The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -8.1) m/s. Its current heading (yaw) is -1.24

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -8.5) m/s. Its current heading (yaw) is -1.40

The most relevant actors are: A pedestrian with ID 10 is 43.0 meters away at (21.8, -37.1). A pedestrian with ID 9 is 59.9 meters away at (22.0, -55.7).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.5218714  -0.20213881] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.5727136 -1.4308844] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -8.8) m/s. Its current heading (yaw) is -1.45

The most relevant actors are: A pedestrian with ID 10 is 27.2 meters away at (18.3, -20.2).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.03080184 -0.01667926] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -8.4) m/s. Its current heading (yaw) is -1.57

The most relevant actors are: A pedestrian with ID 10 is 17.2 meters away at (16.9, -3.1). A pedestrian with ID 11 is 29.8 meters away at (17.1, -24.4). A pedestrian with ID 8 is 31.5 meters away at (16.6, -26.7).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.0073726  0.11933722] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.07882468 1.3724324 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00497771 -1.3557031 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.2) m/s. Its current heading (yaw) is -0.12

The most relevant actors are: A pedestrian with ID 12 is 15.2 meters away at (7.9, 13.0). A pedestrian with ID 3 is 16.9 meters away at (11.5, 12.3). A vehicle with ID 15 is 22.5 meters away at (18.4, 12.8). A pedestrian with ID 16 is 48.0 meters away at (-34.5, -33.4). A vehicle with ID 22 is 56.7 meters away at (51.4, -24.0). A vehicle with ID 18 is 67.7 meters away at (-44.2, -51.3). A vehicle with ID 20 is 68.4 meters away at (-39.1, -56.1). A vehicle with ID 19 is 68.7 meters away at (-46.6, -50.6).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.09566644 1.0521477 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.58168125 1.1055928 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.0228417 -4.1943545] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.03312398  0.06479241] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.18

The most relevant actors are: A vehicle with ID 15 is 17.2 meters away at (15.2, 8.1). A pedestrian with ID 3 is 18.6 meters away at (11.8, 14.3). A unknown object with ID 10 is 44.5 meters away at (30.0, 32.9). A pedestrian with ID 16 is 48.4 meters away at (-35.2, -33.2). A vehicle with ID 22 is 56.0 meters away at (50.7, -23.8). A vehicle with ID 18 is 68.1 meters away at (-44.9, -51.2). A vehicle with ID 19 is 69.2 meters away at (-47.3, -50.5).

The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.5704105  -0.75817573] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.37765092 0.9486196 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.00646649 -0.00055597] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.3) m/s. Its current heading (yaw) is -0.28

The most relevant actors are: A vehicle with ID 15 is 14.3 meters away at (12.8, 6.3). A pedestrian with ID 3 is 19.6 meters away at (11.3, 16.1). A pedestrian with ID 16 is 49.0 meters away at (-35.8, -33.5). A vehicle with ID 22 is 55.0 meters away at (49.9, -23.2). A vehicle with ID 19 is 69.7 meters away at (-47.8, -50.7).

The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.6417649 -1.6857277] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.3075997  0.84954166] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.04379373 -0.15819319] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -0.6) m/s. Its current heading (yaw) is -0.20

The most relevant actors are: A vehicle with ID 15 is 5.2 meters away at (2.3, 4.6). A pedestrian with ID 3 is 20.3 meters away at (7.8, 18.7). A vehicle with ID 22 is 50.7 meters away at (45.4, -22.5).

The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.5042915  -0.36066794] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.5131997  0.65330184] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.21291716 -0.38287708] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 0.3) m/s. Its current heading (yaw) is 2.88

The most relevant actors are: A unknown object with ID 10 is 6.6 meters away at (1.2, -6.5). A unknown object with ID 36 is 6.7 meters away at (-1.4, -6.6). A unknown object with ID 38 is 7.8 meters away at (-3.8, -6.8). A vehicle with ID 54 is 10.1 meters away at (-10.1, -0.8). A vehicle with ID 9 is 16.6 meters away at (-4.7, -15.9). A vehicle with ID 42 is 17.1 meters away at (12.6, -11.7). A vehicle with ID 58 is 19.9 meters away at (-2.4, 19.7). A vehicle with ID 37 is 22.0 meters away at (-6.6, -21.0). A vehicle with ID 45 is 22.8 meters away at (18.4, -13.3). A unknown object with ID 49 is 23.4 meters away at (-10.2, 21.0).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 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 [ 9.024122  -2.6800418] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [ 1.1803432 -6.5443077], 6.649900436401367 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.88

The most relevant actors are: A unknown object with ID 36 is 6.8 meters away at (-0.7, -6.8). A unknown object with ID 10 is 7.0 meters away at (1.9, -6.7). A unknown object with ID 38 is 7.7 meters away at (-3.1, -7.0). A vehicle with ID 54 is 11.3 meters away at (9.2, -6.6). A vehicle with ID 9 is 16.6 meters away at (-4.0, -16.1). A vehicle with ID 42 is 17.9 meters away at (13.4, -11.9). A vehicle with ID 58 is 19.6 meters away at (-1.7, 19.5). A vehicle with ID 37 is 21.9 meters away at (-6.0, -21.1). A unknown object with ID 49 is 22.8 meters away at (-9.4, 20.8). A vehicle with ID 45 is 23.5 meters away at (19.2, -13.6).

The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 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 [ 9.301164  -2.8320615] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 2.88

The most relevant actors are: A unknown object with ID 36 is 6.9 meters away at (-0.6, -6.8). A unknown object with ID 10 is 7.1 meters away at (2.0, -6.8). A unknown object with ID 38 is 7.7 meters away at (-3.0, -7.1). A vehicle with ID 73 is 8.2 meters away at (-8.1, -1.3). A vehicle with ID 9 is 16.6 meters away at (-3.9, -16.1). A vehicle with ID 42 is 18.0 meters away at (13.4, -12.0). A vehicle with ID 58 is 19.6 meters away at (-1.6, 19.5). A vehicle with ID 37 is 21.9 meters away at (-6.0, -21.1). A unknown object with ID 49 is 22.8 meters away at (-9.3, 20.8). A vehicle with ID 12 is 23.1 meters away at (-22.8, 3.9).

The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 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 [ 9.02283   -2.7920477] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 8.763422  -2.9049122] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-0.58728266 -6.84403   ], 6.869180679321289 meters away.)


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

The most relevant actors are: A vehicle with ID 12 is 4.3 meters away at (-3.7, -2.2). A unknown object with ID 36 is 7.3 meters away at (0.8, -7.3). A unknown object with ID 38 is 7.6 meters away at (-1.6, -7.5). A unknown object with ID 10 is 8.0 meters away at (3.4, -7.2). A vehicle with ID 73 is 13.3 meters away at (11.1, -7.3). A vehicle with ID 9 is 16.7 meters away at (-2.6, -16.5). A vehicle with ID 58 is 19.1 meters away at (-0.1, 19.1). A vehicle with ID 42 is 19.3 meters away at (14.7, -12.4). A unknown object with ID 49 is 21.8 meters away at (-7.8, 20.4). A vehicle with ID 37 is 21.9 meters away at (-4.7, -21.4).

