The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -0.1) m/s. Its current heading (yaw) is -3.12

The most relevant actors are: A unknown object with ID 16 is 65.2 meters away at (-63.7, -13.9). A pedestrian with ID 3 is 72.4 meters away at (-72.0, 7.2). A pedestrian with ID 10 is 72.7 meters away at (-72.5, 5.2).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.9301321 0.0541085] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.1885983 -0.9885419] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-63.723976 -13.890703], 65.22036743164062 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, -0.3) m/s. Its current heading (yaw) is -3.09

The most relevant actors are: A pedestrian with ID 3 is 60.1 meters away at (-59.5, 8.9). A pedestrian with ID 10 is 63.6 meters away at (-63.5, 4.0). A pedestrian with ID 5 is 69.9 meters away at (-69.9, 0.9). A pedestrian with ID 6 is 70.5 meters away at (-70.5, 1.7). A pedestrian with ID 7 is 75.3 meters away at (-73.9, -14.2).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.5524604  0.59608674] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0936881 -0.9644393] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [1.2439927  0.24531075] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [1.205124   0.12955272] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.5237076 -0.4627805] m/s.

There are active red lights at the following coordinates: [[-68.284805  20.949413]
 [-66.13654   20.16278 ]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.6) m/s. Its current heading (yaw) is -0.79

The most relevant actors are: A unknown object with ID 28 is 12.6 meters away at (-8.2, -9.5). A unknown object with ID 27 is 13.1 meters away at (-11.8, -5.6). A pedestrian with ID 30 is 13.3 meters away at (-7.7, -10.8). A unknown object with ID 25 is 13.7 meters away at (-13.4, -2.8). A unknown object with ID 26 is 14.7 meters away at (-14.7, -0.4). A unknown object with ID 16 is 15.3 meters away at (-15.3, 0.6). A unknown object with ID 29 is 18.7 meters away at (-3.8, 18.3). A pedestrian with ID 33 is 21.3 meters away at (-14.4, -15.6). A vehicle with ID 31 is 21.4 meters away at (-6.8, 20.3). A cyclist with ID 34 is 52.4 meters away at (-28.6, 43.9).

The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.008631   -0.01140395] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.0294446  -0.00905819] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [-1.0803461  5.1249123] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-8.192105 -9.524922], 12.56322956085205 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.4) m/s. Its current heading (yaw) is -0.79

The most relevant actors are: A unknown object with ID 28 is 12.5 meters away at (-8.7, -9.0). A pedestrian with ID 30 is 13.2 meters away at (-8.2, -10.3). A unknown object with ID 27 is 13.2 meters away at (-12.2, -5.1). A unknown object with ID 25 is 14.1 meters away at (-13.9, -2.1). A unknown object with ID 11 is 14.3 meters away at (-14.2, -1.6). A unknown object with ID 16 is 15.4 meters away at (-15.4, 0.6). A unknown object with ID 29 is 19.3 meters away at (-4.3, 18.8). A pedestrian with ID 33 is 21.2 meters away at (-14.9, -15.1). A vehicle with ID 31 is 22.0 meters away at (-7.2, 20.8). A pedestrian with ID 10 is 59.8 meters away at (-35.6, 48.1).

The unknown object with ID 28 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 [-0.08623216  0.13555843] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.37173927  0.17320997] m/s.The vehicle with ID 31 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 [-0.32402387  1.2293133 ] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-8.673258  -8.9970455], 12.496889114379883 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -1.1) m/s. Its current heading (yaw) is -0.34

The most relevant actors are: A unknown object with ID 28 is 14.0 meters away at (-12.4, -6.5). A pedestrian with ID 30 is 14.3 meters away at (-11.9, -7.9). A unknown object with ID 24 is 16.2 meters away at (-15.2, -5.8). A pedestrian with ID 33 is 22.5 meters away at (-18.6, -12.6). A unknown object with ID 29 is 22.7 meters away at (-7.9, 21.3). A unknown object with ID 17 is 24.1 meters away at (-8.4, 22.6). A vehicle with ID 31 is 25.6 meters away at (-10.8, 23.2). A pedestrian with ID 8 is 65.9 meters away at (-39.4, 52.9).

The unknown object with ID 28 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 [-0.00497879  0.00293575] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.00754316 0.00462288] 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.16640502  1.0793453 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 1.6) m/s. Its current heading (yaw) is 0.34

The most relevant actors are: A unknown object with ID 4 is 17.8 meters away at (10.8, 14.2). A unknown object with ID 28 is 21.6 meters away at (-20.6, -6.7). A unknown object with ID 29 is 26.6 meters away at (-16.2, 21.1). A unknown object with ID 3 is 26.9 meters away at (17.8, 20.1). A unknown object with ID 17 is 27.9 meters away at (-16.6, 22.4). A unknown object with ID 2 is 29.0 meters away at (19.4, 21.5). A pedestrian with ID 33 is 29.5 meters away at (-26.7, -12.7). A unknown object with ID 1 is 31.1 meters away at (20.9, 23.0). A cyclist with ID 6 is 53.3 meters away at (42.9, 31.7).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.05741022 -0.0353099 ] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 6 is traveling at a (x, y) velocity of [-3.8971806 -7.2808633] m/s.

Instruction: left u-turn approaching.

(The closest actor is a unknown object at [10.821686 14.153898], 17.81689453125 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -2.6) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A vehicle with ID 16 is 10.9 meters away at (-8.6, 6.7). A vehicle with ID 61 is 18.6 meters away at (3.7, -18.2). A unknown object with ID 60 is 20.0 meters away at (-6.6, -18.9). A vehicle with ID 59 is 20.0 meters away at (-6.4, 19.0). A pedestrian with ID 65 is 23.4 meters away at (23.4, -0.2). A pedestrian with ID 66 is 23.5 meters away at (23.4, -1.2). A vehicle with ID 63 is 23.7 meters away at (21.8, 9.4). A vehicle with ID 62 is 25.8 meters away at (-11.4, 23.2). A vehicle with ID 64 is 26.1 meters away at (21.8, 14.4). A vehicle with ID 69 is 26.6 meters away at (23.7, -12.1).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 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 65 is traveling at a (x, y) velocity of [-0.8488348  0.5310033] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.0042374  0.6062008] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.81075984  0.6767478 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -4.5) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 69 is 10.8 meters away at (10.7, -1.1). A vehicle with ID 61 is 12.0 meters away at (-4.6, -11.0). A pedestrian with ID 66 is 14.7 meters away at (12.9, 7.2). A pedestrian with ID 65 is 15.5 meters away at (13.3, 8.0). A unknown object with ID 60 is 18.9 meters away at (-14.9, -11.8). A vehicle with ID 16 is 20.5 meters away at (-15.8, 13.0). A vehicle with ID 63 is 21.3 meters away at (13.5, 16.5). A vehicle with ID 70 is 22.5 meters away at (20.6, -9.0). A vehicle with ID 64 is 25.5 meters away at (13.5, 21.6). A vehicle with ID 71 is 28.3 meters away at (26.8, -8.8).

