diff --git a/.gitignore b/.gitignore
index 354e485..8d0348e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -120,3 +120,5 @@ venv.bak/
 dmypy.json
 
 *.cproject
+
+examples/dynamic_rulebook/*/outputs/
diff --git a/examples/dynamic_rulebook/README.md b/examples/dynamic_rulebook/README.md
new file mode 100644
index 0000000..c221e78
--- /dev/null
+++ b/examples/dynamic_rulebook/README.md
@@ -0,0 +1,248 @@
+# Multi-Objective Falsification with Rulebooks
+
+In this example, we show how to use VerifAI for multi-objective falsification with both *Static* and *Dynamic Rulebook* specifications. A [Static Rulebook](https://arxiv.org/abs/1902.09355) $B_S = (R_S, \preceq_{R_S})$ consists of a set of objectives $R_S$ and a preorder $\preceq_{R_S}$ over $R_S$ that encodes their priority relations. A [Dynamic Rulebook](https://link.springer.com/chapter/10.1007/978-3-031-74234-7_3) $B_D = (R_D, \preceq_{R_D}, \delta_D)$ extends this structure with a transition function $\delta_D$ that updates objectives and priorities over time. A Static Rulebook can be represented as a directed acyclic graph, where each node corresponds to an objective and each directed edge represents a priority relation between two objectives. For a Dynamic Rulebook, the graph structure can change over time based on the transition function $\delta_D$.
+
+## Installation
+
+First, follow the instructions in the [VerifAI documentation](https://verifai.readthedocs.io/en/latest/installation.html) to create a virtual environment and install VerifAI:
+
+```bash
+python3 -m venv venv_verifai
+source venv_verifai/bin/activate
+
+git clone https://github.com/BerkeleyLearnVerify/VerifAI
+cd VerifAI
+python -m pip install --upgrade pip
+python -m pip install -e .
+```
+
+Then, for this example, we adopt the [Metadrive simulator](https://metadriverse.github.io/metadrive/) as the backend simulator. To install Metadrive, run the following command:
+
+```bash
+python -m pip install "metadrive-simulator @ git+https://github.com/metadriverse/metadrive.git@main"
+python -m pip install "sumolib >= 1.21.0"
+```
+
+As there exists a dependency conflict on the `progressbar` package between VerifAI and Metadrive, we need to uninstall the `progressbar` package and reinstall the `progressbar2` package:
+
+```bash
+python -m pip uninstall progressbar
+python -m pip install --force-reinstall progressbar2==3.55.0
+```
+
+## Running the Examples
+
+We provide six different scenarios in the `examples/dynamic_rulebook` folder, and you can run any of them by modifying and executing the `run_multi_dynamic.sh` script.
+
+```bash linenums="1"
+#!/bin/bash
+iteration=100
+scenario='multi_inter_left'
+use_dynamic_rulebook=true # true / false (false is for a monolithic rulebook)
+sampler_idx=0
+sampler_type=demab # demab / dmab / dce / random / halton
+exploration_ratio=2.0
+simulator=scenic.simulators.metadrive.model
+simulation_steps=180
+log_file="result_${scenario}_${sampler_type}_${sampler_idx}_${use_dynamic_rulebook}.log"
+result_file="result_${scenario}_${sampler_type}_${sampler_idx}_${use_dynamic_rulebook}.txt"
+csv_file="result_${scenario}_${sampler_type}_${sampler_idx}_${use_dynamic_rulebook}"
+
+rm $scenario/outputs/$log_file
+rm $scenario/outputs/$result_file
+rm $scenario/outputs/$csv_file.*csv
+rm $scenario/outputs/$csv_file\_scatter.png
+if [ "$use_dynamic_rulebook" = true ]; then
+
+    for seed in $(seq 0 1);
+    do
+        python multi.py -n $iteration --headless -e $csv_file.$seed -sp $scenario/$scenario.scenic -gp $scenario/ -rp $scenario/$scenario\_spec.py -sfp $scenario/$scenario\_segment.py -s $sampler_type --seed $seed --using-sampler $sampler_idx -m $simulator --max-simulation-steps $simulation_steps -co $scenario/outputs --exploration-ratio $exploration_ratio >> $scenario/outputs/$log_file
+    done
+
+    python $scenario/util/$scenario\_collect_result.py $scenario/outputs/$log_file multi $sampler_idx >> $scenario/outputs/$result_file
+    python $scenario/util/$scenario\_analyze_diversity.py $scenario/outputs/ $csv_file multi >> $scenario/outputs/$result_file
+
+else
+
+    for seed in $(seq 0 0);
+    do
+        python multi.py -n $iteration --headless -e $csv_file.$seed -sp $scenario/$scenario.scenic --single-graph -gp $scenario/$scenario.sgraph -rp $scenario/$scenario\_spec.py -sfp $scenario/$scenario\_segment.py -s $sampler_type --seed $seed --using-sampler 0 -m $simulator --max-simulation-steps $simulation_steps -co $scenario/outputs --exploration-ratio $exploration_ratio >> $scenario/outputs/$log_file
+    done
+
+    python $scenario/util/$scenario\_collect_result.py $scenario/outputs/$log_file single 0 >> $scenario/outputs/$result_file
+    python $scenario/util/$scenario\_analyze_diversity.py $scenario/outputs/ $csv_file single >> $scenario/outputs/$result_file
+fi
+```
+
+You can modify the parameters in the script (first 12 lines) to run different scenarios with different configurations. The detailed descriptions of the parameters are as follows:
+- `iteration`: The number of iterations for the falsification process, i.e., the number of samples to be generated.
+- `scenario`: The name of the scenario to be tested. We provide six different scenarios in the `examples/dynamic_rulebook` folder, and you can change this parameter to run any of them.
+- `use_dynamic_rulebook`: A boolean parameter that determines whether to use the dynamic rulebook or the static rulebook. If set to `true`, the dynamic rulebook will be used; otherwise, the static rulebook will be used.
+- `sampler_idx`: The index of the sampler to be used. This parameter is used when `use_dynamic_rulebook` is set to `true`. For dynamic rulebooks, we create a dedicated sampler for each scenario segment. The `sampler_idx` parameter specifies which sampler to use for the falsification process. For example, if `sampler_idx` is set to `0`, the first sampler will be used; if it is set to `1`, the second sampler will be used, and so on. If `sampler_idx` is set to `-1`, each sampler will be used in a round-robin manner.
+- `sampler_type`: The type of the sampling algorithm to be used. The options include `demab`, `dmab`, `dce`, `random`, and `halton`.
+- `exploration_ratio`: The exploration ratio for the sampling algorithm. This parameter controls the balance between exploration and exploitation in the sampling process. A higher value encourages more exploration.
+- `simulator`: The simulator to be used for the falsification process. In this example, we use the Metadrive simulator (`scenic.simulators.metadrive.model`).
+- `simulation_steps`: The maximum number of simulation steps for each sample. This parameter controls how long each simulation will run before it is terminated.
+- `log_file`: The name of the log file where the outputs of the falsification process will be stored.
+- `result_file`: The name of the result file where the analyzed falsification results will be stored.
+- `csv_file`: The prefix of the CSV files where the raw falsification results will be stored.
+
+After modifying the parameters, you can run the script to start the falsification process:
+```bash
+sh run_multi_dynamic.sh
+```
+
+The results (`log_file`, `result_file`, `csv_file`) will be stored in the `outputs` folder of the corresponding scenario. The `result_file` contains the analyzed results of the falsification process. 
+First, it shows the average/max error weights[^1] and the counterexample percentage of the generated samples for each scenario segment, which reflects the overall falsification performance.
+Second, it shows the number of different combinations of violated rules in each segment. 
+Finally, it shows the standard deviation of the sampled parameters of the generated samples, which reflects their diversity.
+
+[^1]: The error weight is a metric that evaluate the degree of violation to a rulebook specification. A higher error weight indicates a more severe violation, i.e., more and higher-priority rules are violated.
+
+## Creating Your Own Scenarios
+
+You can create your own scenarios by following the structure of the existing scenarios in the `examples/dynamic_rulebook` folder. Each scenario should have the following structure:
+
+```
+scenario_name/
+├── scenario_name.scenic
+├── scenario_name_spec.py
+├── scenario_name_segment.py
+├── scenario_name_*.graph
+├── scenario_name.sgraph
+├── util/
+│   ├── scenario_name_collect_result.py
+│   └── scenario_name_analyze_diversity.py
+└── outputs/
+```
+
+### `scenario_name.scenic`
+
+It describes the scenario using the Scenic programming language. The detailed Scenic syntax can be found in the [Scenic documentation](https://docs.scenic-lang.org/en/latest/index.html). Note that you can use the `record` statement to record the needed variables for the evaluation process and the switching of rulebooks.
+
+### `scenario_name_spec.py`
+
+It defines all the objective functions (rules) in the rulebooks. Each rule is defined as a Python function with following inputs:
+- `simulation`: The Scenic simulation results, which contains the trajectories of all the agents and the recorded variables.
+- `indices`: The indices of the corresponding scenario segment. The function should only evaluate within the specified segment. The expected type of `indices` is a one-dimensional numpy array, where each element is the index of a simulation step that belongs to the corresponding segment. For example, if `indices` is `[0, 1, 2]`, the function should only evaluate the simulation results at steps 0, 1, and 2.
+
+The function should return a scalar value that represents the degree of violation to the corresponding rule. The returned value is negative if and only if the rule is violated, and a smaller value indicates a more severe violation.
+
+An example of a rule function is as follows: 
+
+```python
+def rule0(simulation, indices):
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [1], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+```
+
+This function evaluates the minimum distance between the ego vehicle (agent 0) and the adversarial vehicle (agent 1) within the specified segment, and returns the minimum distance minus a safety margin (8 in this case) as the degree of violation.
+
+### `scenario_name_segment.py`
+
+This file should contain a function that defines the scenario segments. The function should take the simulation results as input and return a list of segment indices. Each segment index is a one-dimensional numpy array that contains the indices of the simulation steps that belong to the corresponding segment. For example, if the function returns `[np.array([0, 1, 2]), np.array([3, 4, 5])]`, it means that there are two segments in the scenario, where the first segment consists of steps 0, 1, and 2, and the second segment consists of steps 3, 4, and 5.
+
+An example of a segment function is as follows:
+
+```python
+def segment_function(simulation):
+    ego_dist_to_intersection = np.array(simulation.result.records["egoDistToIntersection"])
+    # Find switching points, i.e., ego has reached the intersection / ego has finished the right turn
+    switch_idx_1 = len(simulation.result.trajectory)
+    switch_idx_2 = len(simulation.result.trajectory)
+    for i in range(len(ego_dist_to_intersection)):
+        if ego_dist_to_intersection[i][1] == 0 and switch_idx_1 == len(simulation.result.trajectory):
+            switch_idx_1 = i
+            break
+    if switch_idx_1 < len(simulation.result.trajectory):
+        for i in reversed(range(switch_idx_1, len(ego_dist_to_intersection))):
+            if ego_dist_to_intersection[i][1] == 0:
+                switch_idx_2 = i + 1
+                break
+    assert switch_idx_1 <= switch_idx_2
+    indices_0 = np.arange(0, switch_idx_1)
+    indices_1 = np.arange(switch_idx_1, switch_idx_2)
+    indices_2 = np.arange(switch_idx_2, len(simulation.result.trajectory))
+    
+    return [indices_0, indices_1, indices_2]
+```
+
+This function defines three segments based on the distance of the ego vehicle to the intersection. The first segment consists of the steps before the ego vehicle reaches the intersection, the second segment consists of the steps when the ego vehicle is at the intersection, and the third segment consists of the steps after the ego vehicle has passed the intersection.
+
+### `scenario_name_*.graph`
+
+These files define the rulebook structure for each scenario segment. Each file corresponds to one segment. The format of the file is as follows:
+
+```
+# ID <segment_idx>
+# Node list
+<node_id> <rule_func>
+<node_id> <rule_func>
+...
+# Edge list
+<node_id_1> <node_id_2>
+<node_id_3> <node_id_4>
+...
+```
+
+On the first line, `<segment_idx>` is the index of the corresponding scenario segment. For example, if the first line is `# ID 0`, it means that this file defines the rulebook structure for the first segment.
+
+In the node list, each line defines a node in the rulebook. `<node_id>` is the unique identifier of the node, and `<rule_func>` is the name of the corresponding rule function defined in `scenario_name_spec.py`. For example, if a line is `0 rule0`, it means that there is a node with ID 0 that corresponds to the `rule0` function.
+
+In the edge list, each line defines a directed edge between two nodes in the rulebook. For example, if a line is `0 1`, it means that there is a directed edge from the node with ID 0 to the node with ID 1, which indicates that the rule corresponding to node 0 has higher priority than the rule corresponding to node 1.
+
+An example of a rulebook structure file with 5 rules is as follows:
+
+```
+# ID 0
+# Node list
+0 rule0
+3 rule3
+4 rule4
+6 rule6
+7 rule7
+# Edge list
+0 3
+3 4
+4 7
+7 6
+```
+
+### `scenario_name.sgraph`
+
+*If you only want to use a Dynamic Rulebook, you can skip this file.* 
+This file defines the monolithic rulebook structure for the entire scenario (i.e., merging all the scenario segments). Its main purpose is for the comparison between Static and Dynamic Rulebooks. It follows the same format as the `scenario_name_*.graph` files.
+
+### `util/scenario_name_collect_result.py`, `util/scenario_name_analyze_diversity.py`
+
+*These files are only for processing and analyzing the falsification results. It's not necessary for running the falsification process.* You can modify the existing `scenario_name_collect_result.py` and `scenario_name_analyze_diversity.py` files to create your own result processing scripts.
+
+### `outputs/`
+This folder is for storing the outputs of the falsification process, including the log files, result files, and CSV files.
+
+## VerifAI Internals
+
+In this section, we provide an overview of the key implementations corresponding to multi-objective falsification in VerifAI.
+
+### The `Rulebook` Class
+
+The core data structure for representing rulebooks in VerifAI is the `rulebook` class, which is defined in `src/verifai/rulebook.py`. It handles the parsing of the rulebook structure files (`scenario_name_*.graph`) and rule function files (`scenario_name_spec.py`), as well as the evaluation of the rules. In `rulebook`, each rule is stored as a `rule` object (the definition of the `rule` class can be found in the same file). The priority structure of the rulebook is stored as a directed graph using `DiGraph` in the [`networkx` library](https://networkx.org/en/).
+
+### Samplers
+
+We provide five samplers that support multi-objective falsification with both Static and Dynamic Rulebooks, including `demab`, `dmab`, `dce`, `random`, and `halton`. The implementations of these samplers can be found in the `src/verifai/sampler/` folder.
+
+- `dmab` (`dynamic_mab.py`): The Dynamic Multi-Armed Bandit sampler. It extends the traditional Multi-Armed Bandit (MAB) algorithm to support dynamic rulebook specifications. The MAB algorithm first divides the input parameter space into several subspaces (arms) and then iteratively selects an arm to sample based on the reward feedback from the previous samples. It keeps a balance between exploration (selecting an arm that has not been sampled much) and exploitation (selecting an arm that has generated many counterexamples) to efficiently find diverse counterexamples. For dynamic rulebook, a dedicated MAB sampler is created for each scenario segment, where the sampler focuses on the reward feedback from the corresponding segment and updates its sampling strategy accordingly.
+- `demab` (`dynamic_emab.py`): The Dynamic Extended Multi-Armed Bandit sampler. It extends the DMAB sampler with a more sophisticated reward mechanism that considers the degree of violation to the rules, rather than just whether a counterexample is generated or not. This allows it to better guide the sampling process towards more severe violations.
+- `dce` (`dynamic_ce.py`): The Dynamic Cross-Entropy sampler. It extends the traditional Cross-Entropy (CE) method to support dynamic rulebook specifications.
+- `random` (`random.py`): The Random sampler. It samples the input parameters uniformly at random from the parameter space, without considering any feedback from the previous samples.
+- `halton` (`halton.py`): The Halton sampler. It uses the Halton sequence to generate low-discrepancy samples from the input parameter space, which can provide better coverage than random sampling.
+
+### `multi.py`
+
+The `multi.py` file is the main entry point for running multi-objective falsification with both Static and Dynamic Rulebooks. It handles the overall falsification process, including parsing the command-line arguments, setting up the scenario and rulebooks, running the falsification loop, and storing the results.