The vehicle with ID 12 is traveling at a (x, y) velocity of [ 8.95686 -2.61784] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [ 8.644203 -2.795154] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 4.6) m/s. Its current heading (yaw) is 2.35

The most relevant actors are: A pedestrian with ID 1 is 26.9 meters away at (-26.9, 0.6). A vehicle with ID 31 is 28.7 meters away at (-20.5, 20.0). A pedestrian with ID 41 is 29.1 meters away at (-29.1, 0.4). A vehicle with ID 34 is 29.7 meters away at (-29.5, 3.2). A pedestrian with ID 42 is 29.8 meters away at (-29.8, 0.4). A vehicle with ID 37 is 34.8 meters away at (-34.1, 7.2). A vehicle with ID 32 is 34.9 meters away at (33.6, -9.2). A vehicle with ID 44 is 36.0 meters away at (-26.3, 24.5). A vehicle with ID 43 is 38.2 meters away at (18.7, -33.2). A vehicle with ID 4 is 38.2 meters away at (-38.1, 2.2).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.9393722  0.96691453] m/s.The vehicle with ID 31 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 [-0.86888754 -0.70614165] m/s.The vehicle with ID 34 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 [-0.5340687 -0.6799707] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 3.2) m/s. Its current heading (yaw) is 2.27

The most relevant actors are: A unknown object with ID 16 is 4.3 meters away at (-0.3, 4.2). A vehicle with ID 31 is 18.1 meters away at (-13.4, 12.1). A pedestrian with ID 1 is 18.8 meters away at (-18.1, -5.0). A vehicle with ID 34 is 23.1 meters away at (-22.6, -4.7). A pedestrian with ID 41 is 25.1 meters away at (-23.4, -9.2). A vehicle with ID 44 is 25.3 meters away at (-19.2, 16.5). A pedestrian with ID 42 is 25.9 meters away at (-24.3, -9.0). A vehicle with ID 37 is 27.0 meters away at (-27.0, -0.7). A vehicle with ID 3 is 28.1 meters away at (-26.4, -9.4). A pedestrian with ID 27 is 28.8 meters away at (-26.5, -11.2).

The unknown object with ID 16 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 1 is traveling at a (x, y) velocity of [0.8477418 1.3538066] m/s.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 [-0.6860374  -0.78838354] m/s.The vehicle with ID 44 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 [-0.69301677 -0.7894649 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.68362683 -0.5529671 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-0.31845665  4.238756  ], 4.250701904296875 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 1.0) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 31 is 12.4 meters away at (-9.4, 8.1). A pedestrian with ID 1 is 14.2 meters away at (-12.7, -6.5). A vehicle with ID 34 is 20.6 meters away at (-18.7, -8.7). A vehicle with ID 37 is 23.5 meters away at (-23.0, -4.7). A pedestrian with ID 41 is 25.6 meters away at (-20.8, -14.9). A pedestrian with ID 24 is 26.0 meters away at (-20.6, -15.9). A vehicle with ID 3 is 26.3 meters away at (-22.5, -13.5). A pedestrian with ID 42 is 26.4 meters away at (-21.9, -14.8). A vehicle with ID 4 is 28.9 meters away at (-27.2, -9.7). A pedestrian with ID 27 is 29.4 meters away at (-24.0, -16.9).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.7340038 1.0984571] 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 pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.75486046 -0.9069452 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.7184623 -0.9503372] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.7901897 -0.8412315] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.7776856 -0.8597907] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A vehicle with ID 31 is 11.3 meters away at (-8.6, 7.4). A pedestrian with ID 1 is 12.5 meters away at (-11.2, -5.7). A vehicle with ID 20 is 18.6 meters away at (-14.2, 12.1). A vehicle with ID 34 is 20.1 meters away at (-17.8, -9.3). A vehicle with ID 37 is 22.8 meters away at (-22.2, -5.3). A vehicle with ID 3 is 25.9 meters away at (-21.6, -14.2). A pedestrian with ID 41 is 27.7 meters away at (-21.5, -17.4). A pedestrian with ID 24 is 28.0 meters away at (-21.1, -18.4). A vehicle with ID 4 is 28.3 meters away at (-26.3, -10.3). A pedestrian with ID 42 is 28.4 meters away at (-22.6, -17.2).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.17128271 0.26495424] m/s.The vehicle with ID 20 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 3 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 [-0.7474325  -0.96394914] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.79371405 -0.8962859 ] m/s.The vehicle with ID 4 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 [-0.81190014 -0.96562225] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 9 is 19.7 meters away at (-8.5, 17.8). A pedestrian with ID 5 is 21.2 meters away at (3.2, 20.9). A pedestrian with ID 6 is 21.5 meters away at (2.5, 21.3). A pedestrian with ID 10 is 23.7 meters away at (-21.1, -10.7). A pedestrian with ID 12 is 24.0 meters away at (-21.1, -11.4). A cyclist with ID 11 is 24.4 meters away at (-6.4, 23.6). A unknown object with ID 1 is 24.6 meters away at (-17.7, -17.2). A vehicle with ID 13 is 30.3 meters away at (-5.8, 29.8). A pedestrian with ID 17 is 39.3 meters away at (-39.1, 3.6). A pedestrian with ID 16 is 39.4 meters away at (-20.9, 33.4).

The vehicle with ID 9 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 [0.30860025 0.99518204] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.2661015  0.98022896] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00192385  0.00074167] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00396325 -0.00968929] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-0.0070733   0.00297634] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.5798585 -1.1956961] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.1471766  -0.32158577] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.53426254 -1.2040006 ] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 9 is 19.7 meters away at (-8.5, 17.8). A pedestrian with ID 10 is 23.7 meters away at (-21.1, -10.6). A pedestrian with ID 12 is 24.1 meters away at (-21.2, -11.4). A cyclist with ID 11 is 24.4 meters away at (-6.4, 23.6). A vehicle with ID 13 is 27.3 meters away at (-7.6, 26.2). A pedestrian with ID 16 is 38.3 meters away at (-22.3, 31.1). A pedestrian with ID 2 is 40.2 meters away at (-22.1, 33.6). A pedestrian with ID 4 is 41.2 meters away at (-21.6, 35.1). A pedestrian with ID 17 is 41.6 meters away at (-41.5, 3.1). A vehicle with ID 18 is 45.2 meters away at (-41.1, -18.8).

The vehicle with ID 9 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 [0.00049198 0.01406871] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.02675318  0.01211814] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-0.00186177 -0.00269253] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.030032 -1.863614] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.64704585 -1.1419865 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.03482242 -0.02528988] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00724991 -0.02889475] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.0581099  -0.05134307] m/s.The vehicle with ID 18 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 -3.11

The most relevant actors are: A vehicle with ID 9 is 19.7 meters away at (-8.5, 17.8). A pedestrian with ID 10 is 23.6 meters away at (-21.1, -10.5). A pedestrian with ID 12 is 24.2 meters away at (-21.4, -11.3). A cyclist with ID 11 is 24.4 meters away at (-6.4, 23.6). A vehicle with ID 13 is 24.5 meters away at (-9.9, 22.4). A pedestrian with ID 16 is 37.3 meters away at (-23.6, 28.9). A pedestrian with ID 2 is 40.3 meters away at (-22.1, 33.7). A pedestrian with ID 4 is 41.1 meters away at (-21.6, 35.0). A pedestrian with ID 17 is 43.7 meters away at (-43.6, 2.9). A vehicle with ID 18 is 45.2 meters away at (-41.1, -18.9).