The vehicle with ID 69 is traveling at a (x, y) velocity of [-3.7476099  3.035728 ] m/s.The vehicle with ID 61 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 [-1.0316038  0.6594402] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.9801012  0.6163677] m/s.The unknown object with ID 60 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 [ 1.6488652 -1.3367816] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [-1.7522529  1.4697961] m/s.The vehicle with ID 64 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -5.4) m/s. Its current heading (yaw) is -0.67

The most relevant actors are: A vehicle with ID 70 is 6.4 meters away at (2.5, 5.9). A vehicle with ID 71 is 14.8 meters away at (14.8, 1.1). A vehicle with ID 76 is 15.5 meters away at (14.8, -4.6). A vehicle with ID 61 is 16.7 meters away at (-16.7, -1.2). A pedestrian with ID 73 is 17.3 meters away at (17.3, 1.2). A pedestrian with ID 66 is 18.5 meters away at (-1.0, 18.5). A pedestrian with ID 65 is 19.2 meters away at (-0.5, 19.2). A vehicle with ID 69 is 19.5 meters away at (-10.6, 16.4). A vehicle with ID 78 is 21.3 meters away at (19.5, -8.5). A vehicle with ID 63 is 26.5 meters away at (1.5, 26.4).

The vehicle with ID 70 is traveling at a (x, y) velocity of [-4.1444817  3.4043844] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-1.8871979  1.6072515] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.02519281 -0.01577247] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.76776546  0.58136296] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.7939733  0.597722 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-5.194364  4.33969 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-1.8318965  1.5691066] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -5.4) m/s. Its current heading (yaw) is -0.62

The most relevant actors are: A vehicle with ID 78 is 6.3 meters away at (0.2, 6.3). A vehicle with ID 76 is 10.8 meters away at (-4.1, 9.9). A vehicle with ID 71 is 11.8 meters away at (0.3, 11.8). A pedestrian with ID 73 is 12.4 meters away at (2.9, 12.0). A vehicle with ID 83 is 15.1 meters away at (14.2, -5.1). A vehicle with ID 52 is 19.8 meters away at (-17.0, -10.3). A vehicle with ID 81 is 23.7 meters away at (-7.0, -22.7). A vehicle with ID 38 is 24.8 meters away at (-20.1, -14.5). A vehicle with ID 21 is 27.6 meters away at (-21.8, -16.9). A vehicle with ID 17 is 28.2 meters away at (-10.1, -26.3).

The vehicle with ID 78 is traveling at a (x, y) velocity of [-2.3747258  2.0224147] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-2.4743257  2.0778017] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.10082872 0.1363699 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-3.020166   2.5350637] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, 4.9) m/s. Its current heading (yaw) is 2.62

The most relevant actors are: A unknown object with ID 107 is 4.7 meters away at (4.7, -0.5). A unknown object with ID 91 is 5.1 meters away at (-3.2, 4.0). A pedestrian with ID 112 is 5.5 meters away at (3.3, 4.4). A unknown object with ID 64 is 5.7 meters away at (-1.8, -5.4). A pedestrian with ID 111 is 5.9 meters away at (4.1, 4.3). A pedestrian with ID 114 is 6.0 meters away at (1.1, 5.9). A pedestrian with ID 110 is 6.3 meters away at (5.4, 3.4). A pedestrian with ID 109 is 6.8 meters away at (4.1, 5.4). A pedestrian with ID 113 is 8.2 meters away at (-0.6, 8.2). A pedestrian with ID 103 is 9.5 meters away at (9.2, 2.2).

The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [ 0.9059226 -0.6091376] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [ 0.93739617 -0.6279141 ] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [ 0.9242152 -0.6112647] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.94049037 -0.5237903 ] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-1.1909283  0.6738917] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [-1.4894917   0.83599776] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-1.4680096  0.8378955] m/s.

There are active red lights at the following coordinates: [[-55.208504  18.655134]
 [-54.73887   18.34303 ]]

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [ 4.7189484  -0.52672005], 4.748253345489502 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.8) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A unknown object with ID 117 is 4.2 meters away at (4.0, 1.2). A pedestrian with ID 116 is 5.1 meters away at (2.5, 4.4). A unknown object with ID 52 is 6.8 meters away at (-4.4, -5.2). A unknown object with ID 69 is 6.9 meters away at (6.3, -2.7). A pedestrian with ID 113 is 10.1 meters away at (10.0, 0.5). A unknown object with ID 49 is 10.3 meters away at (3.4, -9.7). A pedestrian with ID 115 is 11.1 meters away at (-2.5, -10.8). A vehicle with ID 45 is 11.5 meters away at (-9.9, 5.9). A unknown object with ID 91 is 11.6 meters away at (10.4, -5.1). A pedestrian with ID 109 is 15.4 meters away at (15.2, -2.2).

The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [-0.88607734  0.57054114] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [-1.3636136  0.788441 ] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [-1.3104736  0.9030038] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-2.462746   1.7835095] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-1.26871    0.6899846] m/s.

There are active red lights at the following coordinates: [[-55.208504  18.655134]
 [-54.73887   18.34303 ]]

Instruction: Continue straight.

(The closest actor is a unknown object at [4.0064964 1.2053471], 4.183882713317871 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 6.1) m/s. Its current heading (yaw) is 2.33

The most relevant actors are: A vehicle with ID 45 is 3.3 meters away at (-1.8, -2.7). A pedestrian with ID 116 is 13.1 meters away at (11.9, -5.5). A vehicle with ID 101 is 15.5 meters away at (-15.5, -1.1). A pedestrian with ID 123 is 16.0 meters away at (-5.9, -14.8). A unknown object with ID 52 is 17.1 meters away at (6.4, -15.9). A unknown object with ID 117 is 17.6 meters away at (14.8, -9.5). A pedestrian with ID 127 is 18.7 meters away at (-7.1, -17.4). A pedestrian with ID 51 is 19.3 meters away at (-19.2, 1.8). A pedestrian with ID 125 is 19.7 meters away at (-5.5, -18.9). A pedestrian with ID 126 is 19.7 meters away at (-6.2, -18.7).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [-0.44336492  0.17893584] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [ 0.00195586 -0.01980463] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 127 is traveling at a (x, y) velocity of [0.91470027 0.5498089 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.0116508 -0.0139379] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [0.6844333  0.82689637] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [0.71956134 0.7306941 ] m/s.

There are active red lights at the following coordinates: [[-55.208504  18.655134]
 [-54.73887   18.34303 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 7.2) m/s. Its current heading (yaw) is 2.24

The most relevant actors are: A vehicle with ID 34 is 8.0 meters away at (-1.7, 7.8). A pedestrian with ID 41 is 11.0 meters away at (8.1, 7.3). A pedestrian with ID 73 is 11.2 meters away at (-2.1, 11.0). A pedestrian with ID 97 is 12.3 meters away at (-8.8, -8.6). A pedestrian with ID 39 is 12.8 meters away at (-8.7, -9.4). A pedestrian with ID 46 is 12.9 meters away at (4.4, 12.2). A pedestrian with ID 98 is 13.1 meters away at (-8.3, -10.1). A vehicle with ID 40 is 13.8 meters away at (-13.7, 1.6). A pedestrian with ID 51 is 13.8 meters away at (-7.7, -11.4). A vehicle with ID 29 is 14.7 meters away at (-5.8, 13.4).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.6245279 -0.774278 ] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.9366363  0.22803478] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [-0.0098137   0.01056338] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.01508962  0.00145112] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.01489273 -0.00196122] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-0.01133924  0.00837204] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 3.9464033 -5.2991385] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.0019411   0.00456611] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 6.2) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A pedestrian with ID 49 is 24.9 meters away at (-0.6, 24.9). A vehicle with ID 41 is 29.2 meters away at (-23.4, -17.4). A vehicle with ID 43 is 30.8 meters away at (-6.4, -30.1). A vehicle with ID 54 is 32.7 meters away at (12.1, -30.3). A vehicle with ID 46 is 33.1 meters away at (-22.3, -24.5). A vehicle with ID 42 is 36.0 meters away at (7.3, -35.3). A vehicle with ID 45 is 37.8 meters away at (2.4, -37.8). A vehicle with ID 50 is 43.4 meters away at (-36.2, -24.0). A vehicle with ID 37 is 45.4 meters away at (18.2, 41.6). A unknown object with ID 33 is 46.6 meters away at (23.4, 40.3).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.37273365 1.2672387 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-9.720468   3.3611145] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 5.785184  -1.9885359] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-8.846067   2.6609173] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 6.365623  -2.1657646] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 5.9050026 -2.0731566] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -1.9337345  -12.192652  ]
 [ -0.15150245  -9.5473995 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 6.6) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A vehicle with ID 26 is 13.9 meters away at (13.9, -0.0). A pedestrian with ID 49 is 15.1 meters away at (-4.2, 14.5). A vehicle with ID 35 is 17.4 meters away at (17.4, -0.4). A vehicle with ID 36 is 23.2 meters away at (22.9, -4.1). A vehicle with ID 37 is 31.9 meters away at (13.7, 28.8). A vehicle with ID 54 is 37.7 meters away at (-10.0, -36.4). A vehicle with ID 39 is 38.0 meters away at (15.9, 34.5). A vehicle with ID 46 is 44.1 meters away at (-14.8, -41.5). A vehicle with ID 45 is 50.6 meters away at (-2.1, -50.6). A vehicle with ID 55 is 68.7 meters away at (-28.0, -62.7).

