[BrandonLive]

Driving over a double yellow is expected and legal in normal driving, such as when making a left turn or going around an obstruction.

In this example it looks like it oscillated between two different routing choices (turning left and going straight), and by the time it decided the correct route was to go straight, it found itself misaligned with the lane it should have been in. Instead of moving all the way back to the right, it kind of “cheats” its way into the upcoming left turn lane. This isn’t something it should do in this situation, but it’s likely emulating human behavior seen in situations like this which appeared in its training data, where people cut across the center line(s) ahead of the turn lane forming when they can see that it is clear.

The thing a lot of people get wrong is that they think the most valuable data for Tesla to collect are the mistakes or interventions. Really what they need the most is a lot of examples of drivers doing good job of handling complex situations. One challenge, though, is separating out those good examples from the less good or bad ones, as human drivers are notoriously bad at, well, driving.