The vehicle with ID 9 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 [-0.00752943  0.00099652] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.01104855 0.00195168] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-0.00753719  0.00915473] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.3833678 -2.5299177] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.60590076 -1.093309  ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.00690764 -0.00280031] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.0183201  -0.01129886] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.1265881  -0.09939892] m/s.The vehicle with ID 18 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 -3.11

The most relevant actors are: A vehicle with ID 9 is 19.7 meters away at (-8.6, 17.8). A vehicle with ID 13 is 22.2 meters away at (-11.3, 19.1). A pedestrian with ID 10 is 23.6 meters away at (-21.2, -10.4). A pedestrian with ID 12 is 24.4 meters away at (-21.5, -11.4). A cyclist with ID 11 is 24.4 meters away at (-6.4, 23.6). A pedestrian with ID 16 is 36.1 meters away at (-24.7, 26.4). A vehicle with ID 18 is 45.2 meters away at (-41.1, -18.8). A pedestrian with ID 17 is 45.8 meters away at (-45.8, 2.8). A pedestrian with ID 15 is 50.5 meters away at (50.2, -4.7). A pedestrian with ID 19 is 51.6 meters away at (-51.5, 2.5).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.38759208 -0.93785447] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00819088  0.00212459] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.06733234  0.00864785] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-0.00490305 -0.00490053] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.4015602 -1.1547565] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.1414037  -0.00312016] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.98002034 -0.41390258] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.0444584   0.01203571] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 6.5) m/s. Its current heading (yaw) is 1.62

The most relevant actors are: A vehicle with ID 18 is 7.1 meters away at (-2.8, -6.5). A unknown object with ID 20 is 27.5 meters away at (-7.9, -26.4). A pedestrian with ID 6 is 39.7 meters away at (6.4, 39.1). A pedestrian with ID 21 is 41.2 meters away at (-7.0, -40.6). A unknown object with ID 16 is 42.4 meters away at (-7.2, -41.8). A vehicle with ID 14 is 46.6 meters away at (46.4, 5.1).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.65887016 0.9505915 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.20495088 -1.5419277 ] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 6.7) m/s. Its current heading (yaw) is 1.66

The most relevant actors are: A vehicle with ID 18 is 19.7 meters away at (-1.9, -19.6). A pedestrian with ID 6 is 28.6 meters away at (8.4, 27.4). A vehicle with ID 14 is 48.0 meters away at (47.3, -8.0).

The vehicle with ID 18 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 [0.37774283 0.46993753] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 6.9) m/s. Its current heading (yaw) is 1.64

The most relevant actors are: A pedestrian with ID 6 is 16.9 meters away at (9.5, 14.0). A vehicle with ID 18 is 33.1 meters away at (-0.7, -33.1). A vehicle with ID 14 is 53.0 meters away at (48.5, -21.5). A pedestrian with ID 15 is 74.4 meters away at (-4.1, -74.3). A vehicle with ID 12 is 76.4 meters away at (-3.8, 76.3).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00748347  0.01008435] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.08211464 -1.2571197 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 7.1) m/s. Its current heading (yaw) is 1.62

The most relevant actors are: A pedestrian with ID 6 is 10.4 meters away at (10.4, 0.0). A pedestrian with ID 7 is 23.7 meters away at (17.0, 16.6). A vehicle with ID 18 is 47.1 meters away at (0.3, -47.1). A vehicle with ID 12 is 62.3 meters away at (-2.8, 62.2). A vehicle with ID 8 is 62.4 meters away at (-2.8, 62.4).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.0111892   0.00064483] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.0033123  -0.01146801] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 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 (1.0, -5.0) m/s. Its current heading (yaw) is -1.36

The most relevant actors are: A pedestrian with ID 23 is 36.1 meters away at (-32.2, 16.4). A vehicle with ID 21 is 38.0 meters away at (0.7, -38.0). A vehicle with ID 22 is 49.9 meters away at (-33.9, 36.6). A vehicle with ID 24 is 58.7 meters away at (6.2, -58.4).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.65967786 -0.88096607] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.18483748  2.3930292 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-9.374647 11.211336] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ -0.35741803 -16.310658  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -5.3) m/s. Its current heading (yaw) is -1.29

The most relevant actors are: A vehicle with ID 21 is 23.6 meters away at (-2.2, -23.5). A vehicle with ID 18 is 68.7 meters away at (19.3, -66.0).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0.11264563 1.0541077 ] m/s.The vehicle with ID 18 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, -5.3) m/s. Its current heading (yaw) is -1.33

The most relevant actors are: A vehicle with ID 21 is 13.2 meters away at (-4.7, -12.3). A vehicle with ID 18 is 58.2 meters away at (16.5, -55.8). A vehicle with ID 1 is 74.1 meters away at (-33.1, 66.3). A vehicle with ID 11 is 74.4 meters away at (-10.2, -73.7).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 7.7503858 -9.112937 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.94186383 11.376824  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -4.3) m/s. Its current heading (yaw) is -1.14

The most relevant actors are: A vehicle with ID 21 is 7.8 meters away at (-7.4, -2.4). A vehicle with ID 11 is 42.9 meters away at (-11.3, -41.4). A vehicle with ID 18 is 48.0 meters away at (13.8, -46.0). A vehicle with ID 2 is 49.3 meters away at (13.8, -47.4). A pedestrian with ID 15 is 55.4 meters away at (-37.3, 40.9). A vehicle with ID 1 is 60.8 meters away at (-21.7, 56.8). A vehicle with ID 10 is 68.0 meters away at (-15.0, -66.4).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.71489084 10.979743  ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.62463593 -1.0007362 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [  6.2538977 -10.603763 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 1.0411509 13.100003 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.8) m/s. Its current heading (yaw) is -0.58

The most relevant actors are: A vehicle with ID 71 is 3.2 meters away at (-2.4, -2.0). A vehicle with ID 17 is 5.6 meters away at (2.7, 4.9). A vehicle with ID 73 is 6.9 meters away at (-6.8, 1.4). A vehicle with ID 74 is 8.7 meters away at (-1.7, 8.6). A vehicle with ID 76 is 9.9 meters away at (-7.6, 6.4). A vehicle with ID 75 is 12.4 meters away at (-11.3, 5.2). A vehicle with ID 77 is 17.0 meters away at (-4.8, -16.3). A unknown object with ID 80 is 18.7 meters away at (-4.2, 18.2). A vehicle with ID 79 is 18.8 meters away at (-10.4, 15.7). A unknown object with ID 82 is 19.0 meters away at (-4.5, 18.4).

The vehicle with ID 71 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 1.6600442 -1.3439059] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 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 unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -0.2) m/s. Its current heading (yaw) is -0.05

The most relevant actors are: A vehicle with ID 17 is 6.9 meters away at (-2.2, 6.5). A vehicle with ID 71 is 7.4 meters away at (-7.4, -0.5). A vehicle with ID 76 is 10.9 meters away at (-9.4, 5.5). A vehicle with ID 73 is 12.1 meters away at (-11.7, 3.1). A vehicle with ID 74 is 12.2 meters away at (-6.6, 10.2). A unknown object with ID 25 is 15.3 meters away at (-4.6, 14.6). A vehicle with ID 84 is 16.0 meters away at (8.5, -13.6). A vehicle with ID 70 is 16.3 meters away at (11.6, 11.4). A vehicle with ID 81 is 17.4 meters away at (15.6, -7.7). A vehicle with ID 77 is 17.5 meters away at (-9.7, -14.5).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 1.6318132 -1.405433 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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 70 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 3.1) m/s. Its current heading (yaw) is 0.63

The most relevant actors are: A vehicle with ID 70 is 8.9 meters away at (3.4, 8.3). A vehicle with ID 17 is 10.9 meters away at (-10.4, 3.3). A vehicle with ID 81 is 13.1 meters away at (7.4, -10.8). A vehicle with ID 69 is 14.2 meters away at (6.7, 12.6). A vehicle with ID 76 is 14.6 meters away at (-14.6, -0.4). A vehicle with ID 71 is 16.1 meters away at (-15.6, -3.8). A vehicle with ID 74 is 16.5 meters away at (-14.9, 7.0). A vehicle with ID 84 is 16.7 meters away at (0.3, -16.7). A vehicle with ID 88 is 19.0 meters away at (11.9, -14.7). A vehicle with ID 20 is 19.2 meters away at (9.8, 16.5).