diff --git a/examples/dynamic_rulebook/maps/Town05.net.xml b/examples/dynamic_rulebook/maps/Town05.net.xml
new file mode 100644
index 0000000..1769ec0
--- /dev/null
+++ b/examples/dynamic_rulebook/maps/Town05.net.xml
@@ -0,0 +1,3808 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on 2024-11-26 15:10:29 by Eclipse SUMO netconvert Version v1_21_0+0971-f8f0176f172
+<netconvertConfiguration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
+
+    <input>
+        <opendrive-files value="Town05.xodr"/>
+    </input>
+
+    <output>
+        <output-file value="Town05.net.xml"/>
+    </output>
+
+    <junctions>
+        <no-turnarounds.except-deadend value="true"/>
+    </junctions>
+
+</netconvertConfiguration>
+-->
+
+<net version="1.20" junctionCornerDetail="5" rectangularLaneCut="true" limitTurnSpeed="5.50" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
+
+    <location netOffset="270.79,200.31" convBoundary="0.00,0.00,473.10,399.44" origBoundary="0.000000,0.000000,0.000000,0.000000" projParameter="+proj=tmerc +lat_0=0 +lon_0=0 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs "/>
+
+    <type id="driving" priority="1" speed="13.89" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship container cable_car subway aircraft wheelchair scooter drone" width="3.65"/>
+
+    <edge id=":1126_0" function="internal">
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+        </lane>
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+        </lane>
+        <lane id=":1126_1_1" index="1" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship container cable_car subway aircraft wheelchair scooter drone" speed="13.89" length="30.18" width="3.50" shape="235.19,291.76 205.01,291.81">
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+            <param key="signalID" value="2394 2396"/>
+        </lane>
+    </edge>
+    <edge id=":1126_16" function="internal">
+        <lane id=":1126_16_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship container cable_car subway aircraft wheelchair scooter drone" speed="10.72" length="20.59" width="3.50" shape="229.51,290.91,0.01 228.24,290.72,0.01 223.29,287.57,0.03 220.34,282.32,0.04 219.38,274.96,0.06">
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+        </lane>
+    </edge>
+    <edge id=":1126_4" function="internal">
+        <lane id=":1126_4_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship container cable_car subway aircraft wheelchair scooter drone" speed="8.21" length="15.00" width="3.50" shape="226.38,275.00,0.06 226.91,279.28,0.04 228.56,282.33,0.03 231.31,284.16,0.01 235.18,284.76"/>
+    </edge>
+    <edge id=":1126_5" function="internal">
+        <lane id=":1126_5_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship container cable_car subway aircraft wheelchair scooter drone" speed="13.89" length="34.76" width="3.50" shape="226.38,275.00,0.06 226.48,283.33,0.06 226.59,292.63,0.06 226.27,301.88,0.06 225.13,310.06,0.06">
+            <param key="signalID" value="2393"/>
+        </lane>
+        <lane id=":1126_5_1" index="1" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship container cable_car subway aircraft wheelchair scooter drone" speed="13.89" length="34.76" width="3.50" shape="222.88,274.98,0.06 222.99,283.19,0.06 223.12,292.23,0.06 222.84,301.21,0.06 221.72,309.28,0.06">
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+        </lane>
+    </edge>
+    <edge id=":1126_7" function="internal">
+        <lane id=":1126_7_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship container cable_car subway aircraft wheelchair scooter drone" speed="11.08" length="5.08" width="3.50" shape="222.88,274.98,0.06 222.10,280.00,0.05">
+            <param key="signalID" value="2396"/>
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+    </edge>
+    <edge id=":1126_17" function="internal">
+        <lane id=":1126_17_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship container cable_car subway aircraft wheelchair scooter drone" speed="11.08" length="22.86" width="3.50" shape="222.10,280.00,0.05 221.73,282.33,0.04 218.37,287.59,0.03 212.79,290.75,0.02 205.01,291.81">
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+        <lane id=":1126_8_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship container cable_car subway aircraft wheelchair scooter drone" speed="8.69" length="16.71" width="3.50" shape="205.00,284.81 209.74,284.19,0.02 213.14,282.33,0.03 215.18,279.25,0.04 215.88,274.94,0.06">
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+            <param key="signalID" value="2396"/>
+        </lane>
+    </edge>
+    <edge id=":1126_11" function="internal">
+        <lane id=":1126_11_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship container cable_car subway aircraft wheelchair scooter drone" speed="11.06" length="6.53" width="3.50" shape="205.01,288.31 211.49,289.16,0.01">
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+        </lane>
+    </edge>
+    <edge id=":1126_18" function="internal">
+        <lane id=":1126_18_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship container cable_car subway aircraft wheelchair scooter drone" speed="11.06" length="26.29" width="3.50" shape="211.49,289.16,0.01 214.37,289.53,0.02 220.21,293.34,0.03 222.62,299.87,0.04 221.72,309.28,0.06">
+            <param key="signalID" value="2396"/>
+        </lane>
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+    <junction id=":1126_17_0" type="internal" x="222.10" y="280.00" z="0.05" incLanes=":1126_7_0 -46_0 -46_1" intLanes=":1126_1_0 :1126_1_1 :1126_3_0 :1126_9_0 :1126_9_1 :1126_11_0 :1126_12_0 :1126_13_0 :1126_13_1"/>
+    <junction id=":1126_18_0" type="internal" x="211.49" y="289.16" z="0.01" incLanes=":1126_11_0 -6_0 -6_1" intLanes=":1126_0_0 :1126_1_0 :1126_1_1 :1126_5_0 :1126_5_1 :1126_7_0 :1126_13_0 :1126_13_1 :1126_15_0"/>
+    <junction id=":1126_19_0" type="internal" x="219.85" y="303.61" z="0.05" incLanes=":1126_15_0 47_0 47_1" intLanes=":1126_1_0 :1126_1_1 :1126_3_0 :1126_4_0 :1126_5_0 :1126_5_1 :1126_9_0 :1126_9_1 :1126_11_0"/>
+    <junction id=":1292_16_0" type="internal" x="301.66" y="296.57" z="0.00" incLanes=":1292_3_0 16_0 16_1" intLanes=":1292_5_0 :1292_5_1 :1292_7_0 :1292_8_0 :1292_9_0 :1292_9_1 :1292_13_0 :1292_13_1 :1292_15_0"/>
+    <junction id=":1292_17_0" type="internal" x="310.36" y="290.63" z="0.00" incLanes=":1292_7_0 6_0 6_1" intLanes=":1292_1_0 :1292_1_1 :1292_3_0 :1292_9_0 :1292_9_1 :1292_11_0 :1292_12_0 :1292_13_0 :1292_13_1"/>
+    <junction id=":1292_18_0" type="internal" x="303.08" y="283.05" z="0.00" incLanes=":1292_11_0 -15_0 -15_1" intLanes=":1292_0_0 :1292_1_0 :1292_1_1 :1292_5_0 :1292_5_1 :1292_7_0 :1292_13_0 :1292_13_1 :1292_15_0"/>
+    <junction id=":1292_19_0" type="internal" x="295.36" y="288.99" z="0.00" incLanes=":1292_15_0 -33_0 -33_1" intLanes=":1292_1_0 :1292_1_1 :1292_3_0 :1292_4_0 :1292_5_0 :1292_5_1 :1292_9_0 :1292_9_1 :1292_11_0"/>
+    <junction id=":1427_16_0" type="internal" x="228.42" y="200.30" z="0.01" incLanes=":1427_3_0 1_0 1_1" intLanes=":1427_5_0 :1427_5_1 :1427_7_0 :1427_8_0 :1427_9_0 :1427_9_1 :1427_13_0 :1427_13_1 :1427_15_0"/>
+    <junction id=":1427_17_0" type="internal" x="222.73" y="192.74" z="0.04" incLanes=":1427_7_0 -17_0 -17_1" intLanes=":1427_1_0 :1427_1_1 :1427_3_0 :1427_9_0 :1427_9_1 :1427_11_0 :1427_12_0 :1427_13_0 :1427_13_1"/>
+    <junction id=":1427_18_0" type="internal" x="215.02" y="198.49" z="0.01" incLanes=":1427_11_0 -0_0 -0_1" intLanes=":1427_0_0 :1427_1_0 :1427_1_1 :1427_5_0 :1427_5_1 :1427_7_0 :1427_13_0 :1427_13_1 :1427_15_0"/>
+    <junction id=":1427_19_0" type="internal" x="220.70" y="205.72" z="0.04" incLanes=":1427_15_0 18_0 18_1" intLanes=":1427_1_0 :1427_1_1 :1427_3_0 :1427_4_0 :1427_5_0 :1427_5_1 :1427_9_0 :1427_9_1 :1427_11_0"/>
+    <junction id=":1574_16_0" type="internal" x="299.57" y="206.65" z="0.00" incLanes=":1574_3_0 26_0 26_1" intLanes=":1574_5_0 :1574_5_1 :1574_7_0 :1574_8_0 :1574_9_0 :1574_9_1 :1574_13_0 :1574_13_1 :1574_15_0"/>
+    <junction id=":1574_17_0" type="internal" x="306.79" y="201.09" z="0.00" incLanes=":1574_7_0 0_0 0_1" intLanes=":1574_1_0 :1574_1_1 :1574_3_0 :1574_9_0 :1574_9_1 :1574_11_0 :1574_12_0 :1574_13_0 :1574_13_1"/>
+    <junction id=":1574_18_0" type="internal" x="301.48" y="193.16" z="0.00" incLanes=":1574_11_0 -25_0 -25_1" intLanes=":1574_0_0 :1574_1_0 :1574_1_1 :1574_5_0 :1574_5_1 :1574_7_0 :1574_13_0 :1574_13_1 :1574_15_0"/>
+    <junction id=":1574_19_0" type="internal" x="294.16" y="198.76" z="0.00" incLanes=":1574_15_0 -39_0 -39_1" intLanes=":1574_1_0 :1574_1_1 :1574_3_0 :1574_4_0 :1574_5_0 :1574_5_1 :1574_9_0 :1574_9_1 :1574_11_0"/>
+    <junction id=":1722_18_0" type="internal" x="154.16" y="111.52" incLanes=":1722_3_0 23_0 23_1" intLanes=":1722_4_0 :1722_6_0 :1722_6_1 :1722_8_0 :1722_9_0 :1722_10_0 :1722_10_1 :1722_13_0 :1722_15_0 :1722_15_1 :1722_17_0"/>
+    <junction id=":1722_19_0" type="internal" x="151.22" y="100.88" incLanes=":1722_5_0 -51_0" intLanes=":1722_4_0 :1722_10_0 :1722_10_1 :1722_17_0"/>
+    <junction id=":1722_20_0" type="internal" x="146.08" y="102.28" incLanes=":1722_8_0 52_0 52_1 52_2" intLanes=":1722_1_0 :1722_1_1 :1722_3_0 :1722_10_0 :1722_10_1 :1722_12_0 :1722_13_0 :1722_14_0 :1722_15_0 :1722_15_1"/>
+    <junction id=":1722_21_0" type="internal" x="135.89" y="109.76" incLanes=":1722_12_0 -22_0 -22_1" intLanes=":1722_0_0 :1722_1_0 :1722_1_1 :1722_4_0 :1722_6_0 :1722_6_1 :1722_8_0 :1722_13_0 :1722_15_0 :1722_15_1 :1722_17_0"/>
+    <junction id=":1722_22_0" type="internal" x="139.01" y="120.54" incLanes=":1722_14_0 52_0" intLanes=":1722_1_0 :1722_1_1 :1722_8_0 :1722_13_0"/>
+    <junction id=":1722_23_0" type="internal" x="144.15" y="119.11" incLanes=":1722_17_0 -51_0 -51_1 -51_2" intLanes=":1722_1_0 :1722_1_1 :1722_3_0 :1722_4_0 :1722_5_0 :1722_6_0 :1722_6_1 :1722_10_0 :1722_10_1 :1722_12_0"/>
+    <junction id=":1882_8_0" type="internal" x="154.29" y="341.70" z="0.04" incLanes=":1882_2_0 -45_0 -45_1" intLanes=":1882_4_0 :1882_6_0 :1882_6_1"/>
+    <junction id=":1930_8_0" type="internal" x="-0.62" y="205.43" incLanes=":1930_2_0 11_0 11_1" intLanes=":1930_4_0 :1930_6_0 :1930_6_1"/>
+    <junction id=":2014_10_0" type="internal" x="309.33" y="396.67" z="0.00" incLanes=":2014_3_0 36_0 36_1 36_2" intLanes=":2014_5_0 :2014_7_0 :2014_7_1 :2014_7_2"/>
+    <junction id=":207_16_0" type="internal" x="220.78" y="118.88" z="0.04" incLanes=":207_3_0 41_0 41_1" intLanes=":207_5_0 :207_5_1 :207_7_0 :207_8_0 :207_9_0 :207_9_1 :207_13_0 :207_13_1 :207_15_0"/>
+    <junction id=":207_17_0" type="internal" x="229.07" y="111.43" z="0.01" incLanes=":207_7_0 22_0 22_1" intLanes=":207_1_0 :207_1_1 :207_3_0 :207_9_0 :207_9_1 :207_11_0 :207_12_0 :207_13_0 :207_13_1"/>
+    <junction id=":207_18_0" type="internal" x="222.45" y="102.06" z="0.04" incLanes=":207_11_0 -40_0 -40_1" intLanes=":207_0_0 :207_1_0 :207_1_1 :207_5_0 :207_5_1 :207_7_0 :207_13_0 :207_13_1 :207_15_0"/>
+    <junction id=":207_19_0" type="internal" x="212.88" y="109.67" z="0.01" incLanes=":207_15_0 -21_0 -21_1" intLanes=":207_1_0 :207_1_1 :207_3_0 :207_4_0 :207_5_0 :207_5_1 :207_9_0 :207_9_1 :207_11_0"/>
+    <junction id=":2086_16_0" type="internal" x="299.73" y="119.31" z="0.00" incLanes=":2086_3_0 -28_0 -28_1" intLanes=":2086_5_0 :2086_5_1 :2086_7_0 :2086_8_0 :2086_9_0 :2086_9_1 :2086_13_0 :2086_13_1 :2086_15_0"/>
+    <junction id=":2086_17_0" type="internal" x="310.22" y="111.03" z="0.00" incLanes=":2086_7_0 21_0 21_1" intLanes=":2086_1_0 :2086_1_1 :2086_3_0 :2086_9_0 :2086_9_1 :2086_11_0 :2086_12_0 :2086_13_0 :2086_13_1"/>
+    <junction id=":2086_18_0" type="internal" x="301.50" y="103.71" z="0.00" incLanes=":2086_11_0 29_0 29_1" intLanes=":2086_0_0 :2086_1_0 :2086_1_1 :2086_5_0 :2086_5_1 :2086_7_0 :2086_13_0 :2086_13_1 :2086_15_0"/>
+    <junction id=":2086_19_0" type="internal" x="292.94" y="109.52" z="0.00" incLanes=":2086_15_0 30_0 30_1" intLanes=":2086_1_0 :2086_1_1 :2086_3_0 :2086_4_0 :2086_5_0 :2086_5_1 :2086_9_0 :2086_9_1 :2086_11_0"/>
+    <junction id=":2240_8_0" type="internal" x="136.27" y="50.09" z="0.04" incLanes=":2240_5_0 -41_0 -41_1" intLanes=":2240_1_0 :2240_1_1 :2240_7_0"/>
+    <junction id=":2328_10_0" type="internal" x="296.19" y="2.88" z="0.00" incLanes=":2328_9_0 38_0 38_1 38_2" intLanes=":2328_1_0 :2328_3_0 :2328_3_1 :2328_3_2"/>
+    <junction id=":359_8_0" type="internal" x="425.05" y="194.25" z="0.03" incLanes=":359_2_0 -19_0 -19_1" intLanes=":359_4_0 :359_5_0 :359_6_0 :359_7_0"/>
+    <junction id=":359_9_0" type="internal" x="421.50" y="207.80" z="0.03" incLanes=":359_6_0 -19_0" intLanes=":359_2_0 :359_5_0"/>
+    <junction id=":396_16_0" type="internal" x="91.34" y="291.12" z="0.01" incLanes=":396_3_0 9_0 9_1" intLanes=":396_5_0 :396_5_1 :396_7_0 :396_8_0 :396_9_0 :396_9_1 :396_13_0 :396_13_1 :396_15_0"/>
+    <junction id=":396_17_0" type="internal" x="73.31" y="289.37" z="0.01" incLanes=":396_11_0 -8_0 -8_1" intLanes=":396_0_0 :396_1_0 :396_1_1 :396_5_0 :396_5_1 :396_7_0 :396_13_0 :396_13_1 :396_15_0"/>
+    <junction id=":53_18_0" type="internal" x="138.51" y="299.39" z="-0.00" incLanes=":53_1_0 -4_0" intLanes=":53_0_0 :53_6_0 :53_6_1 :53_13_0"/>
+    <junction id=":53_19_0" type="internal" x="143.63" y="297.62" z="-0.00" incLanes=":53_4_0 5_0 5_1 5_2" intLanes=":53_6_0 :53_6_1 :53_8_0 :53_9_0 :53_10_0 :53_11_0 :53_11_1 :53_15_0 :53_15_1 :53_17_0"/>
+    <junction id=":53_20_0" type="internal" x="152.68" y="291.03" z="-0.00" incLanes=":53_8_0 8_0 8_1" intLanes=":53_0_0 :53_2_0 :53_2_1 :53_4_0 :53_9_0 :53_11_0 :53_11_1 :53_13_0 :53_14_0 :53_15_0 :53_15_1"/>
+    <junction id=":53_21_0" type="internal" x="150.43" y="280.74" z="-0.00" incLanes=":53_10_0 5_0" intLanes=":53_4_0 :53_9_0 :53_15_0 :53_15_1"/>
+    <junction id=":53_22_0" type="internal" x="145.30" y="282.42" z="-0.00" incLanes=":53_13_0 -4_0 -4_1 -4_2" intLanes=":53_0_0 :53_1_0 :53_2_0 :53_2_1 :53_6_0 :53_6_1 :53_8_0 :53_15_0 :53_15_1 :53_17_0"/>
+    <junction id=":53_23_0" type="internal" x="136.35" y="289.27" z="-0.00" incLanes=":53_17_0 -7_0 -7_1" intLanes=":53_0_0 :53_2_0 :53_2_1 :53_4_0 :53_5_0 :53_6_0 :53_6_1 :53_9_0 :53_11_0 :53_11_1 :53_13_0"/>
+    <junction id=":562_16_0" type="internal" x="90.32" y="111.60" z="0.01" incLanes=":562_3_0 24_0 24_1" intLanes=":562_5_0 :562_5_1 :562_7_0 :562_8_0 :562_9_0 :562_9_1 :562_13_0 :562_13_1 :562_15_0"/>
+    <junction id=":562_17_0" type="internal" x="72.01" y="109.84" z="0.01" incLanes=":562_11_0 -23_0 -23_1" intLanes=":562_0_0 :562_1_0 :562_1_1 :562_5_0 :562_5_1 :562_7_0 :562_13_0 :562_13_1 :562_15_0"/>
+    <junction id=":720_14_0" type="internal" x="378.70" y="201.50" z="0.01" incLanes=":720_6_0 39_0 39_1" intLanes=":720_1_0 :720_1_1 :720_3_0 :720_8_0 :720_8_1 :720_10_0 :720_11_0 :720_12_0"/>
+    <junction id=":720_15_0" type="internal" x="366.21" y="199.29" incLanes=":720_13_0 48_1" intLanes=":720_1_0 :720_1_1 :720_3_0 :720_4_0 :720_5_0 :720_8_0 :720_8_1 :720_10_0"/>
+    <junction id=":838_16_0" type="internal" x="87.70" y="199.96" z="0.01" incLanes=":838_3_0 3_0 3_1" intLanes=":838_5_0 :838_5_1 :838_7_0 :838_8_0 :838_9_0 :838_9_1 :838_13_0 :838_13_1 :838_15_0"/>
+    <junction id=":838_17_0" type="internal" x="81.86" y="192.22" z="0.04" incLanes=":838_7_0 44_0 44_1" intLanes=":838_1_0 :838_1_1 :838_3_0 :838_9_0 :838_9_1 :838_11_0 :838_12_0 :838_13_0 :838_13_1"/>
+    <junction id=":838_18_0" type="internal" x="74.33" y="198.15" z="0.01" incLanes=":838_11_0 -2_0 -2_1" intLanes=":838_0_0 :838_1_0 :838_1_1 :838_5_0 :838_5_1 :838_7_0 :838_13_0 :838_13_1 :838_15_0"/>
+    <junction id=":838_19_0" type="internal" x="80.08" y="205.76" z="0.04" incLanes=":838_15_0 -43_0 -43_1" intLanes=":838_1_0 :838_1_1 :838_3_0 :838_4_0 :838_5_0 :838_5_1 :838_9_0 :838_9_1 :838_11_0"/>
+    <junction id=":979_18_0" type="internal" x="152.39" y="200.12" z="-0.00" incLanes=":979_3_0 2_0 2_1" intLanes=":979_4_0 :979_6_0 :979_6_1 :979_8_0 :979_9_0 :979_10_0 :979_10_1 :979_13_0 :979_15_0 :979_15_1 :979_17_0"/>
+    <junction id=":979_19_0" type="internal" x="150.39" y="190.00" z="-0.00" incLanes=":979_5_0 50_0" intLanes=":979_4_0 :979_10_0 :979_10_1 :979_17_0"/>
+    <junction id=":979_20_0" type="internal" x="145.23" y="191.41" z="-0.00" incLanes=":979_8_0 -49_0 -49_1 -49_2" intLanes=":979_1_0 :979_1_1 :979_3_0 :979_10_0 :979_10_1 :979_12_0 :979_13_0 :979_14_0 :979_15_0 :979_15_1"/>
+    <junction id=":979_21_0" type="internal" x="134.62" y="198.29" z="-0.00" incLanes=":979_12_0 -1_0 -1_1" intLanes=":979_0_0 :979_1_0 :979_1_1 :979_4_0 :979_6_0 :979_6_1 :979_8_0 :979_13_0 :979_15_0 :979_15_1 :979_17_0"/>
+    <junction id=":979_22_0" type="internal" x="138.05" y="209.25" z="-0.00" incLanes=":979_14_0 -49_0" intLanes=":979_1_0 :979_1_1 :979_8_0 :979_13_0"/>
+    <junction id=":979_23_0" type="internal" x="143.19" y="207.03" z="-0.00" incLanes=":979_17_0 50_0 50_1 50_2" intLanes=":979_1_0 :979_1_1 :979_3_0 :979_4_0 :979_5_0 :979_6_0 :979_6_1 :979_10_0 :979_10_1 :979_12_0"/>
+
+    <connection from="-0" to="17" fromLane="0" toLane="0" via=":1427_0_0" tl="1427" linkIndex="0" dir="r" state="O">
+        <param key="signalID" value="2401"/>
+    </connection>
+    <connection from="-0" to="-1" fromLane="0" toLane="0" via=":1427_1_0" tl="1427" linkIndex="1" dir="s" state="O">
+        <param key="signalID" value="2402"/>
+    </connection>
+    <connection from="-0" to="-1" fromLane="1" toLane="1" via=":1427_1_1" tl="1427" linkIndex="2" dir="s" state="O">
+        <param key="signalID" value="2402"/>
+    </connection>
+    <connection from="-0" to="-18" fromLane="1" toLane="1" via=":1427_3_0" tl="1427" linkIndex="3" dir="l" state="o">
+        <param key="signalID" value="2402"/>
+    </connection>
+    <connection from="-1" to="49" fromLane="0" toLane="1" via=":979_0_0" tl="979" linkIndex="0" dir="r" state="o">
+        <param key="signalID" value="2391"/>
+    </connection>
+    <connection from="-1" to="-2" fromLane="0" toLane="0" via=":979_1_0" tl="979" linkIndex="1" dir="s" state="o">
+        <param key="signalID" value="2392"/>
+    </connection>
+    <connection from="-1" to="-2" fromLane="1" toLane="1" via=":979_1_1" tl="979" linkIndex="2" dir="s" state="o">
+        <param key="signalID" value="2392"/>
+    </connection>
+    <connection from="-1" to="-50" fromLane="1" toLane="2" via=":979_3_0" tl="979" linkIndex="3" dir="l" state="o">
+        <param key="signalID" value="2392"/>
+    </connection>
+    <connection from="-10" to="-11" fromLane="0" toLane="0" via=":1930_0_0" dir="s" state="M"/>
+    <connection from="-10" to="-11" fromLane="1" toLane="1" via=":1930_0_1" dir="s" state="M"/>
+    <connection from="-10" to="3" fromLane="1" toLane="1" via=":1930_2_0" dir="l" state="m"/>
+    <connection from="-11" to="24" fromLane="0" toLane="0" via=":24.11_2_0" dir="s" state="M"/>
+    <connection from="-11" to="24" fromLane="1" toLane="1" via=":24.11_2_1" dir="s" state="M"/>
+    <connection from="-12" to="-34" fromLane="0" toLane="0" via=":34.12_0_0" dir="s" state="M"/>
+    <connection from="-12" to="-34" fromLane="1" toLane="1" via=":34.12_0_1" dir="s" state="M"/>
+    <connection from="-12" to="-34" fromLane="2" toLane="2" via=":34.12_0_2" dir="s" state="M"/>
+    <connection from="-13" to="-14" fromLane="0" toLane="0" via=":2296_0_0" tl="2296" linkIndex="0" dir="s" state="O">
+        <param key="signalID" value="2430"/>
+    </connection>
+    <connection from="-13" to="-14" fromLane="1" toLane="1" via=":2296_0_1" tl="2296" linkIndex="1" dir="s" state="O">
+        <param key="signalID" value="2430"/>
+    </connection>
+    <connection from="-14" to="-15" fromLane="0" toLane="0" via=":15.14_0_0" dir="s" state="M"/>
+    <connection from="-14" to="-15" fromLane="1" toLane="1" via=":15.14_0_1" dir="s" state="M"/>
+    <connection from="-15" to="-6" fromLane="0" toLane="0" via=":1292_0_0" tl="1292" linkIndex="0" dir="r" state="O"/>