The vehicle with ID 26 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 [0.45586073 1.3488972 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-9.083846   3.1719189] m/s.The vehicle with ID 39 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 [ 5.9517817 -2.0684032] m/s.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 [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.2) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A pedestrian with ID 49 is 8.9 meters away at (-7.8, 4.2). A vehicle with ID 26 is 15.9 meters away at (9.6, -12.7). A vehicle with ID 35 is 18.5 meters away at (13.0, -13.1). A vehicle with ID 37 is 18.6 meters away at (9.3, 16.2). A vehicle with ID 39 is 24.6 meters away at (11.5, 21.8). A vehicle with ID 3 is 53.9 meters away at (14.6, 51.9). A vehicle with ID 46 is 58.7 meters away at (-7.7, -58.2). A vehicle with ID 22 is 59.1 meters away at (-31.0, -50.3). A vehicle with ID 9 is 64.1 meters away at (24.4, 59.3).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.30348736 1.2074028 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.1848617 -3.1656437] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 5.4995265 -1.8447201] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 6.642657 -2.374105] m/s.The vehicle with ID 9 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, 5.7) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A vehicle with ID 37 is 6.7 meters away at (5.1, 4.3). A vehicle with ID 39 is 12.2 meters away at (7.3, 9.8). A pedestrian with ID 49 is 12.6 meters away at (-11.2, -5.8). A vehicle with ID 24 is 33.9 meters away at (-2.6, 33.8). A vehicle with ID 3 is 35.3 meters away at (8.3, 34.3). A vehicle with ID 9 is 51.5 meters away at (20.2, 47.4). A vehicle with ID 31 is 63.6 meters away at (-23.9, -59.0). A vehicle with ID 22 is 70.3 meters away at (-22.1, -66.8).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.12848052 0.6802764 ] m/s.The vehicle with ID 24 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 [-1.6191375 -4.4871063] m/s.The vehicle with ID 9 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 [-9.221747   3.1786776] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 6.365794  -2.1217196] m/s.

There are active red lights at the following coordinates: [[-12.331231 -17.596582]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.0) m/s. Its current heading (yaw) is -2.01

The most relevant actors are: A unknown object with ID 127 is 10.6 meters away at (-10.1, 3.1). A unknown object with ID 124 is 11.0 meters away at (-9.6, 5.4). A pedestrian with ID 111 is 11.1 meters away at (0.3, -11.1). A unknown object with ID 123 is 12.2 meters away at (-8.9, 8.3). A unknown object with ID 119 is 13.6 meters away at (-8.4, 10.6). A unknown object with ID 118 is 14.9 meters away at (-7.6, 12.9). A unknown object with ID 116 is 16.1 meters away at (-6.9, 14.6). A pedestrian with ID 122 is 17.4 meters away at (-9.6, 14.5). A unknown object with ID 109 is 17.7 meters away at (-17.6, 1.2). A unknown object with ID 117 is 19.0 meters away at (-6.0, 18.0).

The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.10833729  0.23143946] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 122 is traveling at a (x, y) velocity of [-0.63799894 -1.4378752 ] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-10.085236    3.1261768], 10.558643341064453 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -5.6) m/s. Its current heading (yaw) is -2.00

The most relevant actors are: A pedestrian with ID 111 is 5.3 meters away at (5.1, 1.3). A unknown object with ID 127 is 15.5 meters away at (-4.7, 14.7). A unknown object with ID 124 is 17.5 meters away at (-4.2, 17.0). A unknown object with ID 112 is 19.3 meters away at (-16.3, -10.4). A unknown object with ID 123 is 20.2 meters away at (-3.6, 19.9). A pedestrian with ID 20 is 20.5 meters away at (-17.3, -11.0). A unknown object with ID 113 is 20.6 meters away at (-16.9, -11.8). A unknown object with ID 18 is 21.4 meters away at (-17.6, -12.2). A unknown object with ID 107 is 21.7 meters away at (-18.0, -12.0). A unknown object with ID 119 is 22.4 meters away at (-3.0, 22.2).

The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.04103794  0.02921035] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.03693345  0.02958037] m/s.The unknown object with ID 113 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 unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.3) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A unknown object with ID 112 is 11.4 meters away at (-11.4, 0.3). A unknown object with ID 113 is 12.0 meters away at (-12.0, -1.0). A pedestrian with ID 20 is 12.5 meters away at (-12.5, -0.3). A unknown object with ID 18 is 12.8 meters away at (-12.7, -1.5). A unknown object with ID 69 is 13.5 meters away at (-13.4, 1.8). A unknown object with ID 73 is 13.7 meters away at (-13.6, 1.5). A unknown object with ID 99 is 14.4 meters away at (-14.4, -0.4). A pedestrian with ID 125 is 14.9 meters away at (-14.6, 2.8). A pedestrian with ID 111 is 15.7 meters away at (10.0, 12.1). A vehicle with ID 114 is 16.9 meters away at (-16.0, -5.3).

The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00844532  0.00295825] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 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 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [0.6835655  0.96388596] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [ 0.00993023 -0.01276213] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-11.40517      0.32224655], 11.409721374511719 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.2) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A vehicle with ID 31 is 9.3 meters away at (-8.9, -2.8). A unknown object with ID 113 is 11.7 meters away at (-7.5, 9.0). A unknown object with ID 18 is 11.8 meters away at (-8.2, 8.6). A pedestrian with ID 5 is 12.4 meters away at (-12.4, 0.4). A unknown object with ID 112 is 12.4 meters away at (-6.8, 10.4). A vehicle with ID 114 is 12.5 meters away at (-11.5, 4.8). A pedestrian with ID 20 is 12.6 meters away at (-7.9, 9.9). A unknown object with ID 92 is 13.4 meters away at (-13.3, -1.2). A pedestrian with ID 4 is 13.4 meters away at (-13.4, 1.1). A unknown object with ID 98 is 13.6 meters away at (-13.6, -0.2).

The vehicle with ID 31 is traveling at a (x, y) velocity of [2.707305  6.0689473] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.35641462 -0.55113167] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.02339429 0.02333493] m/s.The unknown object with ID 92 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 [ 0.6213413  -0.77562815] m/s.The unknown object with ID 98 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 (-1.3, 1.1) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A unknown object with ID 72 is 3.1 meters away at (3.1, -0.4). A unknown object with ID 73 is 4.1 meters away at (4.0, 0.8). A pedestrian with ID 80 is 17.2 meters away at (2.5, -17.0). A vehicle with ID 83 is 19.6 meters away at (-11.4, 15.9). A vehicle with ID 85 is 21.7 meters away at (-19.5, 9.5). A unknown object with ID 71 is 25.2 meters away at (-17.4, 18.3). A unknown object with ID 82 is 25.5 meters away at (3.0, -25.3). A unknown object with ID 32 is 26.9 meters away at (-18.9, 19.2). A vehicle with ID 55 is 28.8 meters away at (-25.1, -14.2). A unknown object with ID 59 is 29.1 meters away at (-10.0, 27.3).

The unknown object with ID 72 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 pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.02126035  0.06415031] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-0.8852509   0.14569509] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 3.4683988 -2.7397888] m/s.The unknown object with ID 71 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 3.080781   -0.39266086], 3.105703592300415 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 2.45

The most relevant actors are: A unknown object with ID 72 is 4.9 meters away at (4.6, -1.6). A unknown object with ID 73 is 5.5 meters away at (5.5, -0.4). A vehicle with ID 85 is 9.6 meters away at (-9.5, 1.5). A vehicle with ID 83 is 18.7 meters away at (-13.5, 12.9). A pedestrian with ID 80 is 18.7 meters away at (4.3, -18.3). A unknown object with ID 53 is 20.4 meters away at (-10.6, 17.5). A unknown object with ID 70 is 20.6 meters away at (-10.5, 17.7). A unknown object with ID 71 is 23.5 meters away at (-16.0, 17.2). A unknown object with ID 32 is 25.2 meters away at (-17.5, 18.1). A vehicle with ID 55 is 28.1 meters away at (-23.6, -15.3).

The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 5.228436  -4.1272125] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-1.5057111 -2.2888286] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.4535813 -0.3191451] 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 4.6054487 -1.5529313], 4.8602213859558105 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 1.1) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A unknown object with ID 72 is 7.4 meters away at (6.7, -3.2). A unknown object with ID 73 is 7.8 meters away at (7.5, -2.0). A vehicle with ID 85 is 10.3 meters away at (4.3, -9.4). A vehicle with ID 83 is 12.7 meters away at (-11.6, 5.1). A unknown object with ID 53 is 17.8 meters away at (-8.8, 15.5). A unknown object with ID 70 is 18.2 meters away at (-8.4, 16.1). A unknown object with ID 71 is 20.8 meters away at (-13.8, 15.6). A pedestrian with ID 80 is 21.1 meters away at (6.3, -20.1). A unknown object with ID 32 is 22.4 meters away at (-15.3, 16.4). A vehicle with ID 79 is 26.7 meters away at (-26.0, -6.4).

The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 6.5829473 -5.058762 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [ 1.9358906 -3.5241442] 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 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 [ 0.12227386 -0.16079773] m/s.The unknown object with ID 32 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.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 6.650281 -3.163951], 7.364565372467041 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 2.9) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 83 is 5.8 meters away at (0.2, -5.8). A unknown object with ID 40 is 11.6 meters away at (10.9, -3.9). A unknown object with ID 53 is 12.4 meters away at (-4.1, 11.7). A unknown object with ID 70 is 12.9 meters away at (-3.8, 12.3). A unknown object with ID 72 is 13.3 meters away at (11.3, -7.0). A unknown object with ID 73 is 13.5 meters away at (12.2, -5.8). A unknown object with ID 71 is 14.9 meters away at (-9.2, 11.7). A unknown object with ID 32 is 16.5 meters away at (-10.7, 12.6). A vehicle with ID 79 is 23.7 meters away at (-21.4, -10.2). A vehicle with ID 33 is 25.2 meters away at (6.5, 24.4).

The vehicle with ID 83 is traveling at a (x, y) velocity of [ 4.8408437 -3.6731565] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 3.5) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A unknown object with ID 48 is 5.6 meters away at (-1.2, -5.5). A unknown object with ID 50 is 5.8 meters away at (-3.9, -4.2). A unknown object with ID 47 is 6.5 meters away at (1.1, -6.4). A unknown object with ID 52 is 7.7 meters away at (-7.1, -3.0). A unknown object with ID 45 is 8.1 meters away at (3.4, -7.4). A unknown object with ID 40 is 9.4 meters away at (4.8, -8.0). A unknown object with ID 39 is 10.7 meters away at (6.3, -8.7). A unknown object with ID 53 is 11.1 meters away at (-11.0, -1.5). A unknown object with ID 54 is 14.7 meters away at (-14.7, -0.0). A vehicle with ID 15 is 14.8 meters away at (13.7, -5.6).

The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.9508686  2.930375 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-1.1617584 -5.4882183], 5.609832763671875 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.7) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A unknown object with ID 54 is 7.4 meters away at (2.0, -7.1). A unknown object with ID 53 is 10.3 meters away at (5.7, -8.5). A unknown object with ID 52 is 13.8 meters away at (9.5, -10.0). A unknown object with ID 50 is 17.1 meters away at (12.8, -11.3). A vehicle with ID 15 is 18.0 meters away at (16.6, -7.0). A unknown object with ID 48 is 20.0 meters away at (15.5, -12.6). A unknown object with ID 47 is 22.4 meters away at (17.8, -13.5). A unknown object with ID 22 is 22.4 meters away at (-22.1, 3.6). A unknown object with ID 45 is 24.8 meters away at (20.1, -14.5). A unknown object with ID 40 is 26.3 meters away at (21.5, -15.1).

The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-7.066829   3.0242321] 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[21.854177  -4.2938395]
 [23.647789  -1.3282937]]

Instruction: Continue straight.

(The closest actor is a unknown object at [ 1.9971809 -7.1088037], 7.384024620056152 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.8) m/s. Its current heading (yaw) is 2.73

The most relevant actors are: A unknown object with ID 22 is 6.0 meters away at (-4.5, -4.0). A unknown object with ID 37 is 10.1 meters away at (-9.6, -3.1). A vehicle with ID 15 is 21.5 meters away at (19.8, -8.3). A unknown object with ID 54 is 24.4 meters away at (19.6, -14.6). A unknown object with ID 53 is 28.3 meters away at (23.3, -16.1). A unknown object with ID 52 is 32.3 meters away at (27.1, -17.6). A vehicle with ID 31 is 35.8 meters away at (-0.2, 35.8). A unknown object with ID 50 is 35.8 meters away at (30.4, -18.9). A unknown object with ID 48 is 38.8 meters away at (33.1, -20.1). A pedestrian with ID 28 is 40.7 meters away at (0.5, 40.7).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-7.406185   3.2555797] 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 0.263464  -0.3050581] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.00375458 -0.00479164] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-4.5211296 -3.983099 ], 6.025420188903809 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, 3.7) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A unknown object with ID 37 is 13.0 meters away at (7.7, -10.5). A unknown object with ID 22 is 17.2 meters away at (12.8, -11.4). A vehicle with ID 15 is 23.9 meters away at (22.1, -9.2). A vehicle with ID 31 is 32.6 meters away at (18.7, 26.8). A unknown object with ID 54 is 43.1 meters away at (37.0, -22.0). A unknown object with ID 52 is 51.0 meters away at (44.5, -25.0). A unknown object with ID 50 is 54.5 meters away at (47.8, -26.2). A unknown object with ID 48 is 57.5 meters away at (50.5, -27.4). A vehicle with ID 5 is 57.9 meters away at (-57.5, 7.1). A unknown object with ID 47 is 60.0 meters away at (52.9, -28.4).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-7.710732   3.3925445] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 1.1873711 -1.3982357] 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  7.726322 -10.489403], 13.027802467346191 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, -5.3) m/s. Its current heading (yaw) is -2.47

The most relevant actors are: A unknown object with ID 18 is 6.7 meters away at (-6.6, -1.3). A vehicle with ID 23 is 7.4 meters away at (3.3, -6.6). A unknown object with ID 24 is 15.5 meters away at (12.1, -9.6). A vehicle with ID 4 is 26.8 meters away at (-20.8, -17.0). A vehicle with ID 22 is 30.9 meters away at (8.7, 29.7). A vehicle with ID 26 is 36.8 meters away at (36.5, -4.1). A unknown object with ID 6 is 45.6 meters away at (-26.4, -37.2). A vehicle with ID 27 is 56.8 meters away at (-9.4, 56.0). A vehicle with ID 29 is 63.1 meters away at (-14.3, 61.4). A vehicle with ID 21 is 63.6 meters away at (56.6, -29.0).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-8.740722 -7.06481 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-7.9452505  9.000622 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-8.184737 10.067463] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 [-7.9795675 10.297659 ] m/s.