The vehicle with ID 70 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 81 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 76 is traveling at a (x, y) velocity of [ 1.3839854 -1.1885395] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 4.9) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A vehicle with ID 69 is 4.3 meters away at (-1.6, 4.0). A vehicle with ID 70 is 4.8 meters away at (-4.8, -0.2). A vehicle with ID 20 is 8.1 meters away at (1.6, 7.9). A vehicle with ID 18 is 13.2 meters away at (5.1, 12.1). A vehicle with ID 19 is 18.8 meters away at (8.5, 16.8). A vehicle with ID 17 is 19.4 meters away at (-18.7, -5.3). A vehicle with ID 81 is 19.5 meters away at (-0.9, -19.5). A vehicle with ID 14 is 22.1 meters away at (-2.2, -22.0). A vehicle with ID 76 is 23.2 meters away at (-20.4, -11.1). A vehicle with ID 74 is 23.4 meters away at (-23.4, -1.4).

The vehicle with ID 69 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 [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 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 14 is traveling at a (x, y) velocity of [-3.1418512  2.9007888] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 1.9750247 -1.6481447] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.6) m/s. Its current heading (yaw) is 2.18

The most relevant actors are: A vehicle with ID 14 is 3.7 meters away at (-2.1, -3.1). A pedestrian with ID 17 is 4.9 meters away at (3.1, 3.8). A vehicle with ID 15 is 6.7 meters away at (5.9, -3.1). A pedestrian with ID 23 is 14.5 meters away at (-14.4, -1.5). A pedestrian with ID 44 is 16.5 meters away at (-15.9, -4.6). A pedestrian with ID 22 is 16.7 meters away at (-16.7, 0.6). A pedestrian with ID 24 is 17.0 meters away at (-17.0, 1.1). A pedestrian with ID 31 is 17.3 meters away at (-17.2, -1.0). A pedestrian with ID 32 is 17.6 meters away at (-17.6, -0.4). A pedestrian with ID 34 is 17.6 meters away at (-17.6, 1.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.9139693  1.0946639] m/s.The vehicle with ID 15 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 [0.00491453 0.01089108] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.8998063  1.1420255] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.00642905 0.00988501] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.01700438 -0.00032267] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.02288704 0.00462469] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.00365426 0.00791319] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00327178  0.00627544] 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 2.18

The most relevant actors are: A vehicle with ID 14 is 3.8 meters away at (-1.9, -3.3). A pedestrian with ID 17 is 5.7 meters away at (1.5, 5.5). A vehicle with ID 15 is 7.0 meters away at (6.2, -3.4). A pedestrian with ID 23 is 14.2 meters away at (-14.1, -1.8). A pedestrian with ID 22 is 16.5 meters away at (-16.5, 0.4). A pedestrian with ID 24 is 16.9 meters away at (-16.8, 0.9). A pedestrian with ID 31 is 17.1 meters away at (-17.1, -1.3). A pedestrian with ID 44 is 17.4 meters away at (-17.2, -2.6). A pedestrian with ID 32 is 17.4 meters away at (-17.4, -0.6). A pedestrian with ID 34 is 17.5 meters away at (-17.5, 1.2).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.960317  0.969778] m/s.The vehicle with ID 15 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 [ 0.00347939 -0.00931822] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.03987611 -0.03097514] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.01029364 -0.00679241] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00263897  0.00404876] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.79670036  0.94630474] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00133578 -0.00020169] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00869399 -0.01580002] 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 2.18

The most relevant actors are: A vehicle with ID 14 is 3.8 meters away at (-1.9, -3.3). A pedestrian with ID 17 is 7.0 meters away at (-0.2, 7.0). A vehicle with ID 15 is 7.1 meters away at (6.2, -3.4). A vehicle with ID 43 is 11.3 meters away at (3.1, -10.9). A pedestrian with ID 23 is 14.1 meters away at (-14.0, -1.8). A vehicle with ID 62 is 14.8 meters away at (-14.5, 2.9). A pedestrian with ID 31 is 17.1 meters away at (-17.0, -1.3). A pedestrian with ID 34 is 17.3 meters away at (-17.3, 1.1). A pedestrian with ID 32 is 17.4 meters away at (-17.4, -0.9). A pedestrian with ID 44 is 18.5 meters away at (-18.5, -0.9).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.8017218  0.6304772] m/s.The vehicle with ID 15 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 [-1.1082801  1.553515 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.04466172 0.0335224 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 4.489185  -6.1348968] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.03544345  0.21873745] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.08320938 -0.04133509] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.0923291  -0.31230086] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.49391568  0.57925725] 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 2.18

The most relevant actors are: A vehicle with ID 14 is 3.8 meters away at (-1.9, -3.3). A vehicle with ID 15 is 7.1 meters away at (6.2, -3.5). A pedestrian with ID 17 is 7.3 meters away at (-1.1, 7.2). A vehicle with ID 43 is 9.2 meters away at (1.8, -9.0). A vehicle with ID 62 is 11.3 meters away at (-5.3, -10.0). A pedestrian with ID 23 is 14.2 meters away at (-14.1, -1.7). A vehicle with ID 4 is 15.7 meters away at (-1.0, -15.7). A pedestrian with ID 19 is 16.7 meters away at (-16.6, 0.2). A pedestrian with ID 18 is 16.8 meters away at (-16.8, 0.9). A pedestrian with ID 32 is 17.0 meters away at (-17.0, -1.3).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.11149218  0.03141895] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-0.38081393  0.5098298 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 4.7324314 -6.615689 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.10297568 0.2136614 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 4.8037734 -6.6198454] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.085077    0.00505169] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.01096363 0.0263102 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00304672 -0.0029443 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 5.2) m/s. Its current heading (yaw) is 2.27

The most relevant actors are: A vehicle with ID 59 is 30.2 meters away at (-17.6, 24.6). A vehicle with ID 56 is 43.1 meters away at (-29.7, 31.3). A unknown object with ID 6 is 44.1 meters away at (-42.0, 13.4). A unknown object with ID 19 is 45.9 meters away at (-43.5, 14.6). A vehicle with ID 58 is 47.3 meters away at (-30.8, 36.0). A vehicle with ID 57 is 50.9 meters away at (-47.1, 19.1). A vehicle with ID 32 is 51.8 meters away at (-34.7, 38.5). A vehicle with ID 21 is 52.0 meters away at (-38.2, 35.2). A vehicle with ID 60 is 54.3 meters away at (-52.3, 14.8). A vehicle with ID 39 is 56.4 meters away at (-53.0, 19.2).

The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 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 [ 5.2838    -7.2067513] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 3.4) m/s. Its current heading (yaw) is 2.27

The most relevant actors are: A vehicle with ID 59 is 19.1 meters away at (-10.2, 16.2). A vehicle with ID 21 is 21.9 meters away at (-17.8, 12.7). A vehicle with ID 56 is 31.7 meters away at (-22.1, 22.7). A unknown object with ID 6 is 34.8 meters away at (-34.5, 4.9). A vehicle with ID 58 is 36.0 meters away at (-23.3, 27.5). A vehicle with ID 32 is 40.5 meters away at (-27.4, 29.8). A vehicle with ID 57 is 41.1 meters away at (-39.7, 10.6). A vehicle with ID 60 is 45.2 meters away at (-44.7, 6.3). A vehicle with ID 15 is 46.1 meters away at (-33.7, 31.5). A vehicle with ID 20 is 46.4 meters away at (-28.6, 36.5).