+    <connection from="-15" to="-16" fromLane="0" toLane="0" via=":1292_1_0" tl="1292" linkIndex="1" dir="s" state="O">
+        <param key="signalID" value="2400"/>
+    </connection>
+    <connection from="-15" to="-16" fromLane="1" toLane="1" via=":1292_1_1" tl="1292" linkIndex="2" dir="s" state="O">
+        <param key="signalID" value="2400"/>
+    </connection>
+    <connection from="-15" to="33" fromLane="1" toLane="1" via=":1292_3_0" tl="1292" linkIndex="3" dir="l" state="o">
+        <param key="signalID" value="2400"/>
+    </connection>
+    <connection from="-16" to="-25" fromLane="0" toLane="0" via=":25.16_0_0" dir="s" state="M"/>
+    <connection from="-16" to="-25" fromLane="1" toLane="1" via=":25.16_0_1" dir="s" state="M"/>
+    <connection from="-17" to="-1" fromLane="0" toLane="0" via=":1427_12_0" tl="1427" linkIndex="12" dir="r" state="o">
+        <param key="signalID" value="2402"/>
+    </connection>
+    <connection from="-17" to="-18" fromLane="0" toLane="0" via=":1427_13_0" tl="1427" linkIndex="13" dir="s" state="o">
+        <param key="signalID" value="2403"/>
+    </connection>
+    <connection from="-17" to="-18" fromLane="1" toLane="1" via=":1427_13_1" tl="1427" linkIndex="14" dir="s" state="o">
+        <param key="signalID" value="2403"/>
+    </connection>
+    <connection from="-17" to="0" fromLane="1" toLane="1" via=":1427_15_0" tl="1427" linkIndex="15" dir="l" state="o">
+        <param key="signalID" value="2403"/>
+    </connection>
+    <connection from="-18" to="-40" fromLane="0" toLane="0" via=":40.18_0_0" dir="s" state="M"/>
+    <connection from="-18" to="-40" fromLane="1" toLane="1" via=":40.18_0_1" dir="s" state="M"/>
+    <connection from="-19" to="-20" fromLane="0" toLane="0" via=":359_5_0" dir="s" state="M"/>
+    <connection from="-19" to="48" fromLane="1" toLane="1" via=":359_6_0" dir="r" state="m"/>
+    <connection from="-19" to="-20" fromLane="1" toLane="1" via=":359_7_0" dir="s" state="M"/>
+    <connection from="-2" to="-44" fromLane="0" toLane="0" via=":838_0_0" tl="838" linkIndex="0" dir="r" state="o">
+        <param key="signalID" value="2388"/>
+    </connection>
+    <connection from="-2" to="-3" fromLane="0" toLane="0" via=":838_1_0" tl="838" linkIndex="1" dir="s" state="o">
+        <param key="signalID" value="2387"/>
+    </connection>
+    <connection from="-2" to="-3" fromLane="1" toLane="1" via=":838_1_1" tl="838" linkIndex="2" dir="s" state="o">
+        <param key="signalID" value="2387"/>
+    </connection>
+    <connection from="-2" to="43" fromLane="1" toLane="1" via=":838_3_0" tl="838" linkIndex="3" dir="l" state="o">
+        <param key="signalID" value="2387 2385"/>
+    </connection>
+    <connection from="-20" to="-28" fromLane="1" toLane="0" via=":2062_2_0" dir="r" state="m"/>
+    <connection from="-21" to="40" fromLane="0" toLane="0" via=":207_4_0" tl="207" linkIndex="4" dir="r" state="O">
+        <param key="signalID" value="2383"/>
+    </connection>
+    <connection from="-21" to="-22" fromLane="0" toLane="0" via=":207_5_0" tl="207" linkIndex="5" dir="s" state="O">
+        <param key="signalID" value="2380"/>
+    </connection>
+    <connection from="-21" to="-22" fromLane="1" toLane="1" via=":207_5_1" tl="207" linkIndex="6" dir="s" state="O">
+        <param key="signalID" value="2380"/>
+    </connection>
+    <connection from="-21" to="-41" fromLane="1" toLane="1" via=":207_7_0" tl="207" linkIndex="7" dir="l" state="o">
+        <param key="signalID" value="2380 2382"/>
+    </connection>
+    <connection from="-22" to="-52" fromLane="0" toLane="1" via=":1722_0_0" tl="1722" linkIndex="0" dir="r" state="o"/>
+    <connection from="-22" to="-23" fromLane="0" toLane="0" via=":1722_1_0" tl="1722" linkIndex="1" dir="s" state="o">
+        <param key="signalID" value="2412"/>
+    </connection>
+    <connection from="-22" to="-23" fromLane="1" toLane="1" via=":1722_1_1" tl="1722" linkIndex="2" dir="s" state="o">
+        <param key="signalID" value="2412"/>
+    </connection>
+    <connection from="-22" to="51" fromLane="1" toLane="2" via=":1722_3_0" tl="1722" linkIndex="3" dir="l" state="o">
+        <param key="signalID" value="2412"/>
+    </connection>
+    <connection from="-23" to="-43" fromLane="0" toLane="0" via=":562_0_0" dir="r" state="M"/>
+    <connection from="-23" to="-24" fromLane="0" toLane="0" via=":562_1_0" dir="s" state="M"/>
+    <connection from="-23" to="-24" fromLane="1" toLane="1" via=":562_1_1" dir="s" state="M"/>
+    <connection from="-23" to="42" fromLane="1" toLane="1" via=":562_3_0" dir="l" state="m"/>
+    <connection from="-24" to="11" fromLane="0" toLane="0" via=":24.11_0_0" dir="s" state="M"/>
+    <connection from="-24" to="11" fromLane="1" toLane="1" via=":24.11_0_1" dir="s" state="M"/>
+    <connection from="-25" to="-0" fromLane="0" toLane="0" via=":1574_0_0" tl="1574" linkIndex="0" dir="r" state="o"/>
+    <connection from="-25" to="-26" fromLane="0" toLane="0" via=":1574_1_0" tl="1574" linkIndex="1" dir="s" state="o">
+        <param key="signalID" value="2408"/>
+    </connection>
+    <connection from="-25" to="-26" fromLane="1" toLane="1" via=":1574_1_1" tl="1574" linkIndex="2" dir="s" state="o">
+        <param key="signalID" value="2408"/>
+    </connection>
+    <connection from="-25" to="39" fromLane="1" toLane="1" via=":1574_3_0" tl="1574" linkIndex="3" dir="l" state="o">
+        <param key="signalID" value="2406 2408"/>
+    </connection>
+    <connection from="-26" to="29" fromLane="0" toLane="0" via=":29.26_0_0" dir="s" state="M"/>
+    <connection from="-26" to="29" fromLane="1" toLane="1" via=":29.26_0_1" dir="s" state="M"/>
+    <connection from="-27" to="20" fromLane="0" toLane="1" via=":2062_3_0" dir="r" state="M"/>
+    <connection from="-27" to="-28" fromLane="0" toLane="0" via=":2062_4_0" dir="s" state="M"/>
+    <connection from="-27" to="-28" fromLane="1" toLane="1" via=":2062_4_1" dir="s" state="M"/>
+    <connection from="-28" to="-30" fromLane="0" toLane="0" via=":2086_8_0" tl="2086" linkIndex="8" dir="r" state="O"/>
+    <connection from="-28" to="-29" fromLane="0" toLane="0" via=":2086_9_0" tl="2086" linkIndex="9" dir="s" state="O">
+        <param key="signalID" value="2426"/>
+    </connection>
+    <connection from="-28" to="-29" fromLane="1" toLane="1" via=":2086_9_1" tl="2086" linkIndex="10" dir="s" state="O">
+        <param key="signalID" value="2426"/>
+    </connection>
+    <connection from="-28" to="-21" fromLane="1" toLane="1" via=":2086_11_0" tl="2086" linkIndex="11" dir="l" state="o">
+        <param key="signalID" value="2426"/>
+    </connection>
+    <connection from="-29" to="26" fromLane="0" toLane="0" via=":29.26_2_0" dir="s" state="M"/>
+    <connection from="-29" to="26" fromLane="1" toLane="1" via=":29.26_2_1" dir="s" state="M"/>
+    <connection from="-3" to="10" fromLane="0" toLane="0" via=":1930_3_0" dir="r" state="m"/>
+    <connection from="-3" to="-11" fromLane="1" toLane="1" via=":1930_4_0" dir="l" state="m"/>
+    <connection from="-30" to="-31" fromLane="0" toLane="0" via=":31.30_2_0" dir="s" state="M"/>
+    <connection from="-30" to="-31" fromLane="1" toLane="1" via=":31.30_2_1" dir="s" state="M"/>
+    <connection from="-31" to="-48" fromLane="0" toLane="1" via=":720_7_0" dir="r" state="m"/>
+    <connection from="-31" to="-32" fromLane="0" toLane="0" via=":720_8_0" dir="s" state="m"/>
+    <connection from="-31" to="-32" fromLane="1" toLane="1" via=":720_8_1" dir="s" state="m"/>
+    <connection from="-31" to="-39" fromLane="1" toLane="1" via=":720_10_0" dir="l" state="m"/>
+    <connection from="-32" to="-33" fromLane="0" toLane="0" via=":33.32_2_0" dir="s" state="M"/>
+    <connection from="-32" to="-33" fromLane="1" toLane="1" via=":33.32_2_1" dir="s" state="M"/>
+    <connection from="-33" to="15" fromLane="0" toLane="0" via=":1292_4_0" tl="1292" linkIndex="4" dir="r" state="o">
+        <param key="signalID" value="2398"/>
+    </connection>
+    <connection from="-33" to="-6" fromLane="0" toLane="0" via=":1292_5_0" tl="1292" linkIndex="5" dir="s" state="o"/>
+    <connection from="-33" to="-6" fromLane="1" toLane="1" via=":1292_5_1" tl="1292" linkIndex="6" dir="s" state="o">
+        <param key="signalID" value="2399 2399"/>
+    </connection>
+    <connection from="-33" to="-16" fromLane="1" toLane="1" via=":1292_7_0" tl="1292" linkIndex="7" dir="l" state="o">
+        <param key="signalID" value="2399 2397"/>
+    </connection>
+    <connection from="-34" to="-35" fromLane="0" toLane="0" via=":35.34_0_0" dir="s" state="M"/>
+    <connection from="-34" to="-35" fromLane="1" toLane="1" via=":35.34_0_1" dir="s" state="M"/>
+    <connection from="-34" to="-35" fromLane="2" toLane="2" via=":35.34_0_2" dir="s" state="M"/>
+    <connection from="-35" to="-36" fromLane="0" toLane="0" via=":2014_0_0" tl="2014" linkIndex="0" dir="s" state="O">
+        <param key="signalID" value="2420 2420"/>
+    </connection>
+    <connection from="-35" to="-36" fromLane="1" toLane="1" via=":2014_0_1" tl="2014" linkIndex="1" dir="s" state="O">
+        <param key="signalID" value="2420 2420"/>
+    </connection>
+    <connection from="-35" to="-36" fromLane="2" toLane="2" via=":2014_0_2" tl="2014" linkIndex="2" dir="s" state="O">
+        <param key="signalID" value="2420 2420"/>
+    </connection>
+    <connection from="-35" to="-13" fromLane="2" toLane="1" via=":2014_3_0" tl="2014" linkIndex="3" dir="l" state="o">
+        <param key="signalID" value="2421 2420 2419"/>
+    </connection>
+    <connection from="-36" to="-37" fromLane="0" toLane="0" via=":37.36_0_0" dir="s" state="M"/>
+    <connection from="-36" to="-37" fromLane="1" toLane="1" via=":37.36_0_1" dir="s" state="M"/>
+    <connection from="-36" to="-37" fromLane="2" toLane="2" via=":37.36_0_2" dir="s" state="M"/>
+    <connection from="-37" to="-38" fromLane="0" toLane="0" via=":2328_6_0" tl="2328" linkIndex="6" dir="s" state="O">
+        <param key="signalID" value="2432 2432"/>
+    </connection>
+    <connection from="-37" to="-38" fromLane="1" toLane="1" via=":2328_6_1" tl="2328" linkIndex="7" dir="s" state="O">
+        <param key="signalID" value="2432 2432"/>
+    </connection>
+    <connection from="-37" to="-38" fromLane="2" toLane="2" via=":2328_6_2" tl="2328" linkIndex="8" dir="s" state="O">
+        <param key="signalID" value="2432 2432"/>
+    </connection>
+    <connection from="-37" to="-27" fromLane="2" toLane="1" via=":2328_9_0" tl="2328" linkIndex="9" dir="l" state="o">
+        <param key="signalID" value="2434 2433 2432"/>
+    </connection>
+    <connection from="-38" to="-12" fromLane="0" toLane="0" via=":38.12_3_0" dir="s" state="M"/>
+    <connection from="-38" to="-12" fromLane="1" toLane="1" via=":38.12_3_1" dir="s" state="M"/>
+    <connection from="-38" to="-12" fromLane="2" toLane="2" via=":38.12_3_2" dir="s" state="M"/>
+    <connection from="-39" to="25" fromLane="0" toLane="0" via=":1574_4_0" tl="1574" linkIndex="4" dir="r" state="O"/>
+    <connection from="-39" to="-0" fromLane="0" toLane="0" via=":1574_5_0" tl="1574" linkIndex="5" dir="s" state="O"/>
+    <connection from="-39" to="-0" fromLane="1" toLane="1" via=":1574_5_1" tl="1574" linkIndex="6" dir="s" state="O">
+        <param key="signalID" value="2407 2407"/>
+    </connection>
+    <connection from="-39" to="-26" fromLane="1" toLane="1" via=":1574_7_0" tl="1574" linkIndex="7" dir="l" state="o">
+        <param key="signalID" value="2407"/>
+    </connection>
+    <connection from="-4" to="-5" fromLane="0" toLane="0" via=":53_0_0" tl="53" linkIndex="0" dir="s" state="O"/>
+    <connection from="-4" to="-8" fromLane="1" toLane="0" via=":53_1_0" tl="53" linkIndex="1" dir="r" state="o">
+        <param key="signalID" value="2378"/>
+    </connection>
+    <connection from="-4" to="-5" fromLane="1" toLane="1" via=":53_2_0" tl="53" linkIndex="2" dir="s" state="O">
+        <param key="signalID" value="2379"/>
+    </connection>
+    <connection from="-4" to="-5" fromLane="2" toLane="2" via=":53_2_1" tl="53" linkIndex="3" dir="s" state="O">
+        <param key="signalID" value="2379"/>
+    </connection>
+    <connection from="-4" to="7" fromLane="2" toLane="1" via=":53_4_0" tl="53" linkIndex="4" dir="l" state="o">
+        <param key="signalID" value="2379 2377"/>
+    </connection>
+    <connection from="-40" to="-22" fromLane="0" toLane="0" via=":207_0_0" tl="207" linkIndex="0" dir="r" state="o"/>
+    <connection from="-40" to="-41" fromLane="0" toLane="0" via=":207_1_0" tl="207" linkIndex="1" dir="s" state="o">
+        <param key="signalID" value="2381"/>
+    </connection>
+    <connection from="-40" to="-41" fromLane="1" toLane="1" via=":207_1_1" tl="207" linkIndex="2" dir="s" state="o">
+        <param key="signalID" value="2381"/>
+    </connection>
+    <connection from="-40" to="21" fromLane="1" toLane="1" via=":207_3_0" tl="207" linkIndex="3" dir="l" state="o">
+        <param key="signalID" value="2381"/>
+    </connection>
+    <connection from="-41" to="-51" fromLane="0" toLane="1" via=":2240_0_0" tl="2240" linkIndex="0" dir="r" state="O"/>
+    <connection from="-41" to="-42" fromLane="0" toLane="0" via=":2240_1_0" tl="2240" linkIndex="1" dir="s" state="O">
+        <param key="signalID" value="2427 2428 2429"/>
+    </connection>
+    <connection from="-41" to="-42" fromLane="1" toLane="1" via=":2240_1_1" tl="2240" linkIndex="2" dir="s" state="O">
+        <param key="signalID" value="2427 2428 2429"/>
+    </connection>
+    <connection from="-42" to="23" fromLane="0" toLane="0" via=":562_4_0" dir="r" state="m"/>
+    <connection from="-42" to="-43" fromLane="0" toLane="0" via=":562_5_0" dir="s" state="m"/>
+    <connection from="-42" to="-43" fromLane="1" toLane="1" via=":562_5_1" dir="s" state="m"/>
+    <connection from="-42" to="-24" fromLane="1" toLane="1" via=":562_7_0" dir="l" state="m"/>
+    <connection from="-43" to="2" fromLane="0" toLane="0" via=":838_4_0" tl="838" linkIndex="4" dir="r" state="O"/>
+    <connection from="-43" to="-44" fromLane="0" toLane="0" via=":838_5_0" tl="838" linkIndex="5" dir="s" state="O">
+        <param key="signalID" value="2388"/>
+    </connection>
+    <connection from="-43" to="-44" fromLane="1" toLane="1" via=":838_5_1" tl="838" linkIndex="6" dir="s" state="O">
+        <param key="signalID" value="2388"/>
+    </connection>
+    <connection from="-43" to="-3" fromLane="1" toLane="1" via=":838_7_0" tl="838" linkIndex="7" dir="l" state="o">
+        <param key="signalID" value="2388"/>
+    </connection>
+    <connection from="-44" to="8" fromLane="0" toLane="0" via=":396_4_0" dir="r" state="m"/>
+    <connection from="-44" to="-45" fromLane="0" toLane="0" via=":396_5_0" dir="s" state="m"/>
+    <connection from="-44" to="-45" fromLane="1" toLane="1" via=":396_5_1" dir="s" state="m"/>
+    <connection from="-44" to="-9" fromLane="1" toLane="1" via=":396_7_0" dir="l" state="m"/>
+    <connection from="-45" to="-4" fromLane="0" toLane="1" via=":1882_5_0" tl="1882" linkIndex="5" dir="r" state="O">
+        <param key="signalID" value="2415"/>
+    </connection>
+    <connection from="-45" to="-46" fromLane="0" toLane="0" via=":1882_6_0" tl="1882" linkIndex="6" dir="s" state="O">
+        <param key="signalID" value="2414 2413 2415"/>
+    </connection>
+    <connection from="-45" to="-46" fromLane="1" toLane="1" via=":1882_6_1" tl="1882" linkIndex="7" dir="s" state="O">
+        <param key="signalID" value="2414 2413 2415"/>
+    </connection>
+    <connection from="-46" to="-7" fromLane="0" toLane="0" via=":1126_12_0" tl="1126" linkIndex="12" dir="r" state="o">
+        <param key="signalID" value="2394"/>
+    </connection>
+    <connection from="-46" to="-47" fromLane="0" toLane="0" via=":1126_13_0" tl="1126" linkIndex="13" dir="s" state="o">
+        <param key="signalID" value="2395"/>
+    </connection>
+    <connection from="-46" to="-47" fromLane="1" toLane="1" via=":1126_13_1" tl="1126" linkIndex="14" dir="s" state="o">
+        <param key="signalID" value="2395"/>
+    </connection>
+    <connection from="-46" to="6" fromLane="1" toLane="1" via=":1126_15_0" tl="1126" linkIndex="15" dir="l" state="o">
+        <param key="signalID" value="2395"/>
+    </connection>
+    <connection from="-47" to="-17" fromLane="0" toLane="0" via=":47.17_2_0" dir="s" state="M"/>
+    <connection from="-47" to="-17" fromLane="1" toLane="1" via=":47.17_2_1" dir="s" state="M"/>
+    <connection from="-48" to="-20" fromLane="1" toLane="1" via=":359_3_0" dir="r" state="m"/>
+    <connection from="-48" to="19" fromLane="1" toLane="1" via=":359_4_0" dir="l" state="m"/>
+    <connection from="-49" to="-50" fromLane="0" toLane="0" via=":979_13_0" tl="979" linkIndex="13" dir="s" state="O"/>
+    <connection from="-49" to="-2" fromLane="1" toLane="0" via=":979_14_0" tl="979" linkIndex="14" dir="r" state="o">
+        <param key="signalID" value="2392"/>
+    </connection>
+    <connection from="-49" to="-50" fromLane="1" toLane="1" via=":979_15_0" tl="979" linkIndex="15" dir="s" state="O">
+        <param key="signalID" value="2390"/>
+    </connection>
+    <connection from="-49" to="-50" fromLane="2" toLane="2" via=":979_15_1" tl="979" linkIndex="16" dir="s" state="O">
+        <param key="signalID" value="2390"/>
+    </connection>
+    <connection from="-49" to="1" fromLane="2" toLane="1" via=":979_17_0" tl="979" linkIndex="17" dir="l" state="o">
+        <param key="signalID" value="2390"/>
+    </connection>
+    <connection from="-5" to="-49" fromLane="0" toLane="0" via=":5.49_0_0" dir="s" state="M"/>
+    <connection from="-5" to="-49" fromLane="1" toLane="1" via=":5.49_0_1" dir="s" state="M"/>
+    <connection from="-5" to="-49" fromLane="2" toLane="2" via=":5.49_0_2" dir="s" state="M"/>
+    <connection from="-50" to="52" fromLane="0" toLane="0" via=":52.50_3_0" dir="s" state="M"/>
+    <connection from="-50" to="52" fromLane="1" toLane="1" via=":52.50_3_1" dir="s" state="M"/>
+    <connection from="-50" to="52" fromLane="2" toLane="2" via=":52.50_3_2" dir="s" state="M"/>
+    <connection from="-51" to="-52" fromLane="0" toLane="0" via=":1722_4_0" tl="1722" linkIndex="4" dir="s" state="O"/>
+    <connection from="-51" to="22" fromLane="1" toLane="0" via=":1722_5_0" tl="1722" linkIndex="5" dir="r" state="o">
+        <param key="signalID" value="2410"/>
+    </connection>
+    <connection from="-51" to="-52" fromLane="1" toLane="1" via=":1722_6_0" tl="1722" linkIndex="6" dir="s" state="O">
+        <param key="signalID" value="2411"/>
+    </connection>
+    <connection from="-51" to="-52" fromLane="2" toLane="2" via=":1722_6_1" tl="1722" linkIndex="7" dir="s" state="O">
+        <param key="signalID" value="2411"/>
+    </connection>
+    <connection from="-51" to="-23" fromLane="2" toLane="1" via=":1722_8_0" tl="1722" linkIndex="8" dir="l" state="o">
+        <param key="signalID" value="2409 2411"/>
+    </connection>
+    <connection from="-52" to="50" fromLane="0" toLane="0" via=":52.50_0_0" dir="s" state="M"/>
+    <connection from="-52" to="50" fromLane="1" toLane="1" via=":52.50_0_1" dir="s" state="M"/>
+    <connection from="-52" to="50" fromLane="2" toLane="2" via=":52.50_0_2" dir="s" state="M"/>
+    <connection from="-6" to="46" fromLane="0" toLane="0" via=":1126_0_0" tl="1126" linkIndex="0" dir="r" state="O">
+        <param key="signalID" value="2393"/>
+    </connection>
+    <connection from="-6" to="-7" fromLane="0" toLane="0" via=":1126_1_0" tl="1126" linkIndex="1" dir="s" state="O">
+        <param key="signalID" value="2394"/>
+    </connection>
+    <connection from="-6" to="-7" fromLane="1" toLane="1" via=":1126_1_1" tl="1126" linkIndex="2" dir="s" state="O">
+        <param key="signalID" value="2394"/>
+    </connection>
+    <connection from="-6" to="-47" fromLane="1" toLane="1" via=":1126_3_0" tl="1126" linkIndex="3" dir="l" state="o">
+        <param key="signalID" value="2394 2396"/>
+    </connection>
+    <connection from="-7" to="4" fromLane="0" toLane="1" via=":53_5_0" tl="53" linkIndex="5" dir="r" state="o"/>
+    <connection from="-7" to="-8" fromLane="0" toLane="0" via=":53_6_0" tl="53" linkIndex="6" dir="s" state="o">
+        <param key="signalID" value="2378"/>
+    </connection>
+    <connection from="-7" to="-8" fromLane="1" toLane="1" via=":53_6_1" tl="53" linkIndex="7" dir="s" state="o">
+        <param key="signalID" value="2378"/>
+    </connection>
+    <connection from="-7" to="-5" fromLane="1" toLane="2" via=":53_8_0" tl="53" linkIndex="8" dir="l" state="o">
+        <param key="signalID" value="2378"/>
+    </connection>
+    <connection from="-8" to="-45" fromLane="0" toLane="0" via=":396_0_0" dir="r" state="M"/>
+    <connection from="-8" to="-9" fromLane="0" toLane="0" via=":396_1_0" dir="s" state="M"/>
+    <connection from="-8" to="-9" fromLane="1" toLane="1" via=":396_1_1" dir="s" state="M"/>
+    <connection from="-8" to="44" fromLane="1" toLane="1" via=":396_3_0" dir="l" state="m"/>
+    <connection from="-9" to="-10" fromLane="0" toLane="0" via=":9.10_0_0" dir="s" state="M"/>
+    <connection from="-9" to="-10" fromLane="1" toLane="1" via=":9.10_0_1" dir="s" state="M"/>
+    <connection from="0" to="-26" fromLane="0" toLane="0" via=":1574_12_0" tl="1574" linkIndex="12" dir="r" state="O">
+        <param key="signalID" value="2408"/>
+    </connection>
+    <connection from="0" to="39" fromLane="0" toLane="0" via=":1574_13_0" tl="1574" linkIndex="13" dir="s" state="O"/>
+    <connection from="0" to="39" fromLane="1" toLane="1" via=":1574_13_1" tl="1574" linkIndex="14" dir="s" state="O">
+        <param key="signalID" value="2405 2405"/>
+    </connection>
+    <connection from="0" to="25" fromLane="1" toLane="1" via=":1574_15_0" tl="1574" linkIndex="15" dir="l" state="o">
+        <param key="signalID" value="2405 2407"/>
+    </connection>
+    <connection from="1" to="-18" fromLane="0" toLane="0" via=":1427_8_0" tl="1427" linkIndex="8" dir="r" state="O">
+        <param key="signalID" value="2403"/>
+    </connection>
+    <connection from="1" to="0" fromLane="0" toLane="0" via=":1427_9_0" tl="1427" linkIndex="9" dir="s" state="O">
+        <param key="signalID" value="2404"/>
+    </connection>
+    <connection from="1" to="0" fromLane="1" toLane="1" via=":1427_9_1" tl="1427" linkIndex="10" dir="s" state="O">
+        <param key="signalID" value="2404"/>
+    </connection>
+    <connection from="1" to="17" fromLane="1" toLane="1" via=":1427_11_0" tl="1427" linkIndex="11" dir="l" state="o">
+        <param key="signalID" value="2404"/>
+    </connection>
+    <connection from="10" to="9" fromLane="0" toLane="0" via=":9.10_2_0" dir="s" state="M"/>
+    <connection from="10" to="9" fromLane="1" toLane="1" via=":9.10_2_1" dir="s" state="M"/>
+    <connection from="11" to="3" fromLane="0" toLane="0" via=":1930_5_0" dir="r" state="M"/>
+    <connection from="11" to="10" fromLane="0" toLane="0" via=":1930_6_0" dir="s" state="M"/>
+    <connection from="11" to="10" fromLane="1" toLane="1" via=":1930_6_1" dir="s" state="M"/>
+    <connection from="12" to="38" fromLane="0" toLane="0" via=":38.12_0_0" dir="s" state="M"/>
+    <connection from="12" to="38" fromLane="1" toLane="1" via=":38.12_0_1" dir="s" state="M"/>
+    <connection from="12" to="38" fromLane="2" toLane="2" via=":38.12_0_2" dir="s" state="M"/>
+    <connection from="13" to="35" fromLane="0" toLane="0" via=":2014_4_0" tl="2014" linkIndex="4" dir="r" state="o"/>
+    <connection from="13" to="-36" fromLane="1" toLane="2" via=":2014_5_0" tl="2014" linkIndex="5" dir="l" state="o">
+        <param key="signalID" value="2419"/>
+    </connection>
+    <connection from="14" to="-19" fromLane="0" toLane="1" via=":2296_3_0" tl="2296" linkIndex="3" dir="r" state="O"/>
+    <connection from="14" to="13" fromLane="0" toLane="0" via=":2296_4_0" tl="2296" linkIndex="4" dir="s" state="O">
+        <param key="signalID" value="2431"/>
+    </connection>
+    <connection from="14" to="13" fromLane="1" toLane="1" via=":2296_4_1" tl="2296" linkIndex="5" dir="s" state="O">
+        <param key="signalID" value="2431"/>
+    </connection>
+    <connection from="15" to="14" fromLane="0" toLane="0" via=":15.14_2_0" dir="s" state="M"/>
+    <connection from="15" to="14" fromLane="1" toLane="1" via=":15.14_2_1" dir="s" state="M"/>
+    <connection from="16" to="33" fromLane="0" toLane="0" via=":1292_8_0" tl="1292" linkIndex="8" dir="r" state="O"/>
+    <connection from="16" to="15" fromLane="0" toLane="0" via=":1292_9_0" tl="1292" linkIndex="9" dir="s" state="O">
+        <param key="signalID" value="2398"/>
+    </connection>
+    <connection from="16" to="15" fromLane="1" toLane="1" via=":1292_9_1" tl="1292" linkIndex="10" dir="s" state="O">
+        <param key="signalID" value="2398"/>
+    </connection>
+    <connection from="16" to="-6" fromLane="1" toLane="1" via=":1292_11_0" tl="1292" linkIndex="11" dir="l" state="o">
+        <param key="signalID" value="2397"/>
+    </connection>
+    <connection from="17" to="47" fromLane="0" toLane="0" via=":47.17_0_0" dir="s" state="M"/>
+    <connection from="17" to="47" fromLane="1" toLane="1" via=":47.17_0_1" dir="s" state="M"/>
+    <connection from="18" to="0" fromLane="0" toLane="0" via=":1427_4_0" tl="1427" linkIndex="4" dir="r" state="o">
+        <param key="signalID" value="2404"/>
+    </connection>
+    <connection from="18" to="17" fromLane="0" toLane="0" via=":1427_5_0" tl="1427" linkIndex="5" dir="s" state="o">
+        <param key="signalID" value="2401"/>
+    </connection>
+    <connection from="18" to="17" fromLane="1" toLane="1" via=":1427_5_1" tl="1427" linkIndex="6" dir="s" state="o">
+        <param key="signalID" value="2401"/>
+    </connection>
+    <connection from="18" to="-1" fromLane="1" toLane="1" via=":1427_7_0" tl="1427" linkIndex="7" dir="l" state="o">
+        <param key="signalID" value="2404"/>
+    </connection>
+    <connection from="19" to="13" fromLane="1" toLane="0" via=":2296_2_0" tl="2296" linkIndex="2" dir="r" state="o">
+        <param key="signalID" value="2430"/>
+    </connection>
+    <connection from="2" to="-50" fromLane="0" toLane="1" via=":979_9_0" tl="979" linkIndex="9" dir="r" state="o"/>
+    <connection from="2" to="1" fromLane="0" toLane="0" via=":979_10_0" tl="979" linkIndex="10" dir="s" state="o">
+        <param key="signalID" value="2389"/>
+    </connection>
+    <connection from="2" to="1" fromLane="1" toLane="1" via=":979_10_1" tl="979" linkIndex="11" dir="s" state="o">
+        <param key="signalID" value="2389"/>
+    </connection>
+    <connection from="2" to="49" fromLane="1" toLane="2" via=":979_12_0" tl="979" linkIndex="12" dir="l" state="o">
+        <param key="signalID" value="2389"/>
+    </connection>
+    <connection from="20" to="19" fromLane="0" toLane="0" via=":359_0_0" dir="s" state="M"/>
+    <connection from="20" to="19" fromLane="1" toLane="1" via=":359_0_1" dir="s" state="M"/>
+    <connection from="20" to="48" fromLane="1" toLane="1" via=":359_2_0" dir="l" state="m"/>
+    <connection from="21" to="28" fromLane="0" toLane="0" via=":2086_12_0" tl="2086" linkIndex="12" dir="r" state="o">
+        <param key="signalID" value="2424"/>
+    </connection>
+    <connection from="21" to="-30" fromLane="0" toLane="0" via=":2086_13_0" tl="2086" linkIndex="13" dir="s" state="o"/>
+    <connection from="21" to="-30" fromLane="1" toLane="1" via=":2086_13_1" tl="2086" linkIndex="14" dir="s" state="o">
+        <param key="signalID" value="2425 2425"/>
+    </connection>
+    <connection from="21" to="-29" fromLane="1" toLane="1" via=":2086_15_0" tl="2086" linkIndex="15" dir="l" state="o">
+        <param key="signalID" value="2425 2424"/>
+    </connection>
+    <connection from="22" to="-41" fromLane="0" toLane="0" via=":207_12_0" tl="207" linkIndex="12" dir="r" state="O">
+        <param key="signalID" value="2381"/>
+    </connection>
+    <connection from="22" to="21" fromLane="0" toLane="0" via=":207_13_0" tl="207" linkIndex="13" dir="s" state="O">
+        <param key="signalID" value="2382"/>
+    </connection>
+    <connection from="22" to="21" fromLane="1" toLane="1" via=":207_13_1" tl="207" linkIndex="14" dir="s" state="O">
+        <param key="signalID" value="2382"/>
+    </connection>
+    <connection from="22" to="40" fromLane="1" toLane="1" via=":207_15_0" tl="207" linkIndex="15" dir="l" state="o">
+        <param key="signalID" value="2382 2380"/>
+    </connection>
+    <connection from="23" to="51" fromLane="0" toLane="1" via=":1722_9_0" tl="1722" linkIndex="9" dir="r" state="o"/>
+    <connection from="23" to="22" fromLane="0" toLane="0" via=":1722_10_0" tl="1722" linkIndex="10" dir="s" state="o">
+        <param key="signalID" value="2410"/>
+    </connection>
+    <connection from="23" to="22" fromLane="1" toLane="1" via=":1722_10_1" tl="1722" linkIndex="11" dir="s" state="o">
+        <param key="signalID" value="2410"/>
+    </connection>
+    <connection from="23" to="-52" fromLane="1" toLane="2" via=":1722_12_0" tl="1722" linkIndex="12" dir="l" state="o">
+        <param key="signalID" value="2409"/>
+    </connection>
+    <connection from="24" to="42" fromLane="0" toLane="0" via=":562_8_0" dir="r" state="M"/>
+    <connection from="24" to="23" fromLane="0" toLane="0" via=":562_9_0" dir="s" state="M"/>
+    <connection from="24" to="23" fromLane="1" toLane="1" via=":562_9_1" dir="s" state="M"/>
+    <connection from="24" to="-43" fromLane="1" toLane="1" via=":562_11_0" dir="l" state="m"/>
+    <connection from="25" to="16" fromLane="0" toLane="0" via=":25.16_2_0" dir="s" state="M"/>
+    <connection from="25" to="16" fromLane="1" toLane="1" via=":25.16_2_1" dir="s" state="M"/>
+    <connection from="26" to="39" fromLane="0" toLane="0" via=":1574_8_0" tl="1574" linkIndex="8" dir="r" state="o">
+        <param key="signalID" value="2405"/>
+    </connection>
+    <connection from="26" to="25" fromLane="0" toLane="0" via=":1574_9_0" tl="1574" linkIndex="9" dir="s" state="o">
+        <param key="signalID" value="2406"/>
+    </connection>
+    <connection from="26" to="25" fromLane="1" toLane="1" via=":1574_9_1" tl="1574" linkIndex="10" dir="s" state="o">
+        <param key="signalID" value="2406"/>
+    </connection>
+    <connection from="26" to="-0" fromLane="1" toLane="1" via=":1574_11_0" tl="1574" linkIndex="11" dir="l" state="o">
+        <param key="signalID" value="2405"/>
+    </connection>
+    <connection from="27" to="37" fromLane="0" toLane="0" via=":2328_0_0" tl="2328" linkIndex="0" dir="r" state="o"/>
+    <connection from="27" to="-38" fromLane="1" toLane="2" via=":2328_1_0" tl="2328" linkIndex="1" dir="l" state="o">
+        <param key="signalID" value="2434"/>
+    </connection>
+    <connection from="28" to="27" fromLane="0" toLane="0" via=":2062_0_0" dir="s" state="M"/>
+    <connection from="28" to="27" fromLane="1" toLane="1" via=":2062_0_1" dir="s" state="M"/>
+    <connection from="29" to="-21" fromLane="0" toLane="0" via=":2086_0_0" tl="2086" linkIndex="0" dir="r" state="O"/>
+    <connection from="29" to="28" fromLane="0" toLane="0" via=":2086_1_0" tl="2086" linkIndex="1" dir="s" state="O">
+        <param key="signalID" value="2424"/>
+    </connection>
+    <connection from="29" to="28" fromLane="1" toLane="1" via=":2086_1_1" tl="2086" linkIndex="2" dir="s" state="O">
+        <param key="signalID" value="2424"/>
+    </connection>
+    <connection from="29" to="-30" fromLane="1" toLane="1" via=":2086_3_0" tl="2086" linkIndex="3" dir="l" state="o">
+        <param key="signalID" value="2425"/>
+    </connection>
+    <connection from="3" to="43" fromLane="0" toLane="0" via=":838_8_0" tl="838" linkIndex="8" dir="r" state="o">
+        <param key="signalID" value="2386"/>
+    </connection>
+    <connection from="3" to="2" fromLane="0" toLane="0" via=":838_9_0" tl="838" linkIndex="9" dir="s" state="o">
+        <param key="signalID" value="2385"/>
+    </connection>
+    <connection from="3" to="2" fromLane="1" toLane="1" via=":838_9_1" tl="838" linkIndex="10" dir="s" state="o">
+        <param key="signalID" value="2385"/>
+    </connection>
+    <connection from="3" to="-44" fromLane="1" toLane="1" via=":838_11_0" tl="838" linkIndex="11" dir="l" state="o">
+        <param key="signalID" value="2386 2387"/>
+    </connection>
+    <connection from="30" to="-29" fromLane="0" toLane="0" via=":2086_4_0" tl="2086" linkIndex="4" dir="r" state="o">
+        <param key="signalID" value="2426"/>
+    </connection>
+    <connection from="30" to="-21" fromLane="0" toLane="0" via=":2086_5_0" tl="2086" linkIndex="5" dir="s" state="o"/>
+    <connection from="30" to="-21" fromLane="1" toLane="1" via=":2086_5_1" tl="2086" linkIndex="6" dir="s" state="o">
+        <param key="signalID" value="2423 2423"/>
+    </connection>
+    <connection from="30" to="28" fromLane="1" toLane="1" via=":2086_7_0" tl="2086" linkIndex="7" dir="l" state="o">
+        <param key="signalID" value="2425 2423"/>
+    </connection>
+    <connection from="31" to="30" fromLane="0" toLane="0" via=":31.30_0_0" dir="s" state="M"/>
+    <connection from="31" to="30" fromLane="1" toLane="1" via=":31.30_0_1" dir="s" state="M"/>
+    <connection from="32" to="-39" fromLane="0" toLane="0" via=":720_0_0" dir="r" state="M"/>
+    <connection from="32" to="31" fromLane="0" toLane="0" via=":720_1_0" dir="s" state="m"/>
+    <connection from="32" to="31" fromLane="1" toLane="1" via=":720_1_1" dir="s" state="m"/>
+    <connection from="32" to="-48" fromLane="1" toLane="1" via=":720_3_0" dir="l" state="m"/>
+    <connection from="33" to="32" fromLane="0" toLane="0" via=":33.32_0_0" dir="s" state="M"/>
+    <connection from="33" to="32" fromLane="1" toLane="1" via=":33.32_0_1" dir="s" state="M"/>
+    <connection from="34" to="12" fromLane="0" toLane="0" via=":34.12_3_0" dir="s" state="M"/>
+    <connection from="34" to="12" fromLane="1" toLane="1" via=":34.12_3_1" dir="s" state="M"/>
+    <connection from="34" to="12" fromLane="2" toLane="2" via=":34.12_3_2" dir="s" state="M"/>
+    <connection from="35" to="34" fromLane="0" toLane="0" via=":35.34_3_0" dir="s" state="M"/>
+    <connection from="35" to="34" fromLane="1" toLane="1" via=":35.34_3_1" dir="s" state="M"/>
+    <connection from="35" to="34" fromLane="2" toLane="2" via=":35.34_3_2" dir="s" state="M"/>
+    <connection from="36" to="-13" fromLane="0" toLane="0" via=":2014_6_0" tl="2014" linkIndex="6" dir="r" state="O"/>
+    <connection from="36" to="35" fromLane="0" toLane="0" via=":2014_7_0" tl="2014" linkIndex="7" dir="s" state="O">
+        <param key="signalID" value="2419"/>
+    </connection>
+    <connection from="36" to="35" fromLane="1" toLane="1" via=":2014_7_1" tl="2014" linkIndex="8" dir="s" state="O">
+        <param key="signalID" value="2419"/>
+    </connection>
+    <connection from="36" to="35" fromLane="2" toLane="2" via=":2014_7_2" tl="2014" linkIndex="9" dir="s" state="O">
+        <param key="signalID" value="2419"/>
+    </connection>
+    <connection from="37" to="36" fromLane="0" toLane="0" via=":37.36_3_0" dir="s" state="M"/>
+    <connection from="37" to="36" fromLane="1" toLane="1" via=":37.36_3_1" dir="s" state="M"/>
+    <connection from="37" to="36" fromLane="2" toLane="2" via=":37.36_3_2" dir="s" state="M"/>
+    <connection from="38" to="-27" fromLane="0" toLane="0" via=":2328_2_0" tl="2328" linkIndex="2" dir="r" state="O"/>
+    <connection from="38" to="37" fromLane="0" toLane="0" via=":2328_3_0" tl="2328" linkIndex="3" dir="s" state="O">
+        <param key="signalID" value="2434"/>
+    </connection>
+    <connection from="38" to="37" fromLane="1" toLane="1" via=":2328_3_1" tl="2328" linkIndex="4" dir="s" state="O">
+        <param key="signalID" value="2434"/>
+    </connection>
+    <connection from="38" to="37" fromLane="2" toLane="2" via=":2328_3_2" tl="2328" linkIndex="5" dir="s" state="O">
+        <param key="signalID" value="2434"/>
+    </connection>
+    <connection from="39" to="31" fromLane="0" toLane="0" via=":720_11_0" dir="r" state="M"/>
+    <connection from="39" to="-48" fromLane="1" toLane="1" via=":720_12_0" dir="s" state="M"/>
+    <connection from="39" to="-32" fromLane="1" toLane="1" via=":720_13_0" dir="l" state="m"/>
+    <connection from="4" to="-46" fromLane="1" toLane="0" via=":1882_3_0" tl="1882" linkIndex="3" dir="r" state="o"/>
+    <connection from="4" to="45" fromLane="2" toLane="1" via=":1882_4_0" tl="1882" linkIndex="4" dir="l" state="o">
+        <param key="signalID" value="2414"/>
+    </connection>
+    <connection from="40" to="18" fromLane="0" toLane="0" via=":40.18_2_0" dir="s" state="M"/>
+    <connection from="40" to="18" fromLane="1" toLane="1" via=":40.18_2_1" dir="s" state="M"/>
+    <connection from="41" to="21" fromLane="0" toLane="0" via=":207_8_0" tl="207" linkIndex="8" dir="r" state="o"/>
+    <connection from="41" to="40" fromLane="0" toLane="0" via=":207_9_0" tl="207" linkIndex="9" dir="s" state="o">
+        <param key="signalID" value="2383"/>
+    </connection>
+    <connection from="41" to="40" fromLane="1" toLane="1" via=":207_9_1" tl="207" linkIndex="10" dir="s" state="o">
+        <param key="signalID" value="2383"/>
+    </connection>
+    <connection from="41" to="-22" fromLane="1" toLane="1" via=":207_11_0" tl="207" linkIndex="11" dir="l" state="o">
+        <param key="signalID" value="2382"/>
+    </connection>
+    <connection from="42" to="41" fromLane="0" toLane="0" via=":2240_3_0" tl="2240" linkIndex="3" dir="s" state="O">
+        <param key="signalID" value="2427"/>
+    </connection>
+    <connection from="42" to="41" fromLane="1" toLane="1" via=":2240_3_1" tl="2240" linkIndex="4" dir="s" state="O">
+        <param key="signalID" value="2427"/>
+    </connection>
+    <connection from="42" to="-51" fromLane="1" toLane="2" via=":2240_5_0" tl="2240" linkIndex="5" dir="l" state="o">
+        <param key="signalID" value="2428"/>
+    </connection>
+    <connection from="43" to="-24" fromLane="0" toLane="0" via=":562_12_0" dir="r" state="m"/>
+    <connection from="43" to="42" fromLane="0" toLane="0" via=":562_13_0" dir="s" state="m"/>
+    <connection from="43" to="42" fromLane="1" toLane="1" via=":562_13_1" dir="s" state="m"/>
+    <connection from="43" to="23" fromLane="1" toLane="1" via=":562_15_0" dir="l" state="m"/>
+    <connection from="44" to="-3" fromLane="0" toLane="0" via=":838_12_0" tl="838" linkIndex="12" dir="r" state="O"/>
+    <connection from="44" to="43" fromLane="0" toLane="0" via=":838_13_0" tl="838" linkIndex="13" dir="s" state="O">
+        <param key="signalID" value="2386"/>
+    </connection>
+    <connection from="44" to="43" fromLane="1" toLane="1" via=":838_13_1" tl="838" linkIndex="14" dir="s" state="O">
+        <param key="signalID" value="2386"/>
+    </connection>
+    <connection from="44" to="2" fromLane="1" toLane="1" via=":838_15_0" tl="838" linkIndex="15" dir="l" state="o">
+        <param key="signalID" value="2386"/>
+    </connection>
+    <connection from="45" to="-9" fromLane="0" toLane="0" via=":396_12_0" dir="r" state="m"/>
+    <connection from="45" to="44" fromLane="0" toLane="0" via=":396_13_0" dir="s" state="m"/>
+    <connection from="45" to="44" fromLane="1" toLane="1" via=":396_13_1" dir="s" state="m"/>
+    <connection from="45" to="8" fromLane="1" toLane="1" via=":396_15_0" dir="l" state="m"/>
+    <connection from="46" to="45" fromLane="0" toLane="0" via=":1882_0_0" tl="1882" linkIndex="0" dir="s" state="O">
+        <param key="signalID" value="2415"/>
+    </connection>
+    <connection from="46" to="45" fromLane="1" toLane="1" via=":1882_0_1" tl="1882" linkIndex="1" dir="s" state="O">
+        <param key="signalID" value="2415"/>
+    </connection>
+    <connection from="46" to="-4" fromLane="1" toLane="2" via=":1882_2_0" tl="1882" linkIndex="2" dir="l" state="o">
+        <param key="signalID" value="2414 2413"/>
+    </connection>
+    <connection from="47" to="6" fromLane="0" toLane="0" via=":1126_4_0" tl="1126" linkIndex="4" dir="r" state="o"/>
+    <connection from="47" to="46" fromLane="0" toLane="0" via=":1126_5_0" tl="1126" linkIndex="5" dir="s" state="o">
+        <param key="signalID" value="2393"/>
+    </connection>
+    <connection from="47" to="46" fromLane="1" toLane="1" via=":1126_5_1" tl="1126" linkIndex="6" dir="s" state="o">
+        <param key="signalID" value="2393"/>
+    </connection>
+    <connection from="47" to="-7" fromLane="1" toLane="1" via=":1126_7_0" tl="1126" linkIndex="7" dir="l" state="o">
+        <param key="signalID" value="2396"/>
+    </connection>
+    <connection from="48" to="-32" fromLane="1" toLane="0" via=":720_4_0" dir="r" state="M"/>
+    <connection from="48" to="-39" fromLane="1" toLane="1" via=":720_5_0" dir="s" state="M"/>
+    <connection from="48" to="31" fromLane="1" toLane="1" via=":720_6_0" dir="l" state="m"/>
+    <connection from="49" to="5" fromLane="0" toLane="0" via=":5.49_3_0" dir="s" state="M"/>
+    <connection from="49" to="5" fromLane="1" toLane="1" via=":5.49_3_1" dir="s" state="M"/>
+    <connection from="49" to="5" fromLane="2" toLane="2" via=":5.49_3_2" dir="s" state="M"/>
+    <connection from="5" to="4" fromLane="0" toLane="0" via=":53_9_0" tl="53" linkIndex="9" dir="s" state="O"/>
+    <connection from="5" to="7" fromLane="1" toLane="0" via=":53_10_0" tl="53" linkIndex="10" dir="r" state="o">
+        <param key="signalID" value="2376"/>
+    </connection>
+    <connection from="5" to="4" fromLane="1" toLane="1" via=":53_11_0" tl="53" linkIndex="11" dir="s" state="O">
+        <param key="signalID" value="2377"/>
+    </connection>
+    <connection from="5" to="4" fromLane="2" toLane="2" via=":53_11_1" tl="53" linkIndex="12" dir="s" state="O">
+        <param key="signalID" value="2377"/>
+    </connection>
+    <connection from="5" to="-8" fromLane="2" toLane="1" via=":53_13_0" tl="53" linkIndex="13" dir="l" state="o">
+        <param key="signalID" value="2379 2376"/>
+    </connection>
+    <connection from="50" to="49" fromLane="0" toLane="0" via=":979_4_0" tl="979" linkIndex="4" dir="s" state="O"/>
+    <connection from="50" to="1" fromLane="1" toLane="0" via=":979_5_0" tl="979" linkIndex="5" dir="r" state="o">
+        <param key="signalID" value="2389"/>
+    </connection>
+    <connection from="50" to="49" fromLane="1" toLane="1" via=":979_6_0" tl="979" linkIndex="6" dir="s" state="O">
+        <param key="signalID" value="2391"/>
+    </connection>
+    <connection from="50" to="49" fromLane="2" toLane="2" via=":979_6_1" tl="979" linkIndex="7" dir="s" state="O">
+        <param key="signalID" value="2391"/>
+    </connection>
+    <connection from="50" to="-2" fromLane="2" toLane="1" via=":979_8_0" tl="979" linkIndex="8" dir="l" state="o">
+        <param key="signalID" value="2389 2390"/>
+    </connection>
+    <connection from="51" to="-42" fromLane="1" toLane="0" via=":2240_6_0" tl="2240" linkIndex="6" dir="r" state="o">
+        <param key="signalID" value="2429"/>
+    </connection>
+    <connection from="51" to="41" fromLane="2" toLane="1" via=":2240_7_0" tl="2240" linkIndex="7" dir="l" state="o">
+        <param key="signalID" value="2428"/>
+    </connection>
+    <connection from="52" to="51" fromLane="0" toLane="0" via=":1722_13_0" tl="1722" linkIndex="13" dir="s" state="O"/>
+    <connection from="52" to="-23" fromLane="1" toLane="0" via=":1722_14_0" tl="1722" linkIndex="14" dir="r" state="o">
+        <param key="signalID" value="2412"/>
+    </connection>
+    <connection from="52" to="51" fromLane="1" toLane="1" via=":1722_15_0" tl="1722" linkIndex="15" dir="s" state="O">
+        <param key="signalID" value="2409"/>
+    </connection>
+    <connection from="52" to="51" fromLane="2" toLane="2" via=":1722_15_1" tl="1722" linkIndex="16" dir="s" state="O">
+        <param key="signalID" value="2409"/>
+    </connection>
+    <connection from="52" to="22" fromLane="2" toLane="1" via=":1722_17_0" tl="1722" linkIndex="17" dir="l" state="o">
+        <param key="signalID" value="2409 2411"/>
+    </connection>
+    <connection from="6" to="-16" fromLane="0" toLane="0" via=":1292_12_0" tl="1292" linkIndex="12" dir="r" state="o">
+        <param key="signalID" value="2400"/>
+    </connection>
+    <connection from="6" to="33" fromLane="0" toLane="0" via=":1292_13_0" tl="1292" linkIndex="13" dir="s" state="o"/>
+    <connection from="6" to="33" fromLane="1" toLane="1" via=":1292_13_1" tl="1292" linkIndex="14" dir="s" state="o">
+        <param key="signalID" value="2397 2397"/>
+    </connection>
+    <connection from="6" to="15" fromLane="1" toLane="1" via=":1292_15_0" tl="1292" linkIndex="15" dir="l" state="o">
+        <param key="signalID" value="2399 2397"/>
+    </connection>
+    <connection from="7" to="-47" fromLane="0" toLane="0" via=":1126_8_0" tl="1126" linkIndex="8" dir="r" state="O">
+        <param key="signalID" value="2395"/>
+    </connection>
+    <connection from="7" to="6" fromLane="0" toLane="0" via=":1126_9_0" tl="1126" linkIndex="9" dir="s" state="O">
+        <param key="signalID" value="2396"/>
+    </connection>
+    <connection from="7" to="6" fromLane="1" toLane="1" via=":1126_9_1" tl="1126" linkIndex="10" dir="s" state="O">
+        <param key="signalID" value="2396"/>
+    </connection>
+    <connection from="7" to="46" fromLane="1" toLane="1" via=":1126_11_0" tl="1126" linkIndex="11" dir="l" state="o">
+        <param key="signalID" value="2396"/>
+    </connection>
+    <connection from="8" to="-5" fromLane="0" toLane="1" via=":53_14_0" tl="53" linkIndex="14" dir="r" state="o"/>
+    <connection from="8" to="7" fromLane="0" toLane="0" via=":53_15_0" tl="53" linkIndex="15" dir="s" state="o">
+        <param key="signalID" value="2376"/>
+    </connection>
+    <connection from="8" to="7" fromLane="1" toLane="1" via=":53_15_1" tl="53" linkIndex="16" dir="s" state="o">
+        <param key="signalID" value="2376"/>
+    </connection>
+    <connection from="8" to="4" fromLane="1" toLane="2" via=":53_17_0" tl="53" linkIndex="17" dir="l" state="o">
+        <param key="signalID" value="2376"/>
+    </connection>
+    <connection from="9" to="44" fromLane="0" toLane="0" via=":396_8_0" dir="r" state="M"/>
+    <connection from="9" to="8" fromLane="0" toLane="0" via=":396_9_0" dir="s" state="M"/>
+    <connection from="9" to="8" fromLane="1" toLane="1" via=":396_9_1" dir="s" state="M"/>
+    <connection from="9" to="-45" fromLane="1" toLane="1" via=":396_11_0" dir="l" state="m"/>
+
+    <connection from=":1126_0" to="46" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1126_1" to="-7" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1126_1" to="-7" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1126_3" to="-47" fromLane="0" toLane="1" via=":1126_16_0" dir="l" state="m"/>
+    <connection from=":1126_16" to="-47" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1126_4" to="6" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1126_5" to="46" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1126_5" to="46" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1126_7" to="-7" fromLane="0" toLane="1" via=":1126_17_0" dir="l" state="m"/>
+    <connection from=":1126_17" to="-7" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1126_8" to="-47" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1126_9" to="6" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1126_9" to="6" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1126_11" to="46" fromLane="0" toLane="1" via=":1126_18_0" dir="l" state="m"/>
+    <connection from=":1126_18" to="46" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1126_12" to="-7" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1126_13" to="-47" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1126_13" to="-47" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1126_15" to="6" fromLane="0" toLane="1" via=":1126_19_0" dir="l" state="m"/>
+    <connection from=":1126_19" to="6" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1292_0" to="-6" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1292_1" to="-16" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1292_1" to="-16" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1292_3" to="33" fromLane="0" toLane="1" via=":1292_16_0" dir="l" state="m"/>
+    <connection from=":1292_16" to="33" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1292_4" to="15" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1292_5" to="-6" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1292_5" to="-6" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1292_7" to="-16" fromLane="0" toLane="1" via=":1292_17_0" dir="l" state="m"/>
+    <connection from=":1292_17" to="-16" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1292_8" to="33" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1292_9" to="15" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1292_9" to="15" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1292_11" to="-6" fromLane="0" toLane="1" via=":1292_18_0" dir="l" state="m"/>
+    <connection from=":1292_18" to="-6" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1292_12" to="-16" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1292_13" to="33" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1292_13" to="33" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1292_15" to="15" fromLane="0" toLane="1" via=":1292_19_0" dir="l" state="m"/>
+    <connection from=":1292_19" to="15" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1427_0" to="17" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1427_1" to="-1" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1427_1" to="-1" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1427_3" to="-18" fromLane="0" toLane="1" via=":1427_16_0" dir="l" state="m"/>
+    <connection from=":1427_16" to="-18" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1427_4" to="0" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1427_5" to="17" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1427_5" to="17" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1427_7" to="-1" fromLane="0" toLane="1" via=":1427_17_0" dir="l" state="m"/>
+    <connection from=":1427_17" to="-1" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1427_8" to="-18" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1427_9" to="0" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1427_9" to="0" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1427_11" to="17" fromLane="0" toLane="1" via=":1427_18_0" dir="l" state="m"/>
+    <connection from=":1427_18" to="17" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1427_12" to="-1" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1427_13" to="-18" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1427_13" to="-18" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1427_15" to="0" fromLane="0" toLane="1" via=":1427_19_0" dir="l" state="m"/>
+    <connection from=":1427_19" to="0" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":15.14_0" to="-15" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":15.14_0" to="-15" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":15.14_2" to="14" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":15.14_2" to="14" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1574_0" to="-0" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1574_1" to="-26" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1574_1" to="-26" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1574_3" to="39" fromLane="0" toLane="1" via=":1574_16_0" dir="l" state="m"/>
+    <connection from=":1574_16" to="39" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1574_4" to="25" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1574_5" to="-0" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1574_5" to="-0" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1574_7" to="-26" fromLane="0" toLane="1" via=":1574_17_0" dir="l" state="m"/>
+    <connection from=":1574_17" to="-26" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1574_8" to="39" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1574_9" to="25" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1574_9" to="25" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1574_11" to="-0" fromLane="0" toLane="1" via=":1574_18_0" dir="l" state="m"/>
+    <connection from=":1574_18" to="-0" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1574_12" to="-26" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1574_13" to="39" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1574_13" to="39" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1574_15" to="25" fromLane="0" toLane="1" via=":1574_19_0" dir="l" state="m"/>
+    <connection from=":1574_19" to="25" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1722_0" to="-52" fromLane="0" toLane="1" dir="r" state="M"/>
+    <connection from=":1722_1" to="-23" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1722_1" to="-23" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1722_3" to="51" fromLane="0" toLane="2" via=":1722_18_0" dir="l" state="m"/>
+    <connection from=":1722_18" to="51" fromLane="0" toLane="2" dir="l" state="M"/>
+    <connection from=":1722_4" to="-52" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1722_5" to="22" fromLane="0" toLane="0" via=":1722_19_0" dir="r" state="m"/>
+    <connection from=":1722_19" to="22" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":1722_6" to="-52" fromLane="0" toLane="1" dir="s" state="M"/>
+    <connection from=":1722_6" to="-52" fromLane="1" toLane="2" dir="s" state="M"/>
+    <connection from=":1722_8" to="-23" fromLane="0" toLane="1" via=":1722_20_0" dir="l" state="m"/>
+    <connection from=":1722_20" to="-23" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":1722_9" to="51" fromLane="0" toLane="1" dir="r" state="M"/>
+    <connection from=":1722_10" to="22" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1722_10" to="22" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":1722_12" to="-52" fromLane="0" toLane="2" via=":1722_21_0" dir="l" state="m"/>
+    <connection from=":1722_21" to="-52" fromLane="0" toLane="2" dir="l" state="M"/>
+    <connection from=":1722_13" to="51" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":1722_14" to="-23" fromLane="0" toLane="0" via=":1722_22_0" dir="r" state="m"/>
+    <connection from=":1722_22" to="-23" fromLane="0" toLane="0" dir="r" state="M"/>
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diff --git a/examples/dynamic_rulebook/maps/Town05.xodr b/examples/dynamic_rulebook/maps/Town05.xodr
new file mode 100644
index 0000000..88d0a31
--- /dev/null
+++ b/examples/dynamic_rulebook/maps/Town05.xodr
@@ -0,0 +1,47273 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+            <laneLink from="-5" to="-1"/>
+            <laneLink from="-4" to="-2"/>
+        </connection>
+        <controller id="2472" type="0" sequence="0"/>
+        <controller id="2473" type="0" sequence="1"/>
+        <controller id="2474" type="0" sequence="2"/>
+        <userData>
+            <vectorJunction junctionId="{d49a4969-c2f7-4dde-8995-7f36a42bb859}"/>
+        </userData>
+    </junction>
+    <junction id="1930" name="junction1930">
+        <connection id="0" incomingRoad="3" connectingRoad="1931" contactPoint="start">
+            <laneLink from="-2" to="-1"/>
+        </connection>
+        <connection id="1" incomingRoad="10" connectingRoad="1940" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+        </connection>
+        <connection id="2" incomingRoad="3" connectingRoad="1945" contactPoint="start">
+            <laneLink from="-4" to="2"/>
+            <laneLink from="-5" to="1"/>
+        </connection>
+        <connection id="3" incomingRoad="3" connectingRoad="1946" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+        </connection>
+        <connection id="4" incomingRoad="11" connectingRoad="1957" contactPoint="end">
+            <laneLink from="2" to="1"/>
+        </connection>
+        <connection id="5" incomingRoad="3" connectingRoad="1962" contactPoint="start">
+            <laneLink from="5" to="-1"/>
+            <laneLink from="4" to="-2"/>
+        </connection>
+        <connection id="6" incomingRoad="11" connectingRoad="1985" contactPoint="end">
+            <laneLink from="3" to="3"/>
+            <laneLink from="2" to="2"/>
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="7" incomingRoad="10" connectingRoad="1986" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+            <laneLink from="-2" to="-2"/>
+            <laneLink from="-3" to="-3"/>
+            <laneLink from="-4" to="-4"/>
+            <laneLink from="-5" to="-5"/>
+            <laneLink from="-6" to="-6"/>
+        </connection>
+        <userData>
+            <vectorJunction junctionId="{dc282c91-040c-4521-800f-360b10707471}"/>
+        </userData>
+    </junction>
+    <junction id="2014" name="junction2014">
+        <connection id="0" incomingRoad="36" connectingRoad="2034" contactPoint="end">
+            <laneLink from="5" to="5"/>
+            <laneLink from="4" to="4"/>
+            <laneLink from="3" to="3"/>
+            <laneLink from="2" to="2"/>
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="1" incomingRoad="35" connectingRoad="2035" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+            <laneLink from="-2" to="-2"/>
+            <laneLink from="-3" to="-3"/>
+            <laneLink from="-4" to="-4"/>
+            <laneLink from="-5" to="-5"/>
+            <laneLink from="-6" to="-6"/>
+        </connection>
+        <connection id="2" incomingRoad="35" connectingRoad="2039" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+        </connection>
+        <connection id="3" incomingRoad="13" connectingRoad="2043" contactPoint="end">
+            <laneLink from="2" to="1"/>
+        </connection>
+        <connection id="4" incomingRoad="13" connectingRoad="2052" contactPoint="end">
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="5" incomingRoad="36" connectingRoad="2057" contactPoint="end">
+            <laneLink from="4" to="1"/>
+        </connection>
+        <connection id="6" incomingRoad="36" connectingRoad="2060" contactPoint="start">
+            <laneLink from="6" to="2"/>
+            <laneLink from="7" to="1"/>
+        </connection>
+        <controller id="2476" type="0" sequence="0"/>
+        <controller id="2477" type="0" sequence="1"/>
+        <controller id="2478" type="0" sequence="2"/>
+        <userData>
+            <vectorJunction junctionId="{67fcecea-a7b4-4743-b2f1-af2c584aeb79}"/>
+        </userData>
+    </junction>
+    <junction id="2062" name="junction2062">
+        <connection id="0" incomingRoad="27" connectingRoad="2065" contactPoint="start">
+            <laneLink from="-2" to="-1"/>
+        </connection>
+        <connection id="1" incomingRoad="20" connectingRoad="2068" contactPoint="start">
+            <laneLink from="-3" to="3"/>
+            <laneLink from="-4" to="2"/>
+            <laneLink from="-5" to="1"/>
+        </connection>
+        <connection id="2" incomingRoad="20" connectingRoad="2071" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+        </connection>
+        <connection id="3" incomingRoad="28" connectingRoad="2083" contactPoint="end">
+            <laneLink from="5" to="5"/>