There are active red lights at the following coordinates: [[ 1.0699959 -9.319348 ]
 [ 0.8321008 -8.808526 ]]

Instruction: Continue straight.

(The closest actor is a unknown object at [-6.6057653 -1.288084 ], 6.730177879333496 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, -6.2) m/s. Its current heading (yaw) is -2.47

The most relevant actors are: A vehicle with ID 23 is 18.0 meters away at (17.3, 4.8). A unknown object with ID 24 is 26.2 meters away at (26.1, 1.9). A vehicle with ID 4 is 32.0 meters away at (-24.7, -20.2). A vehicle with ID 26 is 43.8 meters away at (33.7, 28.0). A vehicle with ID 11 is 53.8 meters away at (2.1, 53.7). A vehicle with ID 21 is 55.3 meters away at (55.3, 2.0). A vehicle with ID 22 is 60.6 meters away at (6.0, 60.3). A vehicle with ID 27 is 67.6 meters away at (4.8, 67.4). A vehicle with ID 5 is 70.4 meters away at (69.6, -10.7). A vehicle with ID 9 is 71.5 meters away at (69.6, -16.4).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-9.463803 -7.677715] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-8.877901 10.619311] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.235555 -7.119997] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-7.74178   9.789522] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-8.686135  9.992175] m/s.The vehicle with ID 27 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 [-4.648459   5.5246973] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.4809957  9.162261 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, -6.7) m/s. Its current heading (yaw) is -2.48

The most relevant actors are: A vehicle with ID 4 is 36.3 meters away at (-27.7, -23.5). A vehicle with ID 23 is 38.3 meters away at (33.9, 17.8). A unknown object with ID 24 is 45.3 meters away at (42.8, 14.9). A vehicle with ID 21 is 65.9 meters away at (56.3, 34.2). A vehicle with ID 9 is 71.9 meters away at (69.9, 16.8). A vehicle with ID 5 is 75.9 meters away at (73.9, 17.4).

The vehicle with ID 4 is traveling at a (x, y) velocity of [-10.18976   -8.279755] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-7.7701297  9.344881 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-8.390945 10.298386] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.323839   7.9488783] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, -7.0) m/s. Its current heading (yaw) is -2.45

The most relevant actors are: A vehicle with ID 4 is 41.2 meters away at (-31.8, -26.2). A vehicle with ID 13 is 47.4 meters away at (-38.8, -27.3). A vehicle with ID 23 is 59.7 meters away at (50.8, 31.4).

The vehicle with ID 4 is traveling at a (x, y) velocity of [-10.83478   -8.351414] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0.41800734 0.41210172] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 1.0699959 -9.319348 ]
 [ 0.8321008 -8.808526 ]]

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 -0.74

The most relevant actors are: A vehicle with ID 22 is 18.3 meters away at (9.0, -16.0). A vehicle with ID 24 is 21.3 meters away at (-10.6, 18.5). A vehicle with ID 30 is 21.8 meters away at (-18.7, 11.1). A vehicle with ID 23 is 23.9 meters away at (23.6, 3.7). A vehicle with ID 17 is 27.0 meters away at (26.9, 2.4). A vehicle with ID 21 is 31.2 meters away at (29.3, 10.9). A vehicle with ID 4 is 32.5 meters away at (31.6, 7.8). A unknown object with ID 26 is 34.6 meters away at (33.1, -9.9). A vehicle with ID 20 is 41.4 meters away at (38.2, 15.9). A pedestrian with ID 11 is 43.1 meters away at (-42.5, 6.9).

The vehicle with ID 22 is traveling at a (x, y) velocity of [10.64881  -8.823125] m/s.The vehicle with ID 24 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 [10.489691 -8.746551] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.3471315  0.30791602] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.74

The most relevant actors are: A vehicle with ID 30 is 6.3 meters away at (1.8, -6.1). A vehicle with ID 24 is 21.3 meters away at (-10.6, 18.5). A vehicle with ID 23 is 23.9 meters away at (23.6, 3.7). A vehicle with ID 17 is 27.0 meters away at (26.9, 2.4). A vehicle with ID 21 is 31.2 meters away at (29.3, 10.9). A vehicle with ID 4 is 32.5 meters away at (31.6, 7.8). A unknown object with ID 26 is 34.6 meters away at (33.1, -9.9). A pedestrian with ID 11 is 40.4 meters away at (-39.9, 6.8). A vehicle with ID 20 is 41.4 meters away at (38.2, 16.0). A vehicle with ID 22 is 45.6 meters away at (30.4, -34.0).

The vehicle with ID 30 is traveling at a (x, y) velocity of [10.309024 -8.674787] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.2534237  -0.42662284] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [10.906484 -9.326401] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.74

The most relevant actors are: A vehicle with ID 24 is 21.3 meters away at (-10.6, 18.5). A vehicle with ID 10 is 23.4 meters away at (-21.5, 9.3). A vehicle with ID 23 is 23.9 meters away at (23.6, 3.7). A vehicle with ID 17 is 27.0 meters away at (26.9, 2.4). A vehicle with ID 21 is 31.3 meters away at (29.3, 11.0). A vehicle with ID 30 is 32.3 meters away at (22.4, -23.3). A vehicle with ID 4 is 32.5 meters away at (31.5, 7.8). A unknown object with ID 26 is 34.6 meters away at (33.1, -9.9). A pedestrian with ID 11 is 37.8 meters away at (-37.4, 5.6). A vehicle with ID 20 is 41.4 meters away at (38.1, 16.0).

The vehicle with ID 24 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 [ 13.584617 -11.219024] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [10.343939 -8.723511] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.2070265 -0.6135579] m/s.The vehicle with ID 20 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 (2.7, -2.4) m/s. Its current heading (yaw) is -0.72

The most relevant actors are: A vehicle with ID 10 is 11.1 meters away at (2.9, -10.7). A vehicle with ID 23 is 22.2 meters away at (21.5, 5.6). A vehicle with ID 24 is 24.0 meters away at (-12.7, 20.4). A vehicle with ID 17 is 25.2 meters away at (24.8, 4.2). A vehicle with ID 21 is 30.1 meters away at (27.2, 12.8). A vehicle with ID 4 is 31.0 meters away at (29.5, 9.5). A pedestrian with ID 11 is 37.7 meters away at (-37.2, 6.0). A vehicle with ID 18 is 38.0 meters away at (-31.5, 21.3). A vehicle with ID 20 is 40.2 meters away at (36.1, 17.7). A vehicle with ID 2 is 49.2 meters away at (42.2, 25.3).