The vehicle with ID 59 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 [ 8.11668  -7.614768] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 5.4623737 -7.753474 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.83606905  1.2629575 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 1.6) m/s. Its current heading (yaw) is 2.28

The most relevant actors are: A vehicle with ID 21 is 11.5 meters away at (4.6, -10.5). A vehicle with ID 59 is 13.4 meters away at (-6.4, 11.8). A vehicle with ID 15 is 18.6 meters away at (-16.2, 9.2). A vehicle with ID 56 is 25.1 meters away at (-17.7, 17.9). A vehicle with ID 58 is 29.5 meters away at (-18.9, 22.6). A unknown object with ID 6 is 30.0 meters away at (-30.0, -0.1). A vehicle with ID 32 is 33.9 meters away at (-22.9, 25.0). A vehicle with ID 57 is 35.8 meters away at (-35.3, 5.7). A vehicle with ID 60 is 40.3 meters away at (-40.3, 1.4). A vehicle with ID 39 is 41.6 meters away at (-41.2, 5.6).

The vehicle with ID 21 is traveling at a (x, y) velocity of [  9.538294 -10.422125] m/s.The vehicle with ID 59 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 [ 8.2824   -9.483367] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-0.00912285  0.76029384] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 59 is 12.7 meters away at (-5.8, 11.3). A vehicle with ID 15 is 13.4 meters away at (3.6, -12.9). A vehicle with ID 56 is 23.6 meters away at (-16.0, 17.4). A unknown object with ID 6 is 28.7 meters away at (-28.6, -1.7). A vehicle with ID 58 is 29.6 meters away at (-18.0, 23.5). A vehicle with ID 57 is 34.1 meters away at (-33.9, 4.1). A vehicle with ID 23 is 34.3 meters away at (-25.5, 23.0). A vehicle with ID 32 is 35.5 meters away at (-22.2, 27.7). A vehicle with ID 60 is 39.0 meters away at (-39.0, -0.2). A vehicle with ID 39 is 40.1 meters away at (-39.9, 3.9).

The vehicle with ID 59 is traveling at a (x, y) velocity of [-0.4056514   0.47212824] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [  9.877219 -11.166384] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0.31941044 1.4775596 ] m/s.The unknown object with ID 6 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 [-0.54166126  2.051987  ] m/s.The vehicle with ID 57 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 [ 4.27396  -4.941875] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-0.99190664  2.7494798 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.5) m/s. Its current heading (yaw) is -2.23

The most relevant actors are: A unknown object with ID 17 is 23.2 meters away at (21.0, 9.8). A unknown object with ID 18 is 25.3 meters away at (22.4, 11.7). A unknown object with ID 19 is 26.9 meters away at (23.3, 13.5). A unknown object with ID 21 is 28.8 meters away at (24.8, 14.7). A unknown object with ID 26 is 40.8 meters away at (16.5, 37.3). A unknown object with ID 28 is 41.1 meters away at (15.8, 38.0). A unknown object with ID 29 is 41.8 meters away at (17.2, 38.1). A unknown object with ID 22 is 47.7 meters away at (-44.6, -17.0). A unknown object with ID 20 is 47.8 meters away at (-45.7, -14.1). A pedestrian with ID 23 is 48.0 meters away at (-44.7, -17.4).

The unknown object with ID 17 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.17190999  0.19100524] m/s.

There are active red lights at the following coordinates: [[37.919838 65.818665]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [21.007584  9.754379], 23.161746978759766 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -3.6) m/s. Its current heading (yaw) is -2.22

The most relevant actors are: A unknown object with ID 17 is 30.1 meters away at (25.7, 15.7). A unknown object with ID 18 is 32.3 meters away at (27.1, 17.7). A unknown object with ID 19 is 34.0 meters away at (27.9, 19.4). A unknown object with ID 21 is 35.9 meters away at (29.4, 20.6). A unknown object with ID 22 is 41.5 meters away at (-39.9, -11.1). A pedestrian with ID 23 is 41.6 meters away at (-40.0, -11.5). A unknown object with ID 20 is 41.8 meters away at (-41.0, -8.2). A unknown object with ID 12 is 42.0 meters away at (-40.8, -9.8). A unknown object with ID 35 is 42.1 meters away at (-40.0, -13.0). A pedestrian with ID 9 is 42.2 meters away at (-40.9, -10.1).

The unknown object with ID 17 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 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 [ 0.05052567 -0.02205524] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.02078719 -0.01505966] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [25.690388 15.676703], 30.09576416015625 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -3.0) m/s. Its current heading (yaw) is -2.41

The most relevant actors are: A unknown object with ID 22 is 34.0 meters away at (-33.8, -4.3). A unknown object with ID 25 is 34.2 meters away at (-33.1, -8.7). A pedestrian with ID 23 is 34.2 meters away at (-33.9, -4.7). A unknown object with ID 24 is 34.6 meters away at (-34.0, -6.6). A unknown object with ID 20 is 34.9 meters away at (-34.9, -1.4). A pedestrian with ID 9 is 35.0 meters away at (-34.8, -3.3). A unknown object with ID 31 is 36.7 meters away at (-33.5, -15.0). A unknown object with ID 1 is 36.9 meters away at (-36.8, 2.5). A unknown object with ID 34 is 37.2 meters away at (-37.1, 2.4). A unknown object with ID 17 is 39.1 meters away at (31.7, 22.9).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.03245716 -0.05757306] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00648386 -0.04946743] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 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 [-33.7687    -4.304573], 34.04195022583008 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -0.4) m/s. Its current heading (yaw) is -3.06

The most relevant actors are: A unknown object with ID 25 is 25.5 meters away at (-25.0, -5.1). A unknown object with ID 22 is 25.7 meters away at (-25.7, -0.7). A pedestrian with ID 23 is 25.9 meters away at (-25.8, -1.1). A unknown object with ID 24 is 26.1 meters away at (-25.9, -2.9). A pedestrian with ID 9 is 26.8 meters away at (-26.8, 0.2). A unknown object with ID 20 is 27.0 meters away at (-26.9, 2.2). A unknown object with ID 31 is 27.8 meters away at (-25.4, -11.4). A unknown object with ID 1 is 29.4 meters away at (-28.8, 6.2). A unknown object with ID 34 is 29.7 meters away at (-29.1, 6.0). A unknown object with ID 36 is 31.1 meters away at (-26.5, -16.2).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.02830938 0.08593929] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.01109726 0.0222544 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-25.005516  -5.077902], 25.51589584350586 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 2.2) m/s. Its current heading (yaw) is 0.90

The most relevant actors are: A pedestrian with ID 30 is 4.9 meters away at (1.9, -4.6). A vehicle with ID 51 is 8.1 meters away at (0.4, -8.1). A vehicle with ID 55 is 10.0 meters away at (-1.2, -10.0). A vehicle with ID 58 is 12.2 meters away at (-2.7, -11.9). A vehicle with ID 62 is 16.4 meters away at (8.2, -14.3). A vehicle with ID 56 is 16.7 meters away at (-5.7, -15.7). A vehicle with ID 59 is 17.5 meters away at (6.6, -16.2). A vehicle with ID 48 is 18.4 meters away at (15.1, 10.5). A vehicle with ID 57 is 18.9 meters away at (-7.0, -17.6). A vehicle with ID 61 is 19.0 meters away at (5.3, -18.2).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.10518478  1.0149405 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 3.0) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 48 is 12.2 meters away at (11.0, 5.3). A vehicle with ID 51 is 13.8 meters away at (-3.6, -13.4). A vehicle with ID 47 is 14.6 meters away at (12.6, 7.3). A vehicle with ID 55 is 16.0 meters away at (-5.2, -15.2). A vehicle with ID 58 is 18.4 meters away at (-6.8, -17.1). A vehicle with ID 53 is 18.8 meters away at (18.8, -0.9). A vehicle with ID 62 is 19.9 meters away at (4.2, -19.5). A vehicle with ID 59 is 21.6 meters away at (2.6, -21.4). A vehicle with ID 50 is 22.0 meters away at (21.8, 3.0). A vehicle with ID 56 is 23.0 meters away at (-9.7, -20.9).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 59 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 4.5) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 48 is 5.5 meters away at (4.9, -2.5). A vehicle with ID 47 is 6.4 meters away at (6.4, -0.6). A vehicle with ID 46 is 14.3 meters away at (12.4, 7.1). A vehicle with ID 53 is 15.3 meters away at (12.6, -8.7). A vehicle with ID 50 is 16.2 meters away at (15.5, -4.7). A vehicle with ID 49 is 20.2 meters away at (20.2, 1.1). A vehicle with ID 51 is 23.4 meters away at (-9.8, -21.2). A unknown object with ID 37 is 24.6 meters away at (22.5, -9.8). A vehicle with ID 52 is 25.4 meters away at (24.6, 6.6). A vehicle with ID 55 is 25.7 meters away at (-11.5, -23.0).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 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 52 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 4.3) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 46 is 5.6 meters away at (5.2, -1.9). A vehicle with ID 47 is 9.5 meters away at (-0.7, -9.5). A vehicle with ID 48 is 11.7 meters away at (-2.3, -11.5). A vehicle with ID 49 is 15.2 meters away at (13.0, -8.0). A vehicle with ID 50 is 16.0 meters away at (8.4, -13.7). A vehicle with ID 52 is 17.6 meters away at (17.4, -2.5). A vehicle with ID 53 is 18.4 meters away at (5.4, -17.6). A unknown object with ID 38 is 23.7 meters away at (18.4, -15.0). A unknown object with ID 37 is 24.3 meters away at (15.4, -18.8). A unknown object with ID 15 is 24.9 meters away at (23.3, -8.7).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -2.6) m/s. Its current heading (yaw) is -2.02

The most relevant actors are: A vehicle with ID 11 is 12.4 meters away at (3.5, 11.9). A vehicle with ID 12 is 26.8 meters away at (26.7, -2.4). A vehicle with ID 18 is 26.9 meters away at (8.3, 25.6). A vehicle with ID 13 is 31.7 meters away at (31.4, -4.0). A vehicle with ID 3 is 34.1 meters away at (33.8, -4.8). A vehicle with ID 6 is 36.6 meters away at (-15.4, -33.2). A vehicle with ID 14 is 36.8 meters away at (36.3, -6.0). A vehicle with ID 17 is 41.7 meters away at (22.0, 35.5). A unknown object with ID 20 is 53.8 meters away at (27.6, 46.2). A pedestrian with ID 21 is 68.4 meters away at (-24.4, -63.8).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 2.9720116  -0.44213015] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.03975767 -0.00866189] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.5) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 11 is 16.0 meters away at (4.8, 15.2). A unknown object with ID 1 is 19.0 meters away at (18.2, -5.7). A vehicle with ID 9 is 21.5 meters away at (6.7, 20.4). A vehicle with ID 12 is 28.0 meters away at (28.0, 0.9). A vehicle with ID 6 is 28.5 meters away at (-6.5, -27.7). A vehicle with ID 18 is 30.5 meters away at (9.6, 28.9). A vehicle with ID 13 is 32.7 meters away at (32.7, -0.8). A vehicle with ID 14 is 37.7 meters away at (37.6, -2.7). A pedestrian with ID 5 is 44.4 meters away at (-22.8, -38.2). A vehicle with ID 17 is 45.2 meters away at (23.2, 38.8).

The vehicle with ID 11 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [4.243821 3.264866] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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. 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 (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 11 is 16.2 meters away at (4.9, 15.4). A vehicle with ID 6 is 17.0 meters away at (1.2, -16.9). A vehicle with ID 9 is 21.7 meters away at (6.8, 20.7). A vehicle with ID 12 is 28.1 meters away at (28.0, 1.0). A vehicle with ID 18 is 30.7 meters away at (9.7, 29.1). A vehicle with ID 13 is 32.8 meters away at (32.8, -0.7). A vehicle with ID 14 is 37.9 meters away at (37.8, -2.5). A pedestrian with ID 5 is 44.5 meters away at (-22.9, -38.2). A vehicle with ID 17 is 45.5 meters away at (23.3, 39.1). A unknown object with ID 19 is 53.3 meters away at (16.1, -50.9).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [3.0812697 6.7873926] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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 [-0.05506436 -0.06296177] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93

The most relevant actors are: A vehicle with ID 6 is 7.0 meters away at (6.9, -1.3). A vehicle with ID 11 is 16.2 meters away at (4.9, 15.4). A vehicle with ID 12 is 28.1 meters away at (28.1, 1.0). A vehicle with ID 18 is 30.8 meters away at (9.8, 29.2). A vehicle with ID 13 is 32.8 meters away at (32.8, -0.7). A vehicle with ID 14 is 37.8 meters away at (37.8, -2.5). A vehicle with ID 17 is 45.5 meters away at (23.4, 39.0). A unknown object with ID 19 is 53.3 meters away at (16.0, -50.8).

The vehicle with ID 6 is traveling at a (x, y) velocity of [2.922159 8.565565] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 3.4) m/s. Its current heading (yaw) is 2.46

The most relevant actors are: A vehicle with ID 22 is 41.2 meters away at (-38.5, 14.8). A vehicle with ID 21 is 70.3 meters away at (38.9, -58.6).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-43.181854  29.153557]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 3.4) m/s. Its current heading (yaw) is 2.53

The most relevant actors are: A vehicle with ID 22 is 31.1 meters away at (-30.0, 8.2). A unknown object with ID 17 is 73.1 meters away at (-60.6, 40.9).

The vehicle with ID 22 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.

There are active red lights at the following coordinates: [[-43.181854  29.153557]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, -0.1) m/s. Its current heading (yaw) is -3.12

The most relevant actors are: A vehicle with ID 22 is 19.7 meters away at (-19.2, 4.3). A pedestrian with ID 20 is 73.1 meters away at (-58.1, 44.5). A vehicle with ID 13 is 74.9 meters away at (-53.1, 52.9).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.02586355 -0.02690924] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 4.0235763  -0.64214885] m/s.

There are active red lights at the following coordinates: [[-43.181854  29.153557]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -3.6) m/s. Its current heading (yaw) is -2.46

The most relevant actors are: A vehicle with ID 22 is 12.0 meters away at (-8.9, 8.0). A vehicle with ID 11 is 23.0 meters away at (-21.2, -8.9). A unknown object with ID 1 is 49.5 meters away at (-28.3, -40.6). A unknown object with ID 3 is 51.3 meters away at (-29.7, -41.8). A vehicle with ID 13 is 62.4 meters away at (-34.0, 52.3).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.0914235 2.6716206] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 4.635062  -3.3047583] m/s.

There are active red lights at the following coordinates: [[-43.181854  29.153557]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 2.4) m/s. Its current heading (yaw) is 2.07

The most relevant actors are: A pedestrian with ID 27 is 10.1 meters away at (9.8, -2.5). A unknown object with ID 11 is 12.1 meters away at (-3.5, 11.6). A unknown object with ID 28 is 14.0 meters away at (-13.7, 2.8). A unknown object with ID 26 is 17.0 meters away at (-13.4, 10.4). A vehicle with ID 24 is 26.4 meters away at (-23.9, 11.3). A vehicle with ID 30 is 31.9 meters away at (27.1, 16.8). A vehicle with ID 23 is 32.7 meters away at (-30.4, 11.9). A vehicle with ID 29 is 34.7 meters away at (9.1, -33.5). A vehicle with ID 19 is 37.7 meters away at (32.5, 19.0). A vehicle with ID 22 is 38.1 meters away at (-36.1, 12.1).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.63561946 -1.5237105 ] 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 [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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 2.1) m/s. Its current heading (yaw) is 2.64

The most relevant actors are: A unknown object with ID 28 is 9.1 meters away at (-8.8, -2.1). A unknown object with ID 26 is 10.1 meters away at (-8.4, 5.6). A pedestrian with ID 27 is 18.6 meters away at (15.7, -10.1). A vehicle with ID 24 is 20.0 meters away at (-18.9, 6.5). A vehicle with ID 23 is 26.5 meters away at (-25.6, 6.9). A vehicle with ID 22 is 32.0 meters away at (-31.2, 7.3). A vehicle with ID 30 is 34.1 meters away at (32.0, 11.8). A vehicle with ID 21 is 37.2 meters away at (-36.5, 7.3). A vehicle with ID 19 is 40.1 meters away at (37.5, 14.2). A vehicle with ID 29 is 40.9 meters away at (13.9, -38.5).