+            <laneLink from="4" to="4"/>
+            <laneLink from="3" to="3"/>
+            <laneLink from="2" to="2"/>
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="4" incomingRoad="27" connectingRoad="2084" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+            <laneLink from="-2" to="-2"/>
+            <laneLink from="-3" to="-3"/>
+        </connection>
+        <userData>
+            <vectorJunction junctionId="{725a6bb1-4d80-4e70-b20c-f9d483932ac9}"/>
+        </userData>
+    </junction>
+    <junction id="2086" name="junction2086">
+        <connection id="0" incomingRoad="21" connectingRoad="2087" contactPoint="end">
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="1" incomingRoad="30" connectingRoad="2096" contactPoint="end">
+            <laneLink from="2" to="1"/>
+        </connection>
+        <connection id="2" incomingRoad="21" connectingRoad="2104" contactPoint="end">
+            <laneLink from="2" to="1"/>
+        </connection>
+        <connection id="3" incomingRoad="30" connectingRoad="2117" contactPoint="end">
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="4" incomingRoad="21" connectingRoad="2125" contactPoint="start">
+            <laneLink from="-5" to="-1"/>
+            <laneLink from="-4" to="-2"/>
+        </connection>
+        <connection id="5" incomingRoad="21" connectingRoad="2131" contactPoint="end">
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="6" incomingRoad="29" connectingRoad="2138" contactPoint="end">
+            <laneLink from="2" to="1"/>
+        </connection>
+        <connection id="7" incomingRoad="21" connectingRoad="2145" contactPoint="start">
+            <laneLink from="4" to="2"/>
+            <laneLink from="5" to="1"/>
+        </connection>
+        <connection id="8" incomingRoad="21" connectingRoad="2148" contactPoint="end">
+            <laneLink from="2" to="1"/>
+        </connection>
+        <connection id="9" incomingRoad="28" connectingRoad="2156" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+        </connection>
+        <connection id="10" incomingRoad="30" connectingRoad="2164" contactPoint="start">
+            <laneLink from="4" to="2"/>
+            <laneLink from="5" to="1"/>
+        </connection>
+        <connection id="11" incomingRoad="30" connectingRoad="2165" contactPoint="end">
+            <laneLink from="2" to="1"/>
+        </connection>
+        <connection id="12" incomingRoad="29" connectingRoad="2172" contactPoint="end">
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="13" incomingRoad="30" connectingRoad="2179" contactPoint="end">
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="14" incomingRoad="28" connectingRoad="2187" contactPoint="start">
+            <laneLink from="-2" to="-1"/>
+        </connection>
+        <connection id="15" incomingRoad="30" connectingRoad="2195" contactPoint="start">
+            <laneLink from="-6" to="-1"/>
+            <laneLink from="-5" to="-2"/>
+            <laneLink from="-4" to="-3"/>
+        </connection>
+        <connection id="16" incomingRoad="28" connectingRoad="2231" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+            <laneLink from="-2" to="-2"/>
+            <laneLink from="-3" to="-3"/>
+        </connection>
+        <connection id="17" incomingRoad="29" connectingRoad="2232" contactPoint="end">
+            <laneLink from="3" to="3"/>
+            <laneLink from="2" to="2"/>
+            <laneLink from="1" to="1"/>
+        </connection>
+        <controller id="2480" type="0" sequence="0"/>
+        <controller id="2481" type="0" sequence="1"/>
+        <controller id="2482" type="0" sequence="2"/>
+        <controller id="2483" type="0" sequence="3"/>
+        <userData>
+            <vectorJunction junctionId="{13d2e41d-85f9-43de-9eed-3461a5594fe4}"/>
+        </userData>
+    </junction>
+    <junction id="2240" name="junction2240">
+        <connection id="0" incomingRoad="41" connectingRoad="2241" contactPoint="start">
+            <laneLink from="-2" to="-1"/>
+        </connection>
+        <connection id="1" incomingRoad="51" connectingRoad="2242" contactPoint="end">
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="2" incomingRoad="41" connectingRoad="2247" contactPoint="start">
+            <laneLink from="-4" to="2"/>
+            <laneLink from="-5" to="1"/>
+        </connection>
+        <connection id="3" incomingRoad="42" connectingRoad="2280" contactPoint="end">
+            <laneLink from="5" to="5"/>
+            <laneLink from="4" to="4"/>
+            <laneLink from="3" to="3"/>
+            <laneLink from="2" to="2"/>
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="4" incomingRoad="41" connectingRoad="2281" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+            <laneLink from="-2" to="-2"/>
+            <laneLink from="-3" to="-3"/>
+        </connection>
+        <connection id="5" incomingRoad="42" connectingRoad="2282" contactPoint="end">
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="6" incomingRoad="51" connectingRoad="2287" contactPoint="start">
+            <laneLink from="4" to="2"/>
+            <laneLink from="5" to="1"/>
+        </connection>
+        <connection id="7" incomingRoad="51" connectingRoad="2292" contactPoint="end">
+            <laneLink from="2" to="1"/>
+        </connection>
+        <controller id="2484" type="0" sequence="0"/>
+        <controller id="2485" type="0" sequence="1"/>
+        <controller id="2486" type="0" sequence="2"/>
+        <userData>
+            <vectorJunction junctionId="{34492ab2-0237-4139-bbce-b5b3317ad96b}"/>
+        </userData>
+    </junction>
+    <junction id="2296" name="junction2296">
+        <connection id="0" incomingRoad="14" connectingRoad="2306" contactPoint="end">
+            <laneLink from="3" to="3"/>
+            <laneLink from="2" to="2"/>
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="1" incomingRoad="13" connectingRoad="2307" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+            <laneLink from="-2" to="-2"/>
+            <laneLink from="-3" to="-3"/>
+        </connection>
+        <connection id="2" incomingRoad="19" connectingRoad="2318" contactPoint="end">
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="3" incomingRoad="14" connectingRoad="2321" contactPoint="start">
+            <laneLink from="4" to="3"/>
+            <laneLink from="5" to="2"/>
+            <laneLink from="6" to="1"/>
+        </connection>
+        <connection id="4" incomingRoad="14" connectingRoad="2324" contactPoint="end">
+            <laneLink from="2" to="1"/>
+        </connection>
+        <controller id="2487" type="0" sequence="0"/>
+        <userData>
+            <vectorJunction junctionId="{109e92ea-3e3c-4310-8a52-79edcaeeb5a4}"/>
+        </userData>
+    </junction>
+    <junction id="2328" name="junction2328">
+        <connection id="0" incomingRoad="38" connectingRoad="2343" contactPoint="end">
+            <laneLink from="5" to="5"/>
+            <laneLink from="4" to="4"/>
+            <laneLink from="3" to="3"/>
+            <laneLink from="2" to="2"/>
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="1" incomingRoad="37" connectingRoad="2344" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+            <laneLink from="-2" to="-2"/>
+            <laneLink from="-3" to="-3"/>
+            <laneLink from="-4" to="-4"/>
+            <laneLink from="-5" to="-5"/>
+            <laneLink from="-6" to="-6"/>
+        </connection>
+        <connection id="2" incomingRoad="27" connectingRoad="2353" contactPoint="end">
+            <laneLink from="2" to="1"/>
+        </connection>
+        <connection id="3" incomingRoad="37" connectingRoad="2356" contactPoint="start">
+            <laneLink from="7" to="-1"/>
+            <laneLink from="6" to="-2"/>
+        </connection>
+        <connection id="4" incomingRoad="37" connectingRoad="2358" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+        </connection>
+        <connection id="5" incomingRoad="27" connectingRoad="2363" contactPoint="end">
+            <laneLink from="1" to="1"/>
+        </connection>
+        <connection id="6" incomingRoad="38" connectingRoad="2370" contactPoint="end">
+            <laneLink from="4" to="1"/>
+        </connection>
+        <controller id="2488" type="0" sequence="0"/>
+        <controller id="2489" type="0" sequence="1"/>
+        <controller id="2490" type="0" sequence="2"/>
+        <userData>
+            <vectorJunction junctionId="{a5166abd-6753-4488-9549-43c2d614c159}"/>
+        </userData>
+    </junction>
+</OpenDRIVE>
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi.py b/examples/dynamic_rulebook/multi.py
new file mode 100644
index 0000000..1f43404
--- /dev/null
+++ b/examples/dynamic_rulebook/multi.py
@@ -0,0 +1,179 @@
+"""
+Framework for experimentation of multi-objective and dynamic falsification.
+
+Author: Kai-Chun Chang. Based on Kesav Viswanadha's code.
+"""
+
+import time
+import os
+import numpy as np
+from dotmap import DotMap
+import traceback
+import argparse
+import importlib
+import random
+
+from verifai.samplers.scenic_sampler import ScenicSampler
+from verifai.scenic_server import ScenicServer
+from verifai.falsifier import generic_falsifier, generic_parallel_falsifier
+from verifai.monitor import multi_objective_monitor, specification_monitor
+from verifai.rulebook import rulebook
+
+import networkx as nx
+import pandas as pd
+
+def announce(message):
+    lines = message.split('\n')
+    size = max([len(p) for p in lines]) + 4
+    def pad(line):
+        ret = '* ' + line
+        ret += ' ' * (size - len(ret) - 1) + '*'
+        return ret
+    lines = list(map(pad, lines))
+    m = '\n'.join(lines)
+    border = '*' * size
+    print(border)
+    print(m)
+    print(border)
+
+"""
+Runs all experiments in a directory.
+"""
+def run_experiments(path, rulebook=None, parallel=False, model=None,
+                   sampler_type=None, headless=False, num_workers=5, output_dir='outputs',
+                   experiment_name=None, max_time=None, n_iters=None, max_steps=300):
+    if not os.path.exists(output_dir):
+        os.mkdir(output_dir)
+    paths = []
+    if os.path.isdir(path):
+        for root, _, files in os.walk(path):
+            for name in files:
+                fname = os.path.join(root, name)
+                if os.path.splitext(fname)[1] == '.scenic':
+                    paths.append(fname)
+    else:
+        paths = [path]
+    for p in paths:
+        falsifier = run_experiment(p, rulebook=rulebook, 
+        parallel=parallel, model=model, sampler_type=sampler_type, headless=headless,
+        num_workers=num_workers, max_time=max_time, n_iters=n_iters, max_steps=max_steps)
+        df = pd.concat([falsifier.error_table.table, falsifier.safe_table.table])
+        if experiment_name is not None:
+            outfile = experiment_name
+        else:
+            root, _ = os.path.splitext(p)
+            outfile = root.split('/')[-1]
+            if parallel:
+                outfile += '_parallel'
+            if model:
+                outfile += f'_{model}'
+            if sampler_type:
+                outfile += f'_{sampler_type}'
+        outfile += '.csv'
+        outpath = os.path.join(output_dir, outfile)
+        print(f'(multi.py) Saving output to {outpath}')
+        df.to_csv(outpath)
+
+"""
+Runs a single falsification experiment.
+
+Arguments:
+    path: Path to Scenic script to be run.
+    parallel: Whether or not to enable parallelism.
+    model: Which simulator model to use (e.g. scenic.simulators.newtonian.driving_model)
+    sampler_type: Which VerifAI sampelr to use (e.g. halton, scenic, ce, mab, etc.)
+    headless: Whether or not to display each simulation.
+    num_workers: Number of parallel workers. Only used if parallel is true.
+"""
+def run_experiment(scenic_path, rulebook=None, parallel=False, model=None,
+                   sampler_type=None, headless=False, num_workers=5, max_time=None,
+                   n_iters=5, max_steps=300):
+    # Construct rulebook
+    rb = rulebook
+
+    # Construct sampler (scenic_sampler.py)
+    print(f'(multi.py) Running Scenic script {scenic_path}')
+    params = {'verifaiSamplerType': sampler_type} if sampler_type else {}
+    params['render'] = not headless
+    params['seed'] = 0
+    params['use2DMap'] = True
+    sampler = ScenicSampler.fromScenario(scenic_path, maxIterations=40000, params=params, model=model)
+    s_type = sampler.scenario.params.get('verifaiSamplerType', None)
+
+    # Construct falsifier (falsifier.py)
+    falsifier_params = DotMap(
+        n_iters=n_iters,
+        save_error_table=True,
+        save_safe_table=True,
+        max_time=max_time,
+        verbosity=1,
+    )
+    server_options = DotMap(maxSteps=max_steps, verbosity=1,
+                            scenic_path=scenic_path, scenario_params=params, scenario_model=model,
+                            num_workers=num_workers)
+    falsifier_class = generic_parallel_falsifier if parallel else generic_falsifier
+    falsifier = falsifier_class(monitor=rb, ## modified
+                                sampler_type=s_type, 
+                                sampler=sampler, 
+                                falsifier_params=falsifier_params,
+                                server_options=server_options,
+                                server_class=ScenicServer)
+    print(f'(multi.py) Sampler type: {falsifier.sampler_type}')
+    
+    # Run falsification
+    t0 = time.time()
+    print('(multi.py) Running falsifier...')
+    falsifier.run_falsifier()
+    t = time.time() - t0
+    print()
+    print(f'(multi.py) Generated {len(falsifier.samples)} samples in {t} seconds with {falsifier.num_workers} workers')
+    print(f'(multi.py) Number of counterexamples: {len(falsifier.error_table.table)}')
+    if not parallel:
+        print(f'(multi.py) Sampling time: {falsifier.total_sample_time}')
+        print(f'(multi.py) Simulation time: {falsifier.total_simulate_time}')
+    print(f'(multi.py) Confidence interval: {falsifier.get_confidence_interval()}')
+    return falsifier
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--scenic-path', '-sp', type=str, default='uberCrashNewton.scenic',
+    help='Path to Scenic script')
+    parser.add_argument('--graph-path', '-gp', type=str, default=None,
+    help='Path to graph file')
+    parser.add_argument('--rule-path', '-rp', type=str, default=None,
+    help='Path to rule file')
+    parser.add_argument('--segment-func-path', '-sfp', type=str, default=None,
+    help='Path to segment function file')
+    parser.add_argument('--output-dir', '-o', type=str, default=None,
+    help='Directory to save output trajectories')
+    parser.add_argument('--output-csv-dir', '-co', type=str, default=None,
+    help='Directory to save output error tables (csv files)')
+    parser.add_argument('--parallel', action='store_true')
+    parser.add_argument('--num-workers', type=int, default=5, help='Number of parallel workers')
+    parser.add_argument('--sampler-type', '-s', type=str, default=None,
+    help='verifaiSamplerType to use')
+    parser.add_argument('--experiment-name', '-e', type=str, default=None,
+    help='verifaiSamplerType to use')
+    parser.add_argument('--model', '-m', type=str, default='scenic.simulators.newtonian.driving_model')
+    parser.add_argument('--headless', action='store_true')
+    parser.add_argument('--n-iters', '-n', type=int, default=None, help='Number of simulations to run')
+    parser.add_argument('--max-time', type=int, default=None, help='Maximum amount of time to run simulations')
+    parser.add_argument('--single-graph', action='store_true', help='Only a unified priority graph')
+    parser.add_argument('--seed', type=int, default=0, help='Random seed')
+    parser.add_argument('--using-sampler', type=int, default=-1, help='Assigning sampler to use')
+    parser.add_argument('--max-simulation-steps', type=int, default=300, help='Maximum number of simulation steps')
+    parser.add_argument('--exploration-ratio', type=float, default=2.0, help='Exploration ratio')
+    args = parser.parse_args()
+    if args.n_iters is None and args.max_time is None:
+        raise ValueError('At least one of --n-iters or --max-time must be set')
+    
+    random.seed(args.seed)
+    np.random.seed(args.seed)
+    
+    rb = rulebook(args.graph_path, args.rule_path, args.segment_func_path, save_path=args.output_dir, single_graph=args.single_graph, 
+                  using_sampler=args.using_sampler, exploration_ratio=args.exploration_ratio)
+    run_experiments(args.scenic_path, rulebook=rb,
+    parallel=args.parallel, model=args.model,
+    sampler_type=args.sampler_type, headless=args.headless,
+    num_workers=args.num_workers, output_dir=args.output_csv_dir, experiment_name=args.experiment_name,
+    max_time=args.max_time, n_iters=args.n_iters, max_steps=args.max_simulation_steps)
diff --git a/examples/dynamic_rulebook/multi_01/multi_01.scenic b/examples/dynamic_rulebook/multi_01/multi_01.scenic
new file mode 100644
index 0000000..45cc74f
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_01/multi_01.scenic
@@ -0,0 +1,92 @@
+"""
+TITLE: Multi 01
+AUTHOR: Kai-Chun Chang, kaichunchang@berkeley.edu
+DESCRIPTION: The ego vehicle is driving along its lane when it encounters a blocking car ahead. The ego attempts to change to the opposite lane to bypass the blocking car before returning to its original lane.
+"""
+
+#################################
+# MAP AND MODEL                 #
+#################################
+
+param map = localPath('../maps/Town05.xodr')
+param carla_map = 'Town05'
+model scenic.domains.driving.model
+
+#################################
+# CONSTANTS                     #
+#################################
+
+MODEL = 'vehicle.lincoln.mkz_2017'
+
+param EGO_SPEED = VerifaiRange(6, 9) #7
+param DIST_THRESHOLD = VerifaiRange(12, 14) #13
+param BLOCKING_CAR_DIST = VerifaiRange(15, 20)
+param BYPASS_DIST = VerifaiRange(4, 6) #5
+
+DIST_TO_INTERSECTION = 15
+TERM_DIST = 40
+
+#################################
+# AGENT BEHAVIORS               #
+#################################
+
+behavior EgoBehavior(path):
+    current_lane = network.laneAt(self)
+    laneChangeCompleted = False
+    bypassed = False
+    try:
+        do FollowLaneBehavior(globalParameters.EGO_SPEED, laneToFollow=current_lane)
+    interrupt when (distance to blockingCar) < globalParameters.DIST_THRESHOLD and not laneChangeCompleted:
+        do LaneChangeBehavior(path, is_oppositeTraffic=True, target_speed=globalParameters.EGO_SPEED)
+        do FollowLaneBehavior(globalParameters.EGO_SPEED, is_oppositeTraffic=True) until (distance to blockingCar) > globalParameters.BYPASS_DIST
+        laneChangeCompleted = True
+    interrupt when (blockingCar can see ego) and (distance to blockingCar) > globalParameters.BYPASS_DIST and not bypassed:
+        current_laneSection = network.laneSectionAt(self)
+        rightLaneSec = current_laneSection._laneToLeft
+        do LaneChangeBehavior(rightLaneSec, is_oppositeTraffic=False, target_speed=globalParameters.EGO_SPEED)
+        bypassed = True
+
+#################################
+# SPATIAL RELATIONS             #
+#################################
+
+#Find lanes that have a lane to their left in the opposite direction
+laneSecsWithLeftLane = []
+for lane in network.lanes:
+    for laneSec in lane.sections:
+        if laneSec._laneToLeft is not None:
+            if laneSec._laneToLeft.isForward is not laneSec.isForward:
+                laneSecsWithLeftLane.append(laneSec)
+
+assert len(laneSecsWithLeftLane) > 0, \
+    'No lane sections with adjacent left lane with opposing \
+    traffic direction in network.'