The vehicle with ID 10 is traveling at a (x, y) velocity of [ 12.974354 -10.834758] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.99585384 -0.6967075 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 9.419374  -7.9018435] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -1.3) m/s. Its current heading (yaw) is -0.89

The most relevant actors are: A unknown object with ID 72 is 8.1 meters away at (-7.9, -1.4). A vehicle with ID 37 is 12.6 meters away at (-7.3, -10.2). A unknown object with ID 53 is 13.5 meters away at (-1.4, 13.4). A unknown object with ID 76 is 13.6 meters away at (-2.7, 13.4). A unknown object with ID 82 is 14.3 meters away at (10.4, 9.7). A unknown object with ID 77 is 14.9 meters away at (-4.7, 14.2). A vehicle with ID 35 is 15.0 meters away at (-8.9, -12.1). A unknown object with ID 79 is 15.1 meters away at (-0.7, 15.1). A vehicle with ID 69 is 15.4 meters away at (-14.9, -4.1). A vehicle with ID 81 is 16.1 meters away at (-3.9, 15.6).

The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 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 81 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-7.9385667 -1.3569347], 8.053702354431152 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -2.9) m/s. Its current heading (yaw) is -1.56

The most relevant actors are: A unknown object with ID 72 is 10.2 meters away at (-9.7, 3.1). A vehicle with ID 37 is 10.6 meters away at (-8.9, -5.9). A vehicle with ID 35 is 12.9 meters away at (-10.3, -7.8). A vehicle with ID 34 is 15.4 meters away at (-11.8, -9.9). A vehicle with ID 69 is 16.5 meters away at (-16.5, 0.2). A vehicle with ID 33 is 17.8 meters away at (-13.3, -11.7). A unknown object with ID 53 is 18.0 meters away at (-2.9, 17.8). A unknown object with ID 76 is 18.2 meters away at (-4.3, 17.7). A vehicle with ID 16 is 18.4 meters away at (-16.9, 7.2). A vehicle with ID 67 is 18.5 meters away at (-5.1, -17.7).

The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [4.007488 2.371928] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-9.72333    3.0750225], 10.19798469543457 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.7) m/s. Its current heading (yaw) is -2.17

The most relevant actors are: A vehicle with ID 37 is 6.8 meters away at (-6.8, -0.3). A vehicle with ID 35 is 8.6 meters away at (-8.3, -2.2). A vehicle with ID 34 is 10.7 meters away at (-9.9, -4.2). A vehicle with ID 67 is 12.5 meters away at (-3.1, -12.2). A vehicle with ID 33 is 12.8 meters away at (-11.3, -6.1). A vehicle with ID 66 is 14.8 meters away at (-4.6, -14.1). A vehicle with ID 36 is 15.2 meters away at (-13.0, -7.9). A vehicle with ID 16 is 15.5 meters away at (-6.3, 14.2). A vehicle with ID 69 is 15.5 meters away at (-14.4, 5.9). A vehicle with ID 65 is 17.1 meters away at (-6.4, -15.8).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 4.0203757 -0.987976 ] m/s.The vehicle with ID 69 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -3.4) m/s. Its current heading (yaw) is -2.24

The most relevant actors are: A vehicle with ID 35 is 5.2 meters away at (-3.6, 3.8). A vehicle with ID 34 is 5.5 meters away at (-5.2, 1.9). A vehicle with ID 37 is 6.1 meters away at (-2.2, 5.7). A vehicle with ID 67 is 6.3 meters away at (1.5, -6.1). A vehicle with ID 33 is 6.7 meters away at (-6.7, 0.0). A vehicle with ID 66 is 8.0 meters away at (0.0, -8.0). A vehicle with ID 36 is 8.6 meters away at (-8.4, -1.8). A vehicle with ID 65 is 10.0 meters away at (-1.7, -9.8). A vehicle with ID 38 is 14.4 meters away at (-12.6, -7.0). A unknown object with ID 14 is 15.1 meters away at (-7.2, -13.2).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 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 (2.8, -2.2) m/s. Its current heading (yaw) is -0.66

The most relevant actors are: A unknown object with ID 27 is 8.6 meters away at (3.1, -8.0). A vehicle with ID 24 is 12.9 meters away at (1.9, -12.8). A vehicle with ID 25 is 14.5 meters away at (4.1, -13.9). A vehicle with ID 33 is 18.1 meters away at (-9.9, -15.2). A vehicle with ID 28 is 18.8 meters away at (18.3, -4.4). A vehicle with ID 40 is 19.4 meters away at (13.2, -14.2). A vehicle with ID 42 is 19.9 meters away at (1.9, 19.8). A vehicle with ID 38 is 20.6 meters away at (-19.9, 5.2). A vehicle with ID 35 is 22.5 meters away at (10.1, -20.1). A vehicle with ID 37 is 25.1 meters away at (12.3, -21.9).

The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-1.6160585 -1.0787401] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ 3.1086707 -7.970272 ], 8.555061340332031 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -1.9) m/s. Its current heading (yaw) is -0.77

The most relevant actors are: A vehicle with ID 24 is 9.0 meters away at (-2.8, -8.5). A vehicle with ID 25 is 9.6 meters away at (-0.7, -9.6). A vehicle with ID 40 is 13.0 meters away at (4.3, -12.3). A vehicle with ID 28 is 13.5 meters away at (13.5, -0.1). A unknown object with ID 1 is 16.4 meters away at (16.2, -2.3). A vehicle with ID 35 is 16.6 meters away at (5.3, -15.8). A vehicle with ID 33 is 18.3 meters away at (-14.8, -10.9). A vehicle with ID 37 is 19.1 meters away at (7.4, -17.6). A vehicle with ID 41 is 20.1 meters away at (19.5, -5.0). A vehicle with ID 46 is 23.7 meters away at (18.1, -15.3).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.8125086 -1.392983 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.8) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A vehicle with ID 25 is 7.8 meters away at (-3.7, -6.9). A vehicle with ID 24 is 8.2 meters away at (-5.9, -5.7). A vehicle with ID 28 is 10.7 meters away at (10.4, 2.6). A vehicle with ID 40 is 12.5 meters away at (-4.2, -11.7). A unknown object with ID 1 is 13.1 meters away at (13.1, 0.4). A vehicle with ID 35 is 13.2 meters away at (2.2, -13.0). A vehicle with ID 37 is 15.5 meters away at (4.3, -14.9). A vehicle with ID 41 is 16.5 meters away at (16.3, -2.3). A vehicle with ID 46 is 19.5 meters away at (14.9, -12.6). A vehicle with ID 33 is 19.6 meters away at (-17.9, -8.1).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.7656112 -1.1323992] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.1) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 25 is 7.7 meters away at (-4.6, -6.1). A vehicle with ID 24 is 8.5 meters away at (-6.8, -5.1). A vehicle with ID 28 is 10.1 meters away at (9.5, 3.3). A unknown object with ID 1 is 12.3 meters away at (12.3, 1.1). A vehicle with ID 35 is 12.4 meters away at (1.3, -12.3). A vehicle with ID 37 is 14.6 meters away at (3.3, -14.2). A vehicle with ID 41 is 15.6 meters away at (15.5, -1.6). A unknown object with ID 2 is 16.6 meters away at (7.5, -14.9). A vehicle with ID 46 is 18.4 meters away at (14.0, -11.9). A vehicle with ID 33 is 20.1 meters away at (-18.7, -7.3).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -1.5) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A unknown object with ID 70 is 7.8 meters away at (-7.4, -2.5). A vehicle with ID 16 is 11.5 meters away at (-11.2, 2.6). A pedestrian with ID 91 is 12.9 meters away at (12.0, 4.8). A vehicle with ID 46 is 13.0 meters away at (-6.6, -11.2). A vehicle with ID 44 is 15.6 meters away at (-8.3, -13.2). A vehicle with ID 94 is 17.9 meters away at (-9.7, -15.1). A vehicle with ID 45 is 20.4 meters away at (-11.2, -17.1). A vehicle with ID 84 is 21.7 meters away at (-18.8, -10.8). A vehicle with ID 43 is 22.9 meters away at (-12.9, -18.9). A vehicle with ID 87 is 23.4 meters away at (-2.7, -23.2).

