -57.7).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.2958484  6.4560127] m/s.The vehicle with ID 52 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 [ 1.0014867 -0.9793715] m/s.The vehicle with ID 53 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 (-7.0, 5.7) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 2 is 10.6 meters away at (-6.0, 8.7). A vehicle with ID 52 is 24.9 meters away at (24.7, -3.6). A pedestrian with ID 46 is 28.5 meters away at (28.5, 0.8).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.783491  5.550669] m/s.The vehicle with ID 52 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 [ 1.1584923 -0.6675554] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 5.1) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A vehicle with ID 2 is 12.1 meters away at (-8.2, 8.9). A vehicle with ID 52 is 41.8 meters away at (39.2, -14.5). A vehicle with ID 6 is 77.6 meters away at (-69.5, 34.6).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-8.925707  5.311674] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, 4.5) m/s. Its current heading (yaw) is 2.63

The most relevant actors are: A vehicle with ID 2 is 13.8 meters away at (-10.3, 9.2). A vehicle with ID 6 is 58.9 meters away at (-53.4, 24.9). A vehicle with ID 52 is 60.2 meters away at (55.2, -24.1).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.057597  4.773879] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.10

The most relevant actors are: A vehicle with ID 4 is 9.6 meters away at (-3.9, -8.8). A unknown object with ID 3 is 11.0 meters away at (-7.6, 7.8). A unknown object with ID 7 is 28.2 meters away at (-1.8, 28.1). A unknown object with ID 8 is 28.4 meters away at (1.8, 28.3). A vehicle with ID 9 is 29.1 meters away at (10.2, 27.2). A vehicle with ID 10 is 36.1 meters away at (13.5, 33.5). A unknown object with ID 12 is 39.5 meters away at (-24.0, 31.4). A vehicle with ID 13 is 43.0 meters away at (17.6, 39.3). A vehicle with ID 5 is 52.5 meters away at (-25.7, -45.8). A unknown object with ID 14 is 54.3 meters away at (30.4, 45.0).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.509779  -7.6183906] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.10

The most relevant actors are: A vehicle with ID 4 is 9.6 meters away at (-4.0, -8.8). A unknown object with ID 7 is 28.2 meters away at (-1.8, 28.1). A unknown object with ID 8 is 28.4 meters away at (1.8, 28.3). A vehicle with ID 9 is 29.1 meters away at (10.2, 27.2). A vehicle with ID 10 is 36.1 meters away at (13.5, 33.4). A unknown object with ID 12 is 39.5 meters away at (-24.0, 31.4). A vehicle with ID 13 is 43.0 meters away at (17.6, 39.3). A unknown object with ID 6 is 52.4 meters away at (-27.2, -44.7). A unknown object with ID 14 is 54.3 meters away at (30.4, 45.0). A vehicle with ID 5 is 68.2 meters away at (-33.6, -59.3).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 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 5 is traveling at a (x, y) velocity of [-3.5865047 -6.551238 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.10

The most relevant actors are: A vehicle with ID 4 is 9.6 meters away at (-4.0, -8.8). A unknown object with ID 7 is 28.2 meters away at (-1.8, 28.2). A unknown object with ID 8 is 28.4 meters away at (1.8, 28.3). A vehicle with ID 9 is 29.1 meters away at (10.2, 27.2). A vehicle with ID 10 is 36.1 meters away at (13.5, 33.4). A unknown object with ID 12 is 39.5 meters away at (-24.0, 31.4). A vehicle with ID 13 is 43.0 meters away at (17.6, 39.3). A unknown object with ID 6 is 52.4 meters away at (-27.2, -44.7). A unknown object with ID 14 is 54.3 meters away at (30.4, 45.0).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.10

The most relevant actors are: A vehicle with ID 4 is 9.7 meters away at (-4.0, -8.8). A unknown object with ID 2 is 10.9 meters away at (-7.6, 7.8). A unknown object with ID 7 is 28.2 meters away at (-1.8, 28.2). A unknown object with ID 8 is 28.4 meters away at (1.8, 28.3). A vehicle with ID 9 is 29.1 meters away at (10.2, 27.2). A vehicle with ID 10 is 36.1 meters away at (13.5, 33.5). A unknown object with ID 12 is 39.5 meters away at (-24.0, 31.4). A vehicle with ID 13 is 43.0 meters away at (17.6, 39.3). A unknown object with ID 6 is 52.4 meters away at (-27.2, -44.7). A unknown object with ID 14 is 54.3 meters away at (30.4, 45.0).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.5) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A unknown object with ID 72 is 10.3 meters away at (-8.4, -6.0). A unknown object with ID 76 is 10.6 meters away at (-7.0, -8.0). A unknown object with ID 73 is 11.2 meters away at (-10.0, -5.0). A unknown object with ID 74 is 12.3 meters away at (-11.6, -4.0). A unknown object with ID 78 is 12.4 meters away at (-7.2, -10.1). A unknown object with ID 75 is 14.0 meters away at (-13.7, -2.6). A unknown object with ID 77 is 15.3 meters away at (-15.3, -1.4). A unknown object with ID 80 is 17.0 meters away at (-17.0, -0.1). A unknown object with ID 79 is 17.1 meters away at (-16.9, 2.4). A unknown object with ID 82 is 18.5 meters away at (-18.0, 4.2).

The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 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.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-8.42672  -5.999633], 10.344331741333008 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A vehicle with ID 107 is 10.1 meters away at (6.9, -7.4). A unknown object with ID 72 is 10.6 meters away at (-9.0, -5.6). A unknown object with ID 76 is 10.7 meters away at (-7.5, -7.6). A unknown object with ID 78 is 12.4 meters away at (-7.7, -9.7). A unknown object with ID 77 is 16.0 meters away at (-15.9, -1.0). A unknown object with ID 80 is 17.5 meters away at (-17.5, 0.2). A unknown object with ID 79 is 17.6 meters away at (-17.4, 2.7). A unknown object with ID 82 is 19.0 meters away at (-18.4, 4.6). A unknown object with ID 84 is 19.4 meters away at (-19.3, 1.8). A unknown object with ID 85 is 20.3 meters away at (-19.5, 5.6).

The vehicle with ID 107 is traveling at a (x, y) velocity of [-7.2769003  2.7712033] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 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 unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -1.2) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A vehicle with ID 107 is 8.4 meters away at (-8.4, 0.2). A unknown object with ID 76 is 11.0 meters away at (-8.7, -6.8). A unknown object with ID 72 is 11.2 meters away at (-10.1, -4.9). A unknown object with ID 16 is 12.5 meters away at (-11.9, -3.8). A unknown object with ID 78 is 12.5 meters away at (-8.9, -8.8). A unknown object with ID 10 is 13.6 meters away at (-13.3, -2.8). A unknown object with ID 54 is 14.7 meters away at (-14.6, -2.0). A unknown object with ID 12 is 15.5 meters away at (-15.4, -1.4). A unknown object with ID 77 is 16.9 meters away at (-16.9, -0.3). A unknown object with ID 80 is 18.7 meters away at (-18.7, 1.0).

The vehicle with ID 107 is traveling at a (x, y) velocity of [-6.6571617  4.069446 ] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching