diff --git a/nocturne/cpp/src/scenario.cc b/nocturne/cpp/src/scenario.cc
index 02f18020..05d5c151 100644
--- a/nocturne/cpp/src/scenario.cc
+++ b/nocturne/cpp/src/scenario.cc
@@ -279,6 +279,8 @@ void Scenario::Step(float dt) {
   for (auto& object : traffic_lights_) {
     object->set_current_time(current_time_);
   }
+  std::cout << "[C++] t = " << current_time_ << std::endl;
+  std::cout << "[C++] expert heading" << expert_headings_.at(22).at(current_time_) << std::endl;
 
   // update the vehicle bvh
   object_bvh_.Reset(objects_);
@@ -563,6 +565,11 @@ std::optional<Action> Scenario::ExpertAction(const Object& obj,
   // Calculate the updated yaw using the velocity angle
   float real_new_yaw = std::atan2(cur_velocities[timestamp + 1].y(),
                                   cur_velocities[timestamp + 1].x());
+  // TODO: @ev Update real_new_yaw
+  // if (cur_speeds[timestamp + 1] < 0.6) {
+  //   real_new_yaw = new_yaw;
+  // }
+  // Compute delta yaw
   const float delta_yaw = geometry::utils::AngleSub(real_new_yaw,
                                                     cur_headings[timestamp]);
   // Calculate steering.
@@ -615,7 +622,6 @@ std::optional<float> Scenario::ExpertHeadingShift(const Object& obj,
   // a_t = (v_{t+1} - v_t) / dt
   float heading_shift = geometry::utils::AngleSub(cur_heading[timestamp + 1],
                                                   cur_heading[timestamp]);
-
   // return action
   return heading_shift;
 }
diff --git a/nocturne/envs/base_env.py b/nocturne/envs/base_env.py
index 8eb950f7..2783a556 100644
--- a/nocturne/envs/base_env.py
+++ b/nocturne/envs/base_env.py
@@ -153,6 +153,19 @@ def step(  # pylint: disable=arguments-renamed,too-many-locals,too-many-branches
         self.simulation.step(self.config.dt)
         self.t += self.config.dt
         self.step_num += 1
+        
+        my_av_obj = self.controlled_vehicles[0]
+        logging.debug(f'--- t = {self.step_num} ---')    
+        logging.debug(f'applied_actions: {action_dict[my_av_obj.id]} \n')    
+        
+        logging.debug(f'veh_pos_____: ({my_av_obj.position.x:.3f}, {my_av_obj.position.y:.3f})')
+        logging.debug(f'true_veh_pos: ({self.scenario.expert_position(my_av_obj, self.step_num).x:.3f}, {self.scenario.expert_position(my_av_obj, self.step_num).y:.3f}) \n')
+
+        logging.debug(f'veh_speed_____: {my_av_obj.speed:.3f}')
+        logging.debug(f'true_veh_speed: {self.scenario.expert_speed(my_av_obj, self.step_num):.3f} \n')
+        
+        logging.debug(f'veh_heading_____: {my_av_obj.heading:.3f}')
+        logging.debug(f'true_veh_heading: {self.scenario.expert_heading(my_av_obj, self.step_num):.3f} \n')
 
         for veh_obj in self.controlled_vehicles:
             veh_id = veh_obj.getID()
@@ -347,6 +360,19 @@ def reset(  # pylint: disable=arguments-differ,too-many-locals,too-many-branches
                 if len(self.controlled_vehicles) == 0:
                     raise ValueError(f"Scene {self.file!s} has no AV vehicles in. Skip")
 