The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.454148  -1.0367447] 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 [-8.843536 -2.120592], 9.094231605529785 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 0.6) m/s. Its current heading (yaw) is 3.02

The most relevant actors are: A unknown object with ID 26 is 3.2 meters away at (1.1, 3.1). A unknown object with ID 28 is 4.6 meters away at (0.7, -4.5). A vehicle with ID 24 is 10.2 meters away at (-9.4, 4.0). A vehicle with ID 23 is 16.6 meters away at (-16.0, 4.5). A vehicle with ID 22 is 22.1 meters away at (-21.6, 4.8). A vehicle with ID 21 is 27.4 meters away at (-27.0, 4.8). A unknown object with ID 16 is 28.8 meters away at (16.2, -23.8). A vehicle with ID 30 is 42.5 meters away at (41.5, 9.6). A vehicle with ID 29 is 47.2 meters away at (23.5, -40.9). A vehicle with ID 19 is 48.4 meters away at (46.9, 11.9).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [1.0731192 3.0511951], 3.234405040740967 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 0.3) m/s. Its current heading (yaw) is 3.10

The most relevant actors are: A vehicle with ID 24 is 3.4 meters away at (1.3, 3.1). A vehicle with ID 23 is 6.3 meters away at (-5.2, 3.6). A vehicle with ID 22 is 11.5 meters away at (-10.8, 3.9). A unknown object with ID 26 is 12.1 meters away at (11.8, 2.3). A unknown object with ID 28 is 12.7 meters away at (11.5, -5.3). A vehicle with ID 21 is 16.7 meters away at (-16.2, 4.0). A vehicle with ID 1 is 39.9 meters away at (-34.8, 19.6). A vehicle with ID 8 is 45.8 meters away at (45.4, 5.7). A vehicle with ID 3 is 46.3 meters away at (-35.4, 29.8). A vehicle with ID 4 is 51.5 meters away at (-35.8, 37.1).

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 22 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 28 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 8.6) m/s. Its current heading (yaw) is 2.25

The most relevant actors are: A unknown object with ID 12 is 34.8 meters away at (-29.3, 18.7).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-29.296198  18.720041], 34.76646423339844 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 8.4) m/s. Its current heading (yaw) is 2.25

The most relevant actors are: A unknown object with ID 12 is 15.8 meters away at (-15.7, 1.7).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-15.732733   1.674427], 15.821585655212402 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 8.1) m/s. Its current heading (yaw) is 2.25

The most relevant actors are: A unknown object with ID 12 is 14.9 meters away at (-2.6, -14.7).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 7.8) m/s. Its current heading (yaw) is 2.26

The most relevant actors are: A unknown object with ID 9 is 6.5 meters away at (3.4, 5.5). A unknown object with ID 12 is 32.2 meters away at (10.3, -30.6).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-106.96442  135.65413]
 [-114.34898  139.92125]]

Instruction: Continue straight.

(The closest actor is a unknown object at [3.4442444 5.524086 ], 6.5098652839660645 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -4.7) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 99 is 3.4 meters away at (-1.2, -3.1). A vehicle with ID 93 is 5.0 meters away at (-4.9, 0.2). A vehicle with ID 75 is 5.6 meters away at (3.3, 4.5). A pedestrian with ID 98 is 6.7 meters away at (-6.2, -2.6). A vehicle with ID 76 is 7.3 meters away at (2.9, -6.7). A vehicle with ID 77 is 8.5 meters away at (-1.2, 8.5). A vehicle with ID 88 is 11.3 meters away at (-10.2, 4.8). A pedestrian with ID 110 is 11.9 meters away at (11.8, 1.9). A vehicle with ID 78 is 13.1 meters away at (7.7, -10.6). A pedestrian with ID 37 is 13.5 meters away at (-2.3, 13.3).

The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-0.95471543  0.9413346 ] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.947839    0.79453766] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.0432372 -0.4680457] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -3.9) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 78 is 3.0 meters away at (-2.1, -2.1). A vehicle with ID 76 is 7.0 meters away at (-6.8, 1.8). A vehicle with ID 73 is 7.5 meters away at (7.4, 1.3). A vehicle with ID 99 is 12.2 meters away at (-10.9, 5.4). A pedestrian with ID 110 is 12.2 meters away at (0.1, 12.2). A vehicle with ID 74 is 12.9 meters away at (12.5, -2.9). A vehicle with ID 81 is 13.8 meters away at (8.2, -11.1). A vehicle with ID 75 is 14.6 meters away at (-6.5, 13.1). A vehicle with ID 41 is 14.6 meters away at (6.1, 13.3). A vehicle with ID 93 is 17.2 meters away at (-14.8, 8.8).

The vehicle with ID 78 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 [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.6220663  0.8910871] m/s.The vehicle with ID 74 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 75 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 93 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 (3.4, -2.8) m/s. Its current heading (yaw) is -0.69

The most relevant actors are: A vehicle with ID 81 is 4.0 meters away at (-0.0, -4.0). A vehicle with ID 74 is 5.9 meters away at (4.2, 4.2). A vehicle with ID 73 is 8.3 meters away at (-0.7, 8.3). A vehicle with ID 72 is 8.4 meters away at (8.4, 0.5). A vehicle with ID 83 is 8.6 meters away at (4.0, -7.6). A vehicle with ID 78 is 11.5 meters away at (-10.4, 5.0). A vehicle with ID 76 is 17.6 meters away at (-15.1, 9.0). A vehicle with ID 3 is 19.1 meters away at (5.8, -18.2). A vehicle with ID 41 is 20.5 meters away at (-2.2, 20.4). A vehicle with ID 99 is 22.9 meters away at (-19.2, 12.5).

The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [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, -0.9) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 83 is 3.8 meters away at (-0.4, -3.8). A vehicle with ID 81 is 4.5 meters away at (-4.5, -0.3). A vehicle with ID 72 is 5.8 meters away at (4.0, 4.2). A vehicle with ID 74 is 8.0 meters away at (-0.2, 8.0). A unknown object with ID 53 is 11.1 meters away at (4.3, 10.2). A vehicle with ID 73 is 13.1 meters away at (-5.2, 12.1). A vehicle with ID 3 is 14.3 meters away at (1.5, -14.2). A vehicle with ID 78 is 17.3 meters away at (-14.9, 8.9). A vehicle with ID 1 is 20.2 meters away at (19.2, 6.4). A pedestrian with ID 97 is 22.6 meters away at (21.1, -8.0).