The unknown object with ID 70 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 [1.3409519  0.32747656] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 1.419583   -0.62183356] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 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 84 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 87 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 [-7.392496  -2.5417304], 7.817249298095703 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -3.3) m/s. Its current heading (yaw) is -1.46

The most relevant actors are: A vehicle with ID 46 is 11.2 meters away at (-9.2, -6.4). A vehicle with ID 16 is 11.7 meters away at (-9.0, 7.5). A vehicle with ID 44 is 13.6 meters away at (-10.7, -8.5). A pedestrian with ID 91 is 14.9 meters away at (12.2, 8.6). A vehicle with ID 94 is 16.1 meters away at (-12.3, -10.3). A vehicle with ID 45 is 18.4 meters away at (-13.8, -12.2). A vehicle with ID 87 is 19.1 meters away at (-5.4, -18.3). A vehicle with ID 43 is 20.8 meters away at (-15.2, -14.2). A vehicle with ID 85 is 21.5 meters away at (-7.1, -20.3). A vehicle with ID 84 is 22.4 meters away at (-21.6, -5.9).

The vehicle with ID 46 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 [ 2.8007252 -0.5660039] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 1.3563592  -0.51703906] m/s.The vehicle with ID 94 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 87 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 85 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.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -3.3) m/s. Its current heading (yaw) is -2.16

The most relevant actors are: A vehicle with ID 46 is 7.3 meters away at (-7.2, 0.3). A vehicle with ID 44 is 8.9 meters away at (-8.8, -1.8). A vehicle with ID 94 is 11.0 meters away at (-10.4, -3.5). A vehicle with ID 16 is 11.7 meters away at (-1.8, 11.6). A vehicle with ID 87 is 12.2 meters away at (-3.6, -11.6). A vehicle with ID 45 is 13.1 meters away at (-11.9, -5.4). A vehicle with ID 85 is 14.6 meters away at (-5.3, -13.6). A vehicle with ID 43 is 15.3 meters away at (-13.4, -7.5). A vehicle with ID 83 is 17.0 meters away at (-6.9, -15.6). A vehicle with ID 42 is 19.4 meters away at (-16.0, -11.0).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 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 [ 2.2461498 -1.9851527] m/s.The vehicle with ID 87 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 85 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 83 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -3.9) m/s. Its current heading (yaw) is -2.24

The most relevant actors are: A vehicle with ID 87 is 5.0 meters away at (1.9, -4.6). A vehicle with ID 94 is 6.0 meters away at (-4.9, 3.5). A vehicle with ID 44 is 6.2 meters away at (-3.3, 5.2). A vehicle with ID 45 is 6.6 meters away at (-6.4, 1.6). A vehicle with ID 85 is 6.6 meters away at (0.2, -6.6). A vehicle with ID 46 is 7.5 meters away at (-1.8, 7.2). A vehicle with ID 43 is 7.9 meters away at (-7.9, -0.4). A vehicle with ID 83 is 8.7 meters away at (-1.5, -8.6). A vehicle with ID 42 is 11.4 meters away at (-10.7, -3.9). A unknown object with ID 81 is 13.7 meters away at (-6.6, -12.0).

The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 85 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 1.7) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 33 is 7.1 meters away at (-6.6, -2.6). A unknown object with ID 34 is 9.0 meters away at (-8.0, 4.2). A vehicle with ID 39 is 10.1 meters away at (-10.0, -1.4). A pedestrian with ID 42 is 12.3 meters away at (2.7, -12.0). A vehicle with ID 44 is 14.0 meters away at (-6.5, -12.5). A vehicle with ID 47 is 14.8 meters away at (-13.6, -5.8). A pedestrian with ID 48 is 15.3 meters away at (-14.9, -3.6). A pedestrian with ID 37 is 15.9 meters away at (-15.5, -3.6). A pedestrian with ID 40 is 16.0 meters away at (12.9, -9.4). A pedestrian with ID 38 is 16.2 meters away at (-15.6, -4.2).

The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.1199622 -3.2768338] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.01685081 -0.00081383] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.01626605 -0.02652648] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00117845 -0.00717433] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.6517751  -0.76216555] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.04915709 -0.01421278] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 3.6) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A unknown object with ID 34 is 12.6 meters away at (-12.6, -1.2). A vehicle with ID 58 is 15.6 meters away at (-13.6, 7.8). A vehicle with ID 39 is 16.1 meters away at (-14.6, -6.8). A pedestrian with ID 42 is 17.5 meters away at (-2.0, -17.4). A vehicle with ID 44 is 21.0 meters away at (-11.1, -17.8). A pedestrian with ID 48 is 21.4 meters away at (-19.5, -8.8). A vehicle with ID 47 is 21.4 meters away at (-18.2, -11.2). A vehicle with ID 33 is 21.9 meters away at (-16.3, -14.7). A pedestrian with ID 38 is 22.4 meters away at (-20.3, -9.5). A pedestrian with ID 12 is 22.4 meters away at (12.5, -18.5).

The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 0.92033446 -0.56169266] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.00041386  0.00301652] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.03037635 0.02651887] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.8538537 -3.534378 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.00375846 -0.00915033] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00456846 -0.02487662] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 3.6) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A unknown object with ID 23 is 18.5 meters away at (-7.7, -16.8). A vehicle with ID 58 is 18.9 meters away at (-18.9, -0.3). A unknown object with ID 34 is 20.7 meters away at (-18.8, -8.7). A pedestrian with ID 65 is 24.6 meters away at (-4.9, 24.1). A vehicle with ID 39 is 25.2 meters away at (-20.8, -14.2). A pedestrian with ID 54 is 26.0 meters away at (-1.0, 26.0). A pedestrian with ID 42 is 26.2 meters away at (-8.1, -24.9). A pedestrian with ID 57 is 26.9 meters away at (-1.5, 26.8). A pedestrian with ID 48 is 30.5 meters away at (-25.8, -16.3). A vehicle with ID 44 is 30.7 meters away at (-17.3, -25.3).

The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 0.44297805 -0.26383775] m/s.The unknown object with ID 34 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 [-0.29673287 -0.95180416] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.9591096 1.2678757] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.02099822 0.00580379] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.921511  1.1632679] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.02768846 0.00676231] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ -7.668946 -16.79862 ], 18.46635627746582 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 2.0) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A pedestrian with ID 65 is 19.8 meters away at (-11.0, 16.4). A pedestrian with ID 54 is 22.8 meters away at (-3.7, 22.5). A vehicle with ID 58 is 23.1 meters away at (-21.8, -7.6). A pedestrian with ID 57 is 23.6 meters away at (-4.2, 23.2). A unknown object with ID 23 is 26.1 meters away at (-12.7, -22.8). A vehicle with ID 39 is 32.6 meters away at (-25.7, -20.1). A pedestrian with ID 42 is 33.3 meters away at (-13.0, -30.7). A vehicle with ID 83 is 36.0 meters away at (35.9, -3.1). A vehicle with ID 85 is 37.2 meters away at (-12.3, 35.1). A pedestrian with ID 48 is 37.7 meters away at (-30.6, -22.0).