+                logging.debug(f"-- RESET: controlling is_av ( = {vehicle.is_av} ) vehicle {vehicle.id} --")
+                logging.debug(f" ")
+                
+                my_av_obj = self.controlled_vehicles[0]
+                logging.debug(f'INIT_veh_pos_____: ({my_av_obj.position.x:.4f}, {my_av_obj.position.y:.4f})')
+                logging.debug(f'INIT_true_veh_pos: ({self.scenario.expert_position(my_av_obj, self.step_num).x:.4f}, {self.scenario.expert_position(my_av_obj, self.step_num).y:.4f}) \n')
+
+                logging.debug(f'INIT_veh_speed_____: {my_av_obj.speed:.3f}')
+                logging.debug(f'INIT_true_veh_speed: {self.scenario.expert_speed(my_av_obj, self.step_num):.3f} \n')
+                
+                logging.debug(f'INIT_veh_heading_____: {my_av_obj.heading:.3f}')
+                logging.debug(f'INIT_true_veh_heading: {self.scenario.expert_heading(my_av_obj, self.step_num):.3f} \n')
+
             #####################################################################
             #   Construct context dictionary of observations that can be used to
             #   warm up policies by stepping all vehicles as experts.
@@ -371,7 +397,10 @@ def reset(  # pylint: disable=arguments-differ,too-many-locals,too-many-branches
             for _ in range(self.config.scenario.context_length):
                 for veh in self.scenario.getObjectsThatMoved():
                     self.context_dict[veh.getID()].append(self.get_observation(veh))
+                # Step simulator
                 self.simulation.step(self.config.dt)
+                # Make sure to increment counter
+                self.step_num += 1
             # now hand back control to our actual controllers
             for veh in self.scenario.getObjectsThatMoved():
                 veh.expert_control = False
@@ -404,7 +433,6 @@ def reset(  # pylint: disable=arguments-differ,too-many-locals,too-many-branches
                 logging.debug(f"(IN RESET) selecting vehicles to control, current list: {self.controlled_vehicles}")
 
                 for vehicle in temp_vehicles:
-                    logging.debug(f"looking at veh_id {vehicle.id}...")
 
                     # Remove vehicles that have invalid positions
                     veh_at_invalid_pos = np.isclose(
@@ -419,7 +447,6 @@ def reset(  # pylint: disable=arguments-differ,too-many-locals,too-many-branches
 
                     if veh_at_invalid_pos or veh_has_invalid_goal_pos:
                         self.scenario.removeVehicle(vehicle)
-                        logging.debug(f"veh_id {vehicle.id} is INVALID!")
 
                     # Otherwise the vehicle is valid and we add it to the list of controlled vehicles
                     if (
@@ -429,9 +456,6 @@ def reset(  # pylint: disable=arguments-differ,too-many-locals,too-many-branches
                         and curr_index < self.config.max_num_vehicles
                     ):
                         self.controlled_vehicles.append(vehicle)
-                        logging.debug(
-                            f"updated self.controlled_vehicles: {[veh.id for veh in self.controlled_vehicles]}"
-                        )
                         curr_index += 1
                     else:
                         vehicle.expert_control = True
@@ -596,7 +620,6 @@ def _set_goal_positions(self) -> None:
 
             else:  # Keep the standard goal positions at the end of the expert trajectory
                 veh_obj.setGoalPosition(veh_obj.target_position)
-                logging.debug(f"goal_pos: {veh_obj.target_position} \n")
 
     def normalize_ego_state_by_cat(self, state):
         """Divide every feature in the ego state by the maximum value of that feature."""
@@ -805,11 +828,11 @@ def _position_as_array(position: Vector2D) -> np.ndarray:
 
 
 if __name__ == "__main__":
-    logging.basicConfig(level=logging.INFO)
+    logging.basicConfig(level=logging.DEBUG)
 
     env_config = load_config("env_config")
     env_config.data_path = "data_new/train_no_tl"
-    scene_name = "tfrecord-00000-of-01000_29.json"
+    scene_name = "tfrecord-00000-of-01000_26.json"
 
     # Initialize an environment
     env = BaseEnv(config=env_config)
@@ -823,17 +846,16 @@ def _position_as_array(position: Vector2D) -> np.ndarray:
     agent_ids = [agent_id for agent_id in obs_dict.keys()]
     veh_objects = {agent.id: agent for agent in env.controlled_vehicles}
     dead_agent_ids = []
+    av_veh_obj = veh_objects[agent_ids[0]]
 
-    for timestep in range(80):
-        # Sample actions
-        action_dict = {agent_id: env.action_space.sample() for agent_id in agent_ids if agent_id not in dead_agent_ids}
-
-        # Set in expert controlled mode
-        for obj in env.controlled_vehicles:
-            obj.expert_control = True
+    for _ in range(80):
+        
+        action_dict = {}
+        expert_action = env.scenario.expert_action(av_veh_obj, env.step_num)
+        action_dict[av_veh_obj.id] = expert_action        
 
         obs_dict, rew_dict, done_dict, info_dict = env.step(action_dict)
-
+        
         # Update dead agents
         for agent_id, is_done in done_dict.items():
             if is_done and agent_id not in dead_agent_ids:
@@ -844,7 +866,5 @@ def _position_as_array(position: Vector2D) -> np.ndarray:
             obs_dict = env.reset()
             dead_agent_ids = []
 