+
+initLaneSec = Uniform(*laneSecsWithLeftLane)
+leftLaneSec = initLaneSec._laneToLeft
+
+spawnPt = new OrientedPoint on initLaneSec.centerline
+
+#################################
+# SCENARIO SPECIFICATION        #
+#################################
+
+ego = new Car at spawnPt,
+    with blueprint MODEL,
+    with behavior EgoBehavior(leftLaneSec)
+    
+blockingCar = new Car following roadDirection from ego for globalParameters.BLOCKING_CAR_DIST,
+            with blueprint MODEL,
+            with viewAngle 90 deg
+
+require (distance from blockingCar to intersection) > DIST_TO_INTERSECTION
+terminate when (distance to spawnPt) > TERM_DIST
+
+#################################
+# RECORDING                     #
+#################################
+
+record initial (initLaneSec.polygon.exterior.coords) as initLaneCoords
+record initial (leftLaneSec.polygon.exterior.coords) as leftLaneCoords
+record (ego.lane is initLaneSec.lane) as egoIsInInitLane
+record (ego.lane is leftLaneSec.lane) as egoIsInLeftLane
diff --git a/examples/dynamic_rulebook/multi_01/multi_01.sgraph b/examples/dynamic_rulebook/multi_01/multi_01.sgraph
new file mode 100644
index 0000000..8d00f5a
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_01/multi_01.sgraph
@@ -0,0 +1,5 @@
+# ID 0
+# Node list
+0 rule0
+1 rule1
+# Edge list
diff --git a/examples/dynamic_rulebook/multi_01/multi_01_00.graph b/examples/dynamic_rulebook/multi_01/multi_01_00.graph
new file mode 100644
index 0000000..763bd26
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_01/multi_01_00.graph
@@ -0,0 +1,6 @@
+# ID 0
+# Node list
+0 rule0
+1 rule1
+# Edge list
+1 0
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_01/multi_01_01.graph b/examples/dynamic_rulebook/multi_01/multi_01_01.graph
new file mode 100644
index 0000000..c5029f1
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_01/multi_01_01.graph
@@ -0,0 +1,6 @@
+# ID 1
+# Node list
+0 rule0
+1 rule1
+# Edge list
+0 1
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_01/multi_01_02.graph b/examples/dynamic_rulebook/multi_01/multi_01_02.graph
new file mode 100644
index 0000000..0ec18ce
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_01/multi_01_02.graph
@@ -0,0 +1,4 @@
+# ID 2
+# Node list
+1 rule1
+# Edge list
diff --git a/examples/dynamic_rulebook/multi_01/multi_01_segment.py b/examples/dynamic_rulebook/multi_01/multi_01_segment.py
new file mode 100644
index 0000000..f752ea0
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_01/multi_01_segment.py
@@ -0,0 +1,22 @@
+import numpy as np
+
+def segment_function(simulation):
+    positions = np.array(simulation.result.trajectory)
+    switch_idx_1 = len(simulation.result.trajectory)
+    switch_idx_2 = len(simulation.result.trajectory)
+    distances_to_obs = positions[:, 0, :] - positions[:, 1, :]
+    distances_to_obs = np.linalg.norm(distances_to_obs, axis=1)
+    for i in range(len(distances_to_obs)):
+        if distances_to_obs[i] < 8.5 and switch_idx_1 == len(simulation.result.trajectory):
+            switch_idx_1 = i
+            continue
+        if distances_to_obs[i] > 10 and switch_idx_1 < len(simulation.result.trajectory) and switch_idx_2 == len(simulation.result.trajectory):
+            switch_idx_2 = i
+            break
+    assert switch_idx_1 < len(simulation.result.trajectory), "Switching point 1 cannot be found"
+
+    indices_0 = np.arange(0, switch_idx_1)
+    indices_1 = np.arange(switch_idx_1, switch_idx_2)
+    indices_2 = np.arange(switch_idx_2, len(simulation.result.trajectory))
+    
+    return [indices_0, indices_1, indices_2]
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_01/multi_01_spec.py b/examples/dynamic_rulebook/multi_01/multi_01_spec.py
new file mode 100644
index 0000000..5e6d093
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_01/multi_01_spec.py
@@ -0,0 +1,19 @@
+import numpy as np
+
+def rule0(simulation, indices): # safe distance to obstacle
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv1 = positions[indices, [0], :] - positions[indices, [1], :]
+    distances_to_adv1 = np.linalg.norm(distances_to_adv1, axis=1)
+    rho = np.min(distances_to_adv1, axis=0) - 3
+    return rho
+
+def rule1(simulation, indices): # ego is in the left lane
+    if indices.size == 0:
+        return 1
+    ego_is_in_left_lane = np.array(simulation.result.records["egoIsInLeftLane"], dtype=bool)
+    for i in indices:
+        if ego_is_in_left_lane[i][1]:
+            return -1
+    return 1
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_01/util/multi_01_analyze_diversity.py b/examples/dynamic_rulebook/multi_01/util/multi_01_analyze_diversity.py
new file mode 100644
index 0000000..bd35d8f
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_01/util/multi_01_analyze_diversity.py
@@ -0,0 +1,61 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+import os
+
+directory = sys.argv[1]
+all_files = os.listdir(directory)
+all_files = [f for f in all_files if f.endswith('.csv') and f.startswith(sys.argv[2]+'.')]
+mode = sys.argv[3] # multi / single
+
+fig = plt.figure()
+ax = fig.add_subplot(projection='3d')
+count = 0
+ego_speed = []
+dist_threshold = []
+blocking_car_dist = []
+bypass_dist = []
+
+ego_speed_max = []
+dist_threshold_max = []
+blocking_car_dist_max = []
+bypass_dist_max = []
+
+for file in all_files:
+    infile = open(directory+'/'+file, 'r')
+    lines = infile.readlines()
+    if mode == 'single':
+        for i in range(1, len(lines)):
+            line = lines[i]
+            if float(line.split(',')[-1]) < 0 or float(line.split(',')[-2]) < 0:
+                ego_speed.append(float(line.split(',')[-3]))
+                dist_threshold.append(float(line.split(',')[-4]))
+                bypass_dist.append(float(line.split(',')[-5]))
+                blocking_car_dist.append(float(line.split(',')[-6]))
+    else:
+        for i in range(1, len(lines), 3):
+            line1 = lines[i]
+            line2 = lines[i+1]
+            line3 = lines[i+2]
+            if float(line2.split(',')[-1]) < 0 and float(line2.split(',')[-2]) < 0:
+                ego_speed_max.append(float(line1.split(',')[-3]))
+                dist_threshold_max.append(float(line1.split(',')[-4]))
+                bypass_dist_max.append(float(line1.split(',')[-5]))
+                blocking_car_dist_max.append(float(line1.split(',')[-6]))
+            else:
+                ego_speed.append(float(line1.split(',')[-3]))
+                dist_threshold.append(float(line1.split(',')[-4]))
+                bypass_dist.append(float(line1.split(',')[-5]))
+                blocking_car_dist.append(float(line1.split(',')[-6]))
+
+ax.scatter(ego_speed, dist_threshold, bypass_dist, c='b')
+ax.scatter(ego_speed_max, dist_threshold_max, bypass_dist_max, c='r')
+ax.set_xlabel('EGO_SPEED')
+ax.set_ylabel('DIST_THRESHOLD')
+ax.set_zlabel('BYPASS_DIST')
+plt.savefig(directory+'/'+sys.argv[2]+'_scatter.png')
+
+print("Standard deviation of ego_speed:", np.std(ego_speed), len(ego_speed))
+print("Standard deviation of dist_threshold:", np.std(dist_threshold), len(dist_threshold))
+print("Standard deviation of bypass_dist:", np.std(bypass_dist), len(bypass_dist))
+print("Standard deviation of blocking_car_dist:", np.std(blocking_car_dist), len(blocking_car_dist))
diff --git a/examples/dynamic_rulebook/multi_01/util/multi_01_collect_result.py b/examples/dynamic_rulebook/multi_01/util/multi_01_collect_result.py
new file mode 100644
index 0000000..fb7958f
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_01/util/multi_01_collect_result.py
@@ -0,0 +1,144 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+import itertools
+
+infile = open(sys.argv[1], 'r') # *.txt
+mode = sys.argv[2] # multi / single
+order = sys.argv[3]
+
+# error weights
+result_count_0 = [[] for i in range(3)]
+result_count_1 = [[] for i in range(3)]
+result_count_2 = [[] for i in range(3)]
+# counterexample types
+counterexample_type_0 = [{} for i in range(3)]
+counterexample_type_1 = [{} for i in range(3)]
+counterexample_type_2 = [{} for i in range(3)]
+curr_source = 0
+lines = infile.readlines()
+infile.close()
+
+for i in range(len(lines)):
+    if mode == 'multi':
+        if 'RHO' in lines[i]:
+            line = lines[i+1].strip().split(' ')
+            val1 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val1.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val1) == 2, 'Invalid length of rho'
+            result_count_0[curr_source].append(val1[0]*1 + val1[1]*2)
+            if tuple(1*np.array([val1[0], val1[1]])) in counterexample_type_0[curr_source]:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1]]))] += 1
+            else:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1]]))] = 1
+
+            line = lines[i+2].strip().split(' ')
+            val2 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val2.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val2) == 2, 'Invalid length of rho'
+            result_count_1[curr_source].append(val2[0]*2 + val2[1]*1)
+            if tuple(1*np.array([val2[0], val2[1]])) in counterexample_type_1[curr_source]:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1]]))] += 1
+            else:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1]]))] = 1
+
+            line = lines[i+3].strip().split(' ')
+            val3 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val3.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val3) == 1, 'Invalid length of rho'
+            result_count_2[curr_source].append(val3[0]*1)
+            if tuple(1*np.array([val3[0]])) in counterexample_type_2[curr_source]:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[0]]))] += 1
+            else:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[0]]))] = 1
+
+            if order == '-1':
+                curr_source = curr_source + 1 if curr_source < 2 else 0
+    else:
+        if 'Actual rho' in lines[i]:
+            line = lines[i+1].strip().split(' ')
+            val1 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val1.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val1) == 2, 'Invalid length of rho'
+            result_count_0[curr_source].append(val1[0]*1 + val1[1]*2)
+            if tuple(1*np.array([val1[0], val1[1]])) in counterexample_type_0[curr_source]:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1]]))] += 1
+            else:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1]]))] = 1
+
+            line = lines[i+2].strip().split(' ')
+            val2 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val2.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val2) == 2, 'Invalid length of rho'
+            result_count_1[curr_source].append(val2[0]*2 + val2[1]*1)
+            if tuple(1*np.array([val2[0], val2[1]])) in counterexample_type_1[curr_source]:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1]]))] += 1
+            else:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1]]))] = 1
+
+            line = lines[i+3].strip().split(' ')
+            val3 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val3.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val3) == 2, 'Invalid length of rho'
+            result_count_2[curr_source].append(val3[1]*1)
+            if tuple(1*np.array([val3[1]])) in counterexample_type_2[curr_source]:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[1]]))] += 1
+            else:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[1]]))] = 1
+
+            if order == '-1':
+                curr_source = curr_source + 1 if curr_source < 2 else 0
+
+print('Error weights')
+print('segment 0:')
+for i in range(1):
+    print('average:', np.mean(result_count_0[i]), 'max:', np.max(result_count_0[i]), 'percentage:', float(np.count_nonzero(result_count_0[i])/len(result_count_0[i])), result_count_0[i])
+print('segment 1:')
+for i in range(1):
+    print('average:', np.mean(result_count_1[i]), 'max:', np.max(result_count_1[i]), 'percentage:', float(np.count_nonzero(result_count_1[i])/len(result_count_1[i])), result_count_1[i])
+print('segment 2:')
+for i in range(1):
+    print('average:', np.mean(result_count_2[i]), 'max:', np.max(result_count_2[i]), 'percentage:', float(np.count_nonzero(result_count_2[i])/len(result_count_2[i])), result_count_2[i])
+
+print('\nCounterexample types')
+print('segment 0:')
+for i in range(1):
+    print('Types:', len(counterexample_type_0[i]))
+    for key, value in reversed(sorted(counterexample_type_0[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print('segment 1:')
+for i in range(1):
+    print('Types:', len(counterexample_type_1[i]))
+    for key, value in reversed(sorted(counterexample_type_1[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print('segment 2:')
+for i in range(1):
+    print('Types:', len(counterexample_type_2[i]))
+    for key, value in reversed(sorted(counterexample_type_2[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print()
diff --git a/examples/dynamic_rulebook/multi_02/multi_02.scenic b/examples/dynamic_rulebook/multi_02/multi_02.scenic
new file mode 100644
index 0000000..489ad66
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_02/multi_02.scenic
@@ -0,0 +1,125 @@
+"""
+TITLE: Multi 02
+AUTHOR: Kai-Chun Chang, kaichunchang@berkeley.edu
+"""
+
+#################################
+# MAP AND MODEL                 #
+#################################
+
+param map = localPath('../maps/Town05.xodr')
+param carla_map = 'Town05'
+model scenic.domains.driving.model
+
+#################################
+# CONSTANTS                     #
+#################################
+
+MODEL = 'vehicle.lincoln.mkz_2017'
+
+param EGO_SPEED = VerifaiRange(8, 12)
+param EGO_BRAKE = VerifaiRange(0.7, 1.0)
+param ADV_SPEED = VerifaiRange(3, 6)
+param ADV3_SPEED = VerifaiRange(3, 6)
+
+ADV1_DIST = 12
+ADV2_DIST = -6
+ADV3_DIST = 6
+
+BYPASS_DIST = 10
+SAFE_DIST = 10
+INIT_DIST = 40
+TERM_DIST = 80
+
+#################################
+# AGENT BEHAVIORS               #
+#################################
+
+behavior DecelerateBehavior(brake):
+    take SetBrakeAction(brake)
+
+behavior EgoBehavior():
+    try:
+        do FollowLaneBehavior(target_speed=globalParameters.EGO_SPEED)
+    interrupt when (distance from adv2 to ego) > BYPASS_DIST:
+        fasterLaneSec = self.laneSection.fasterLane
+        do LaneChangeBehavior(
+                laneSectionToSwitch=fasterLaneSec,
+                target_speed=globalParameters.EGO_SPEED)
+        try:
+            do FollowLaneBehavior(
+                    target_speed=globalParameters.EGO_SPEED,
+                    laneToFollow=fasterLaneSec.lane)
+        interrupt when (distance from adv3 to ego) < SAFE_DIST:
+            do DecelerateBehavior(brake=globalParameters.EGO_BRAKE)
+    interrupt when (distance from adv1 to ego) < SAFE_DIST:
+        do DecelerateBehavior(brake=globalParameters.EGO_BRAKE)
+
+behavior Adv1Behavior():
+    do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+
+behavior Adv2Behavior():
+    fasterLaneSec = self.laneSection.fasterLane
+    do LaneChangeBehavior(
+            laneSectionToSwitch=fasterLaneSec,
+            target_speed=globalParameters.ADV_SPEED)
+    do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+
+behavior Adv3Behavior():
+    fasterLaneSec = self.laneSection.fasterLane
+    do LaneChangeBehavior(
+            laneSectionToSwitch=fasterLaneSec,
+            target_speed=globalParameters.ADV_SPEED)
+    do FollowLaneBehavior(target_speed=globalParameters.ADV3_SPEED)
+
+#################################
+# SPATIAL RELATIONS             #
+#################################
+
+initLane = Uniform(*network.lanes)
+egoSpawnPt = new OrientedPoint in initLane.centerline
+
+#################################
+# SCENARIO SPECIFICATION        #
+#################################
+
+ego = new Car at egoSpawnPt,
+    with blueprint MODEL,
+    with behavior EgoBehavior()
+
+adv1 = new Car following roadDirection for ADV1_DIST,
+    with blueprint MODEL,
+    with behavior Adv1Behavior()
+
+adv2 = new Car following roadDirection for ADV2_DIST,
+    with blueprint MODEL,
+    with behavior Adv2Behavior()
+
+adv3 = new Car following roadDirection for ADV3_DIST,
+    with blueprint MODEL,
+    with behavior Adv3Behavior()
+
+require (distance to intersection) > INIT_DIST
+require (distance from adv1 to intersection) > INIT_DIST
+require (distance from adv2 to intersection) > INIT_DIST
+require (distance from adv3 to intersection) > INIT_DIST
+require always (adv1.laneSection._fasterLane is not None)
+terminate when (distance to egoSpawnPt) > TERM_DIST
+
+#################################
+# RECORDING                     #
+#################################
+
+record (ego.lane is initLane or ego.lane is not adv2.lane) as egoIsInInitLane
+record (adv2.lane is initLane) as adv2IsInInitLane # start evaluation only when adv2 reaches another lane
+record (adv3.lane is initLane) as adv3IsInInitLane # start evaluation only when adv3 reaches another lane
+
+record ego._boundingPolygon as egoPoly
+record adv1._boundingPolygon as adv1Poly
+record adv2._boundingPolygon as adv2Poly
+record adv3._boundingPolygon as adv3Poly
+
+record ego.laneSection.polygon as egoLanePoly
+record adv1.laneSection.polygon as adv1LanePoly
+record adv2.laneSection.polygon as adv2LanePoly
+record adv3.laneSection.polygon as adv3LanePoly
diff --git a/examples/dynamic_rulebook/multi_02/multi_02.sgraph b/examples/dynamic_rulebook/multi_02/multi_02.sgraph
new file mode 100644
index 0000000..015556e
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_02/multi_02.sgraph
@@ -0,0 +1,9 @@
+# ID 0
+# Node list
+0 rule0
+1 rule1
+2 rule2
+3 rule3
+# Edge list
+0 1
+3 2
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_02/multi_02_00.graph b/examples/dynamic_rulebook/multi_02/multi_02_00.graph
new file mode 100644
index 0000000..64d239c
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_02/multi_02_00.graph
@@ -0,0 +1,6 @@
+# ID 0
+# Node list
+0 rule0
+1 rule1
+# Edge list
+0 1
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_02/multi_02_01.graph b/examples/dynamic_rulebook/multi_02/multi_02_01.graph
new file mode 100644
index 0000000..9ffa546
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_02/multi_02_01.graph
@@ -0,0 +1,6 @@
+# ID 1
+# Node list
+2 rule2
+3 rule3
+# Edge list
+3 2
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_02/multi_02_segment.py b/examples/dynamic_rulebook/multi_02/multi_02_segment.py
new file mode 100644
index 0000000..dbdbfae
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_02/multi_02_segment.py
@@ -0,0 +1,29 @@
+import numpy as np
+
+def segment_function(simulation):
+    # Extract trajectory information
+    ego_is_in_init_lane = np.array(simulation.result.records["egoIsInInitLane"])
+    adv2_is_in_init_lane = np.array(simulation.result.records["adv2IsInInitLane"])
+    adv3_is_in_init_lane = np.array(simulation.result.records["adv3IsInInitLane"])
+
+    # Find starting point, i.e., adv2 and adv3 have reached the new lane
+    start_idx = -1
+    for i in range(len(adv2_is_in_init_lane)):
+        if adv2_is_in_init_lane[i][1] == 0 and adv3_is_in_init_lane[i][1] == 0:
+            start_idx = i
+            break
+    assert start_idx != -1, "Starting point not found"
+
+    # Find switching point, i.e., ego has reached the new lane
+    switch_idx = len(simulation.result.trajectory)
+    for i in range(start_idx, len(ego_is_in_init_lane)):
+        if ego_is_in_init_lane[i][1] == 0:
+            switch_idx = i
+            break
+    assert switch_idx > start_idx, "Switching point should be larger than starting point"
+    
+    # Evaluation
+    indices_0 = np.arange(start_idx, switch_idx)
+    indices_1 = np.arange(switch_idx, len(simulation.result.trajectory))
+    
+    return [indices_0, indices_1]
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_02/multi_02_spec.py b/examples/dynamic_rulebook/multi_02/multi_02_spec.py
new file mode 100644
index 0000000..573d1c3
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_02/multi_02_spec.py
@@ -0,0 +1,41 @@
+import numpy as np
+
+def rule0(simulation, indices): # safe distance to adv1
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv1 = positions[indices, [0], :] - positions[indices, [1], :]
+    distances_to_adv1 = np.linalg.norm(distances_to_adv1, axis=1)
+    rho = np.min(distances_to_adv1, axis=0) - 8
+    return rho
+
+def rule1(simulation, indices): # reach overtaking distance to adv2
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv2 = positions[indices, [0], :] - positions[indices, [2], :]
+    distances_to_adv2 = np.linalg.norm(distances_to_adv2, axis=1)
+    rho = np.max(distances_to_adv2, axis=0) - 10
+    if rho < 0:
+        return rho
+    elif np.max(indices) == len(simulation.result.trajectory) - 1: # lane change is not actually completed
+        return -0.1
+    return rho
+
+def rule2(simulation, indices): # safe distance to adv2 after lane change
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv2 = positions[indices, [0], :] - positions[indices, [2], :]
+    distances_to_adv2 = np.linalg.norm(distances_to_adv2, axis=1)
+    rho = np.min(distances_to_adv2, axis=0) - 8
+    return rho
+
+def rule3(simulation, indices): # safe distance to adv3
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv3 = positions[indices, [0], :] - positions[indices, [3], :]
+    distances_to_adv3 = np.linalg.norm(distances_to_adv3, axis=1)
+    rho = np.min(distances_to_adv3, axis=0) - 8
+    return rho
diff --git a/examples/dynamic_rulebook/multi_02/util/multi_02_analyze_diversity.py b/examples/dynamic_rulebook/multi_02/util/multi_02_analyze_diversity.py
new file mode 100644
index 0000000..49fd03b
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_02/util/multi_02_analyze_diversity.py
@@ -0,0 +1,60 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+import os
+
+directory = sys.argv[1]
+all_files = os.listdir(directory)
+all_files = [f for f in all_files if f.endswith('.csv') and f.startswith(sys.argv[2]+'.')]