The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.6753884 -0.9353673] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.0975152 1.0460701] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 1.4968141 -1.299474 ] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [1.0857294 1.0505376] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.00441566 -0.0029354 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.01962565 0.00173853] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 0.4) m/s. Its current heading (yaw) is 3.09

The most relevant actors are: A unknown object with ID 16 is 44.5 meters away at (-44.4, -4.0). A unknown object with ID 8 is 52.4 meters away at (-51.8, -7.8).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, -0.3) m/s. Its current heading (yaw) is -3.09

The most relevant actors are: A unknown object with ID 13 is 30.6 meters away at (-25.9, 16.2).

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

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-25.942587  16.215958], 30.59370994567871 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, -0.3) 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 (-5.3, -0.3) m/s. Its current heading (yaw) is -3.08

The most relevant actors are: A vehicle with ID 1 is 50.7 meters away at (-32.3, -39.1).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 1.8) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A vehicle with ID 24 is 13.7 meters away at (-9.8, 9.5). A pedestrian with ID 25 is 15.1 meters away at (-9.4, 11.8). A unknown object with ID 29 is 22.4 meters away at (-7.9, 21.0). A vehicle with ID 34 is 29.4 meters away at (-15.6, 24.9). A unknown object with ID 27 is 32.3 meters away at (26.1, -19.0). A unknown object with ID 30 is 34.0 meters away at (27.4, -20.2). A pedestrian with ID 32 is 39.8 meters away at (7.0, -39.1). A vehicle with ID 35 is 44.1 meters away at (0.8, -44.1). A vehicle with ID 44 is 55.2 meters away at (-53.1, -15.2). A vehicle with ID 31 is 55.6 meters away at (-40.8, 37.8).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.13096322 -0.39018467] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.9974815  1.1056349] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.46576145 -0.5381618 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.3) m/s. Its current heading (yaw) is 2.39

The most relevant actors are: A vehicle with ID 24 is 10.4 meters away at (-7.4, 7.4). A pedestrian with ID 25 is 10.8 meters away at (-6.4, 8.6). A unknown object with ID 29 is 19.5 meters away at (-5.5, 18.7). A vehicle with ID 34 is 26.2 meters away at (-13.1, 22.7). A pedestrian with ID 6 is 29.5 meters away at (14.6, -25.6). A unknown object with ID 30 is 37.4 meters away at (29.9, -22.4). A pedestrian with ID 32 is 40.3 meters away at (7.3, -39.6). A vehicle with ID 35 is 48.6 meters away at (2.2, -48.6). A vehicle with ID 31 is 52.1 meters away at (-38.1, 35.5). A vehicle with ID 44 is 53.5 meters away at (-50.6, -17.5).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.11784256 -0.34612006] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.02552645 -0.01444538] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.1598352  0.8952861] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.7064148 -1.510106 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39

The most relevant actors are: A vehicle with ID 24 is 10.2 meters away at (-7.3, 7.2). A pedestrian with ID 25 is 10.4 meters away at (-6.3, 8.3). A pedestrian with ID 7 is 10.6 meters away at (8.4, 6.6). A unknown object with ID 29 is 19.4 meters away at (-5.4, 18.6). A vehicle with ID 34 is 26.0 meters away at (-13.0, 22.6). A unknown object with ID 30 is 37.4 meters away at (29.9, -22.5). A pedestrian with ID 32 is 38.3 meters away at (5.4, -37.9). A vehicle with ID 31 is 51.8 meters away at (-37.9, 35.4). A vehicle with ID 35 is 52.7 meters away at (0.2, -52.7). A vehicle with ID 44 is 53.5 meters away at (-50.5, -17.6).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.38421816 -0.03802146] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.00852942 -0.00477007] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.0736388  0.7574123] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-1.7296643 -2.8524907] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39

The most relevant actors are: A vehicle with ID 24 is 10.2 meters away at (-7.3, 7.2). A pedestrian with ID 25 is 10.6 meters away at (-6.7, 8.2). A unknown object with ID 29 is 19.4 meters away at (-5.3, 18.6). A vehicle with ID 34 is 26.0 meters away at (-13.0, 22.5). A pedestrian with ID 32 is 36.2 meters away at (3.3, -36.0). A unknown object with ID 30 is 37.5 meters away at (30.0, -22.5). A pedestrian with ID 23 is 39.9 meters away at (-37.5, 13.4). A vehicle with ID 31 is 51.8 meters away at (-37.9, 35.3). A vehicle with ID 44 is 53.5 meters away at (-50.5, -17.7). A vehicle with ID 46 is 57.2 meters away at (-42.6, 38.1).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.01919405  0.00451548] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.85896367  1.1203445 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.49821916 0.53454405] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -2.3) m/s. Its current heading (yaw) is -0.42

The most relevant actors are: A unknown object with ID 74 is 17.4 meters away at (-5.9, -16.3). A unknown object with ID 72 is 17.4 meters away at (-7.7, -15.6). A unknown object with ID 71 is 17.6 meters away at (-9.5, -14.8). A unknown object with ID 75 is 17.6 meters away at (-4.4, -17.0). A unknown object with ID 69 is 18.2 meters away at (-11.8, -13.8). A pedestrian with ID 11 is 18.8 meters away at (18.3, 4.3). A unknown object with ID 68 is 19.2 meters away at (-14.5, -12.6). A unknown object with ID 66 is 21.1 meters away at (-17.8, -11.3). A unknown object with ID 50 is 23.7 meters away at (-21.6, -9.8). A unknown object with ID 70 is 26.6 meters away at (-25.3, -8.3).

The unknown object with ID 74 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 71 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 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.3683292  -0.74690413] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 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 [ -5.880447 -16.340061], 17.36598014831543 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -1.7) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A pedestrian with ID 11 is 13.4 meters away at (11.6, 6.7). A unknown object with ID 75 is 18.7 meters away at (-13.4, -12.9). A unknown object with ID 74 is 19.3 meters away at (-15.0, -12.2). A unknown object with ID 72 is 20.4 meters away at (-16.8, -11.5). A unknown object with ID 71 is 21.5 meters away at (-18.7, -10.7). A unknown object with ID 28 is 22.2 meters away at (-6.4, -21.3). A unknown object with ID 69 is 23.1 meters away at (-20.9, -9.7). A unknown object with ID 68 is 25.1 meters away at (-23.6, -8.5). A unknown object with ID 66 is 27.9 meters away at (-27.0, -7.2). A unknown object with ID 50 is 31.3 meters away at (-30.8, -5.6).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.2202805  -0.95231676] 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 74 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 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 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 unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a pedestrian at [11.59466    6.6954126], 13.38897705078125 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -1.0) m/s. Its current heading (yaw) is -0.40

The most relevant actors are: A pedestrian with ID 11 is 10.7 meters away at (7.7, 7.4). A unknown object with ID 75 is 22.0 meters away at (-19.5, -10.2). A vehicle with ID 73 is 22.5 meters away at (-21.9, 5.2). A unknown object with ID 74 is 23.1 meters away at (-21.0, -9.5). A unknown object with ID 72 is 24.5 meters away at (-22.9, -8.8). A unknown object with ID 71 is 26.0 meters away at (-24.7, -8.0). A unknown object with ID 69 is 27.9 meters away at (-27.0, -7.0). A unknown object with ID 68 is 30.3 meters away at (-29.7, -5.8). A unknown object with ID 66 is 33.3 meters away at (-33.0, -4.5). A unknown object with ID 50 is 37.0 meters away at (-36.9, -3.0).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.145261 -0.97489 ] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [ 8.725565  -4.6357045] 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 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 unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a pedestrian at [7.744835 7.427512], 10.730815887451172 meters away.)