[yellowapple]

The two turns (one left and one right-on-red) leading up to getting to Market Street in the latter half of the video struck me as odd; the left turn looked like a bit of a lane sweep, and the right-on-red looked dubious (is it legal to turn right on red if you're not in the far-right lane?).

SF intersections are hard, though, and the computer seemed to handle them about as well as I would've.

[lolc]

One thing they only mentioned casually towards the end is that they mapped the city beforehand. So the car is starting from a position where it knows all the intersections.