-    logging.info(f"INVALID_SAMPLES: {(env.invalid_samples/env.total_samples)*100:.2f}")
-
     # Close environment
     env.close()
diff --git a/notebooks/debug_av_data.ipynb b/notebooks/debug_av_data.ipynb
index 0498e1cf..7e0f5e69 100644
--- a/notebooks/debug_av_data.ipynb
+++ b/notebooks/debug_av_data.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 32,
+   "execution_count": 14,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -29,7 +29,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 25,
+   "execution_count": 22,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -52,7 +52,7 @@
     "        \n",
     "        action_dict = {}\n",
     "        if use_expert_actions:\n",
-    "            expert_action = env.scenario.expert_action(veh_obj, time_step)\n",
+    "            expert_action = env.scenario.expert_action(veh_obj, env.step_num)\n",
     "            action_dict[veh_obj.id] = expert_action\n",
     "        else:   \n",
     "            veh_obj.expert_control = True   \n",
@@ -89,7 +89,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 29,
+   "execution_count": 23,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -99,32 +99,31 @@
     "\n",
     "# Choose a scene\n",
     "#scene_name = \"tfrecord-00000-of-01000_175.json\" # Velocity is 1 always m/s\n",
-    "#scene_name = \"tfrecord-00000-of-01000_26.json\"\n",
-    "#scene_name = 'tfrecord-00000-of-01000_14.json' # another example\n",
-    "scene_name = \"tfrecord-00000-of-01000_369.json\"\n",
+    "#scene_name = \"tfrecord-00000-of-01000_26.json\" # No vehicles reach target positions\n",
+    "scene_name = 'tfrecord-00000-of-01000_14.json' # GOOD example \n",
+    "#scene_name = \"tfrecord-00000-of-01000_369.json\"\n",
     "#scene_name = \"tfrecord-00000-of-01000_17.json\" # Both vehicles reach target positions\n",
     "\n",
-    "\n",
     "# Make environment\n",
     "env = BaseEnv(env_config)"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 30,
+   "execution_count": 20,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Controlling veh_id: 2, is_av: True | init_speed: 10.91698169708252\n",
+      "Controlling veh_id: 21, is_av: True | init_speed: 15.65162467956543\n",
       " \n",
-      " Done at 76 | goal_achieved: True | veh_edge_collision: False | veh_veh_collision: False\n",
+      " Done at 78 | goal_achieved: True | veh_edge_collision: False | veh_veh_collision: False\n",
       "\n",
-      "Controlling veh_id: 2, is_av: True | init_speed: 10.91698169708252\n",
+      "Controlling veh_id: 21, is_av: True | init_speed: 15.65162467956543\n",
       " \n",
-      " Done at 71 | goal_achieved: False | veh_edge_collision: True | veh_veh_collision: False\n",
+      " Done at 4 | goal_achieved: False | veh_edge_collision: True | veh_veh_collision: False\n",
       "\n"
      ]
     }
@@ -143,7 +142,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 31,
+   "execution_count": 21,
    "metadata": {},
    "outputs": [
     {
@@ -152,12 +151,12 @@
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        "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\"\n",
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+       "<svg xmlns:xlink=\"http://www.w3.org/1999/xlink\" width=\"781.623412pt\" height=\"563.374531pt\" viewBox=\"0 0 781.623412 563.374531\" xmlns=\"http://www.w3.org/2000/svg\" version=\"1.1\">\n",
        " <metadata>\n",
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        "   <cc:Work>\n",
        "    <dc:type rdf:resource=\"http://purl.org/dc/dcmitype/StillImage\"/>\n",
-       "    <dc:date>2024-01-26T19:44:12.118686</dc:date>\n",
+       "    <dc:date>2024-01-27T16:26:47.835101</dc:date>\n",
        "    <dc:format>image/svg+xml</dc:format>\n",
        "    <dc:creator>\n",
        "     <cc:Agent>\n",
@@ -172,21 +171,21 @@
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        " <g id=\"figure_1\">\n",
        "  <g id=\"patch_1\">\n",
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+       "   <path d=\"M 0 563.374531 \n",
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        "z\n",
        "\" style=\"fill: none\"/>\n",
        "  </g>\n",
        "  <g id=\"axes_1\">\n",
        "   <g id=\"patch_2\">\n",
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@@ -194,59 +193,73 @@
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     "# Set titles and labels\n",
     "plt.tight_layout()"
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