The vehicle with ID 83 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [ 1.0965121  -0.88021415] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 10.5) m/s. Its current heading (yaw) is 1.97

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.2) m/s. Its current heading (yaw) is 1.96

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 10.5) m/s. Its current heading (yaw) is 1.96

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.3) m/s. Its current heading (yaw) is 1.96

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -4.1) m/s. Its current heading (yaw) is -2.11

The most relevant actors are: A vehicle with ID 22 is 17.0 meters away at (8.7, 14.6). A vehicle with ID 23 is 17.1 meters away at (-9.1, -14.5). A vehicle with ID 29 is 21.0 meters away at (-7.4, -19.7). A vehicle with ID 25 is 29.3 meters away at (15.1, 25.1). A vehicle with ID 26 is 31.8 meters away at (-16.6, -27.1). A vehicle with ID 28 is 38.6 meters away at (3.9, -38.4). A pedestrian with ID 27 is 45.0 meters away at (-9.9, -43.9). A pedestrian with ID 30 is 45.5 meters away at (-9.4, -44.6). A pedestrian with ID 31 is 45.9 meters away at (-10.5, -44.7). A unknown object with ID 32 is 46.3 meters away at (-38.5, -25.7).

The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.78888804 -1.3046403 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-3.6817245 -6.4200897] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [5.306428 8.860045] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.9107381 -1.5848927] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.066455  -7.7878246] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 7.0127525 -5.0017257] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.7821523 -1.2915105] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.8103701 -1.3027974] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.7389898 -1.209214 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -4.5) m/s. Its current heading (yaw) is -2.12

The most relevant actors are: A vehicle with ID 29 is 14.8 meters away at (10.7, 10.3). A unknown object with ID 5 is 15.0 meters away at (-13.4, -6.8). A unknown object with ID 6 is 18.5 meters away at (-17.1, -7.1). A vehicle with ID 22 is 22.5 meters away at (11.5, 19.3). A vehicle with ID 23 is 24.1 meters away at (-12.1, -20.8). A vehicle with ID 24 is 34.8 meters away at (-34.5, -4.6). A vehicle with ID 25 is 36.2 meters away at (18.7, 31.0). A pedestrian with ID 27 is 38.1 meters away at (-6.3, -37.6). A pedestrian with ID 30 is 38.7 meters away at (-5.8, -38.3). A pedestrian with ID 31 is 39.1 meters away at (-6.7, -38.5).

The vehicle with ID 29 is traveling at a (x, y) velocity of [ 7.0399146 11.614105 ] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.7804012 -2.9984949] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-4.7142806 -8.845141 ] 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 [-1.3998057 -2.440344 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.8627159 -1.4395171] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.8469931 -1.4111027] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.79138726 -1.3709174 ] 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, -4.1) m/s. Its current heading (yaw) is -1.96

The most relevant actors are: A unknown object with ID 5 is 9.0 meters away at (-8.8, 1.5). A unknown object with ID 6 is 12.6 meters away at (-12.5, 1.3). A vehicle with ID 22 is 23.1 meters away at (11.6, 20.0). A vehicle with ID 24 is 30.0 meters away at (-29.7, 4.0). A pedestrian with ID 27 is 32.2 meters away at (-3.4, -32.0). A pedestrian with ID 30 is 32.7 meters away at (-2.9, -32.6). A pedestrian with ID 31 is 33.2 meters away at (-3.8, -33.0). A vehicle with ID 23 is 36.1 meters away at (-17.2, -31.7). A vehicle with ID 9 is 38.9 meters away at (28.8, -26.2). A vehicle with ID 25 is 40.1 meters away at (20.6, 34.4).

The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-2.7628546 -4.662325 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.72188383 -1.4863058 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.68398666 -1.4331158 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.6837716 -1.4046698] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ -4.8901935 -10.295449 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.312339  3.512609] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-1.7783781 -3.069479 ] m/s.

There are active red lights at the following coordinates: [[ -9.193092 -35.612206]
 [ -9.414745 -35.989254]]

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-8.830484   1.5025063], 8.9573974609375 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -4.7) m/s. Its current heading (yaw) is -1.41

The most relevant actors are: A unknown object with ID 5 is 12.6 meters away at (-7.3, 10.3). A unknown object with ID 6 is 14.8 meters away at (-10.9, 10.1). A vehicle with ID 22 is 19.2 meters away at (6.7, 18.0). A vehicle with ID 9 is 22.0 meters away at (19.3, -10.6). A pedestrian with ID 27 is 26.2 meters away at (-3.3, -26.0). A vehicle with ID 24 is 30.9 meters away at (-28.1, 13.0). A pedestrian with ID 1 is 33.0 meters away at (-7.8, -32.1). A vehicle with ID 25 is 40.4 meters away at (17.9, 36.3). A vehicle with ID 23 is 50.4 meters away at (-25.5, -43.4). A vehicle with ID 4 is 55.0 meters away at (25.2, 48.9).

The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.4635496 -5.8784842] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-4.876407   2.9787853] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.59919894 -1.329378  ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.72396505 1.335943  ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-2.2871335 -3.9452446] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ -4.642444 -10.036012] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.0555096 -3.4144993] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-7.279435 10.259924], 12.579992294311523 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -2.5) m/s. Its current heading (yaw) is -0.63

The most relevant actors are: A vehicle with ID 66 is 8.6 meters away at (-2.5, 8.2). A vehicle with ID 56 is 9.1 meters away at (-9.1, -1.1). A vehicle with ID 57 is 14.8 meters away at (-14.7, 0.7). A vehicle with ID 64 is 14.9 meters away at (-10.5, 10.6). A vehicle with ID 58 is 18.3 meters away at (-10.4, 15.1). A vehicle with ID 79 is 20.1 meters away at (20.1, -0.7). A vehicle with ID 60 is 21.6 meters away at (-21.4, 2.7). A vehicle with ID 61 is 22.9 meters away at (-15.6, 16.7). A vehicle with ID 76 is 24.1 meters away at (18.7, 15.3). A vehicle with ID 62 is 27.9 meters away at (-27.6, 4.5).

The vehicle with ID 66 is traveling at a (x, y) velocity of [-10.419864    3.2234993] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-10.397594    3.0969691] m/s.The vehicle with ID 58 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 [-10.707405   5.491432] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 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.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -4.1) m/s. Its current heading (yaw) is -1.45

The most relevant actors are: A vehicle with ID 56 is 14.8 meters away at (-13.7, 5.5). A vehicle with ID 79 is 16.0 meters away at (-6.2, 14.7). A vehicle with ID 57 is 20.6 meters away at (-19.3, 7.3). A vehicle with ID 36 is 24.9 meters away at (24.9, 0.4). A vehicle with ID 76 is 26.1 meters away at (14.1, 21.9). A vehicle with ID 58 is 26.4 meters away at (-14.9, 21.8). A vehicle with ID 2 is 26.6 meters away at (-8.2, -25.3). A vehicle with ID 60 is 27.7 meters away at (-26.0, 9.4). A vehicle with ID 61 is 30.9 meters away at (-20.1, 23.4). A vehicle with ID 77 is 31.7 meters away at (31.7, 1.0).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-10.525789    3.3810296] m/s.The vehicle with ID 57 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 [-10.784118   6.882857] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -3.3) m/s. Its current heading (yaw) is -2.01

The most relevant actors are: A vehicle with ID 56 is 17.7 meters away at (-12.0, 13.1). A vehicle with ID 2 is 19.0 meters away at (-6.7, -17.7). A vehicle with ID 36 is 19.8 meters away at (5.0, 19.2). A vehicle with ID 57 is 23.0 meters away at (-17.6, 14.9). A vehicle with ID 1 is 24.3 meters away at (-7.9, -22.9). A vehicle with ID 60 is 29.5 meters away at (-24.1, 16.9). A vehicle with ID 3 is 31.6 meters away at (-10.3, -29.9). A vehicle with ID 58 is 32.1 meters away at (-13.1, 29.3). A vehicle with ID 76 is 33.3 meters away at (15.9, 29.2). A vehicle with ID 77 is 34.3 meters away at (33.3, 8.3).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-11.164945   4.300629] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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 [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.