+mode = sys.argv[3] # multi / single
+
+fig = plt.figure()
+ax = fig.add_subplot(projection='3d')
+count = 0
+adv3_speed = []
+adv_speed = []
+ego_brake = []
+ego_speed = []
+adv3_speed_seg0_max = []
+adv_speed_seg0_max = []
+ego_brake_seg0_max = []
+ego_speed_seg0_max = []
+for file in all_files:
+    infile = open(directory+'/'+file, 'r')
+    lines = infile.readlines()
+    if mode == 'single':
+        for i in range(1, len(lines)):
+            line = lines[i]
+            if float(line.split(',')[-1]) < 0 or float(line.split(',')[-2]) < 0 or float(line.split(',')[-3]) < 0 or float(line.split(',')[-4]) < 0:
+                ego_speed.append(float(line.split(',')[-5]))
+                ego_brake.append(float(line.split(',')[-6]))
+                adv_speed.append(float(line.split(',')[-7]))
+                adv3_speed.append(float(line.split(',')[-8]))
+    else:
+        for i in range(1, len(lines), 2):
+            line1 = lines[i]
+            line2 = lines[i+1]
+            if float(line1.split(',')[-1]) < 0 and float(line1.split(',')[-2]) < 0:
+                ego_speed_seg0_max.append(float(line1.split(',')[-3]))
+                ego_brake_seg0_max.append(float(line1.split(',')[-4]))
+                adv_speed_seg0_max.append(float(line1.split(',')[-5]))
+                adv3_speed_seg0_max.append(float(line1.split(',')[-6]))
+            elif float(line1.split(',')[-2]) < 0 or float(line1.split(',')[-1]) < 0 or float(line2.split(',')[-1]) < 0 or float(line2.split(',')[-2]) < 0:
+                ego_speed.append(float(line1.split(',')[-3]))
+                ego_brake.append(float(line1.split(',')[-4]))
+                adv_speed.append(float(line1.split(',')[-5]))
+                adv3_speed.append(float(line1.split(',')[-6]))
+            else:
+                print(file, i)
+
+ax.scatter(ego_speed_seg0_max, ego_brake_seg0_max, adv_speed_seg0_max, c='r')
+ax.scatter(ego_speed, ego_brake, adv_speed, c='b')
+ax.set_xlabel('EGO_SPEED')
+ax.set_ylabel('EGO_BRAKE')
+ax.set_zlabel('ADV_SPEED')
+plt.savefig(directory+'/'+sys.argv[2]+'_scatter.png')
+
+print("Standard deviation of ego_speed:", np.std(ego_speed), len(ego_speed))
+print("Standard deviation of ego_brake:", np.std(ego_brake), len(ego_brake))
+print("Standard deviation of adv_speed:", np.std(adv_speed), len(adv_speed))
+print("Standard deviation of adv3_speed:", np.std(adv3_speed), len(adv3_speed))
diff --git a/examples/dynamic_rulebook/multi_02/util/multi_02_collect_result.py b/examples/dynamic_rulebook/multi_02/util/multi_02_collect_result.py
new file mode 100644
index 0000000..87a78aa
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_02/util/multi_02_collect_result.py
@@ -0,0 +1,104 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+
+infile = open(sys.argv[1], 'r') # *.txt
+mode = sys.argv[2] # multi / single
+order = sys.argv[3] # -1 / 0 / 1
+
+# error weights
+result_count_0 = [[] for i in range(2)]
+result_count_1 = [[] for i in range(2)]
+# counterexample types
+counterexample_type_0 = [{} for i in range(2)]
+counterexample_type_1 = [{} for i in range(2)]
+curr_source = 0
+lines = infile.readlines()
+infile.close()
+
+count = 0
+
+for i in range(len(lines)):
+    if order == '0':
+        curr_source = 0
+    elif order == '1':
+        curr_source = 1
+    if mode == 'multi':
+        if 'RHO' in lines[i]:
+            line = lines[i+1].strip().split(' ')
+            val1 = []
+            for s in line:
+                if s != '':
+                    val1.append(float(s) < 0)
+            assert len(val1) == 2, 'Invalid length of rho'
+            result_count_0[curr_source].append(val1[0]*2 + val1[1]*1)
+            if tuple(1*np.array([val1[0], val1[1]])) in counterexample_type_0[curr_source]:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1]]))] += 1
+            else:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1]]))] = 1
+
+            line = lines[i+2].strip().split(' ')
+            val2 = []
+            for s in line:
+                if s != '':
+                    val2.append(float(s) < 0)
+            assert len(val2) == 2, 'Invalid length of rho'
+            result_count_1[curr_source].append(val2[1]*2 + val2[0]*1)
+            if tuple(1*np.array([val2[1], val2[0]])) in counterexample_type_1[curr_source]:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[1], val2[0]]))] += 1
+            else:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[1], val2[0]]))] = 1
+
+            if order == '-1':
+                curr_source = 1 - curr_source
+            
+            count += 1
+            if count == 900:
+                break
+    else:
+        if 'Actual rho' in lines[i]:
+            line = lines[i+1].strip().split(' ')
+            val1 = []
+            for s in line:
+                if s != '':
+                    val1.append(float(s) < 0)
+            assert len(val1) == 4, 'Invalid length of rho'
+            result_count_0[curr_source].append(val1[0]*2 + val1[1]*1)
+            if tuple(1*np.array([val1[0], val1[1]])) in counterexample_type_0[curr_source]:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1]]))] += 1
+            else:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1]]))] = 1
+
+            line = lines[i+2].strip().split(' ')
+            val2 = []
+            for s in line:
+                if s != '':
+                    val2.append(float(s) < 0)
+            assert len(val2) == 4, 'Invalid length of rho'
+            result_count_1[curr_source].append(val2[3]*2 + val2[2]*1)
+            if tuple(1*np.array([val2[3], val2[2]])) in counterexample_type_1[curr_source]:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[3], val2[2]]))] += 1
+            else:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[3], val2[2]]))] = 1
+
+print('Error weights')
+print('segment 0:')
+for i in range(1):
+    print('average:', np.mean(result_count_0[i]), 'max:', np.max(result_count_0[i]), 'percentage:', float(np.count_nonzero(result_count_0[i])/len(result_count_0[i])), result_count_0[i])
+print('segment 1:')
+for i in range(1):
+    print('average:', np.mean(result_count_1[i]), 'max:', np.max(result_count_1[i]), 'percentage:', float(np.count_nonzero(result_count_1[i])/len(result_count_1[i])), result_count_1[i])
+
+print('\nCounterexample types')
+print('segment 0:')
+for i in range(1):
+    print('Types:', len(counterexample_type_0[i]))
+    for key, value in reversed(sorted(counterexample_type_0[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print('segment 1:')
+for i in range(1):
+    print('Types:', len(counterexample_type_1[i]))
+    for key, value in reversed(sorted(counterexample_type_1[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print()
diff --git a/examples/dynamic_rulebook/multi_03/multi_03.scenic b/examples/dynamic_rulebook/multi_03/multi_03.scenic
new file mode 100644
index 0000000..ee1e6b8
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_03/multi_03.scenic
@@ -0,0 +1,177 @@
+"""
+TITLE: Multi 03
+AUTHOR: Kai-Chun Chang, kaichunchang@berkeley.edu
+"""
+
+#################################
+# MAP AND MODEL                 #
+#################################
+
+param map = localPath('../maps/Town05.xodr')
+param carla_map = 'Town05'
+model scenic.domains.driving.model
+
+#################################
+# CONSTANTS                     #
+#################################
+
+MODEL = 'vehicle.lincoln.mkz_2017' #'vehicle.toyota.prius'
+MODEL_ADV = 'vehicle.lincoln.mkz_2017'
+
+EGO_INIT_DIST = [30, 40]
+param EGO_SPEED = VerifaiRange(7, 10)
+EGO_BRAKE = 1.0
+
+ADV1_DIST = -8
+ADV_INIT_DIST = [15, 25]
+param ADV_SPEED = VerifaiRange(5, 8)
+param ADV1_SPEED = VerifaiRange(9, 12)
+param ADV2_SPEED = VerifaiRange(4, 7)
+ADV_BRAKE = 1.0
+
+PED_MIN_SPEED = 1.0
+PED_THRESHOLD = 20
+PED_FINAL_SPEED = 1.0
+
+#param SAFETY_DIST = VerifaiRange(8, 12)
+SAFETY_DIST = 8
+CRASH_DIST = 5
+TERM_DIST = 80
+
+#################################
+# AGENT BEHAVIORS               #
+#################################
+
+behavior EgoBehavior(trajectory):
+    flag = True
+    try:
+        do FollowTrajectoryBehavior(target_speed=globalParameters.EGO_SPEED, trajectory=trajectory)
+        do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+    interrupt when withinDistanceToAnyObjs(self, SAFETY_DIST) and (ped in network.drivableRegion) and flag:
+        flag = False
+        while withinDistanceToAnyObjs(self, SAFETY_DIST + 3):
+            take SetBrakeAction(EGO_BRAKE)
+
+behavior Adv1Behavior(trajectory):
+    try:
+        do FollowTrajectoryBehavior(target_speed=globalParameters.ADV1_SPEED, trajectory=trajectory)
+        #do FollowLaneBehavior(target_speed=globalParameters.ADV1_SPEED)
+    interrupt when (distance from adv1 to ego) < SAFETY_DIST:
+    #interrupt when (distance from adv1 to ego) < SAFETY_DIST + 3:
+        take SetBrakeAction(ADV_BRAKE)
+
+behavior Adv2Behavior(trajectory):
+    try:
+        do FollowTrajectoryBehavior(target_speed=globalParameters.ADV_SPEED, trajectory=trajectory)
+        do FollowLaneBehavior(target_speed=globalParameters.ADV2_SPEED)
+    interrupt when (distance from self to ped) < SAFETY_DIST:
+    #    take SetBrakeAction(ADV_BRAKE)
+    #interrupt when withinDistanceToAnyObjs(self, SAFETY_DIST + 3):
+        take SetBrakeAction(ADV_BRAKE)
+
+behavior Adv3Behavior(trajectory):
+    try:
+        do FollowTrajectoryBehavior(target_speed=globalParameters.ADV_SPEED, trajectory=trajectory)
+        do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+    interrupt when (distance from self to ped) < SAFETY_DIST:
+    #    take SetBrakeAction(ADV_BRAKE)
+    #interrupt when withinDistanceToAnyObjs(self, SAFETY_DIST + 3):
+        take SetBrakeAction(ADV_BRAKE)
+
+behavior Adv4Behavior(trajectory):
+    try:
+        do FollowTrajectoryBehavior(target_speed=globalParameters.ADV_SPEED, trajectory=trajectory)
+    interrupt when withinDistanceToAnyObjs(self, SAFETY_DIST):
+        take SetBrakeAction(ADV_BRAKE)
+
+behavior Pedbehavior():
+    take SetWalkingSpeedAction(speed=PED_MIN_SPEED)
+
+#################################
+# SPATIAL RELATIONS             #
+#################################
+
+intersection = Uniform(*filter(lambda i: i.is4Way, network.intersections))
+
+# ego: right turn from S to E
+egoManeuver = Uniform(*filter(lambda m: m.type is ManeuverType.RIGHT_TURN, intersection.maneuvers))
+egoInitLane = egoManeuver.startLane
+egoTrajectory = [egoInitLane, egoManeuver.connectingLane, egoManeuver.endLane]
+egoSpawnPt = new OrientedPoint in egoInitLane.centerline
+
+# adv1: straight from S to N
+adv1InitLane = egoInitLane
+adv1Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv1InitLane.maneuvers))
+adv1Trajectory = [adv1InitLane, adv1Maneuver.connectingLane, adv1Maneuver.endLane]
+
+# adv2: straight from W to E
+adv2InitLane = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT,
+        Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, egoInitLane.maneuvers)).conflictingManeuvers)).startLane
+adv2Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv2InitLane.maneuvers))
+adv2Trajectory = [adv2InitLane, adv2Maneuver.connectingLane, adv2Maneuver.endLane]
+adv2SpawnPt = new OrientedPoint in adv2InitLane.centerline
+
+# adv3: left-turn from E to S
+adv3InitLane = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv2Maneuver.reverseManeuvers)).startLane
+adv3Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.LEFT_TURN, adv3InitLane.maneuvers))
+adv3Trajectory = [adv3InitLane, adv3Maneuver.connectingLane, adv3Maneuver.endLane]
+
+# adv4: left-turn from N to E
+adv4InitLane = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT,
+        Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, egoInitLane.maneuvers)).reverseManeuvers)).startLane
+adv4Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.LEFT_TURN, adv4InitLane.maneuvers))
+adv4Trajectory = [adv4InitLane, adv4Maneuver.connectingLane, adv4Maneuver.endLane]
+
+# pedestrian
+tempSpawnPt = egoInitLane.centerline[-1]
+pedSpawnPt = new OrientedPoint right of tempSpawnPt by 5
+pedEndPt = new OrientedPoint at pedSpawnPt offset by (0, 5, 0)
+
+#################################
+# SCENARIO SPECIFICATION        #
+#################################
+
+ego = new Car at egoSpawnPt,
+    with blueprint MODEL,
+    with behavior EgoBehavior(egoTrajectory)
+
+adv1 = new Car following roadDirection for ADV1_DIST,
+    with blueprint MODEL_ADV,
+    with behavior Adv1Behavior(adv1Trajectory)
+
+adv2 = new Car at adv2SpawnPt,
+    with blueprint MODEL_ADV,
+    with behavior Adv2Behavior(adv2Trajectory)
+
+adv3 = new Car at adv2 offset by -10 @ 70,
+    with blueprint MODEL_ADV,
+    with behavior Adv3Behavior(adv3Trajectory)
+
+adv4 = new Car at ego offset by -10 @ 85,
+    with blueprint MODEL_ADV,
+    with behavior Adv3Behavior(adv4Trajectory)
+
+ped = new Pedestrian at pedSpawnPt,
+    facing toward pedEndPt,
+    with regionContainedIn None,
+    with behavior Pedbehavior()
+
+require EGO_INIT_DIST[0] <= (distance to intersection) <= EGO_INIT_DIST[1]
+require ADV_INIT_DIST[0] <= (distance from adv2 to intersection) <= ADV_INIT_DIST[1]
+require adv3InitLane.road is egoManeuver.endLane.road
+terminate when (distance to egoSpawnPt) > TERM_DIST 
+#or (distance from adv2 to adv2SpawnPt) > TERM_DIST + 40
+
+#################################
+# RECORDING                     #
+#################################
+
+record (ego in network.drivableRegion) as egoIsInDrivableRegion
+record (distance from ego to network.drivableRegion) as egoDistToDrivableRegion
+record (distance from ego to egoInitLane.group) as egoDistToEgoInitLane
+record (distance from ego to egoManeuver.endLane.group) as egoDistToEgoEndLane
+record (distance from ego to ego.lane.centerline) as egoDistToEgoLaneCenterline
+record (distance from ego to intersection) as egoDistToIntersection
+
+record (distance from ego to adv1) as egoDistToAdv1
+record (distance to egoSpawnPt) as egoDistToEgoSpawnPt
diff --git a/examples/dynamic_rulebook/multi_03/multi_03.sgraph b/examples/dynamic_rulebook/multi_03/multi_03.sgraph
new file mode 100644
index 0000000..26eeeb3
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_03/multi_03.sgraph
@@ -0,0 +1,24 @@
+# ID 0
+# Node list
+0 rule0
+1 rule1
+2 rule2
+3 rule3
+4 rule4
+5 rule5
+8 rule8
+9 rule9
+10 rule10
+# Edge list
+0 1
+0 2
+0 3
+0 4
+1 5
+2 5
+3 5
+4 5
+5 9
+5 10
+9 8
+10 8
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_03/multi_03_00.graph b/examples/dynamic_rulebook/multi_03/multi_03_00.graph
new file mode 100644
index 0000000..7aaf890
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_03/multi_03_00.graph
@@ -0,0 +1,10 @@
+# ID 0
+# Node list
+1 rule1
+5 rule5
+8 rule8
+9 rule9
+# Edge list
+1 5
+5 9
+9 8
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_03/multi_03_01.graph b/examples/dynamic_rulebook/multi_03/multi_03_01.graph
new file mode 100644
index 0000000..157ede5
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_03/multi_03_01.graph
@@ -0,0 +1,19 @@
+# ID 1
+# Node list
+0 rule0
+1 rule1
+2 rule2
+3 rule3
+4 rule4
+5 rule5
+10 rule10
+# Edge list
+0 1
+0 2
+0 3
+0 4
+1 5
+2 5
+3 5
+4 5
+5 10
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_03/multi_03_02.graph b/examples/dynamic_rulebook/multi_03/multi_03_02.graph
new file mode 100644
index 0000000..758b5fb
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_03/multi_03_02.graph
@@ -0,0 +1,12 @@
+# ID 2
+# Node list
+2 rule2
+3 rule3
+4 rule4
+5 rule5
+8 rule8
+# Edge list
+2 5
+3 5
+4 5
+5 8
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_03/multi_03_segment.py b/examples/dynamic_rulebook/multi_03/multi_03_segment.py
new file mode 100644
index 0000000..f67cea3
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_03/multi_03_segment.py
@@ -0,0 +1,26 @@
+import numpy as np
+
+def segment_function(simulation):
+    # Extract trajectory information
+    ego_dist_to_intersection = np.array(simulation.result.records["egoDistToIntersection"])
+    
+    # Find switching points, i.e., ego has reached the intersection / ego has finished the right turn
+    switch_idx_1 = len(simulation.result.trajectory)
+    switch_idx_2 = len(simulation.result.trajectory)
+    for i in range(len(ego_dist_to_intersection)):
+        if ego_dist_to_intersection[i][1] == 0 and switch_idx_1 == len(simulation.result.trajectory):
+            switch_idx_1 = i
+            break
+    if switch_idx_1 < len(simulation.result.trajectory):
+        for i in reversed(range(switch_idx_1, len(ego_dist_to_intersection))):
+            if ego_dist_to_intersection[i][1] == 0:
+                switch_idx_2 = i + 1
+                break
+    assert switch_idx_1 <= switch_idx_2
+    
+    # Evaluation
+    indices_0 = np.arange(0, switch_idx_1)
+    indices_1 = np.arange(switch_idx_1, switch_idx_2)
+    indices_2 = np.arange(switch_idx_2, len(simulation.result.trajectory))
+    
+    return [indices_0, indices_1, indices_2]
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_03/multi_03_spec.py b/examples/dynamic_rulebook/multi_03/multi_03_spec.py
new file mode 100644
index 0000000..123d6d5
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_03/multi_03_spec.py
@@ -0,0 +1,92 @@
+import numpy as np
+
+def rule0(simulation, indices): # A, 1: safe distance to ped
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_ped = positions[indices, [0], :] - positions[indices, [5], :]
+    distances_to_ped = np.linalg.norm(distances_to_ped, axis=1)
+    rho = np.min(distances_to_ped, axis=0) - 8
+    return rho
+
+def rule1(simulation, indices): # B, 1: safe distance to adv1
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [1], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule2(simulation, indices): # B, 2: safe distance to adv2
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [2], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule3(simulation, indices): # B, 3: safe distance to adv3
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [3], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule4(simulation, indices): # B, 4: safe distance to adv4
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [4], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule5(simulation, indices): # C: stay in drivable area
+    if indices.size == 0:
+        return 1
+    distance_to_drivable = np.array(simulation.result.records["egoDistToDrivableRegion"])
+    rho = -np.max(distance_to_drivable[indices], axis=0)[1]
+    return rho
+
+def rule6(simulation, indices): # D, 1: stay in the correct side of the road, before intersection
+    if indices.size == 0:
+        return 1
+    distance_to_lane_group = np.array(simulation.result.records["egoDistToEgoInitLane"])
+    rho = -np.max(distance_to_lane_group[indices], axis=0)[1]
+    return rho
+
+def rule7(simulation, indices): # D, 2: stay in the correct side of the road, after intersection
+    if indices.size == 0:
+        return 1
+    distance_to_lane_group = np.array(simulation.result.records["egoDistToEgoEndLane"])
+    rho = -np.max(distance_to_lane_group[indices], axis=0)[1]
+    return rho
+
+def rule8(simulation, indices): # F: lane keeping
+    if indices.size == 0:
+        return 1
+    distance_to_lane_center = np.array(simulation.result.records["egoDistToEgoLaneCenterline"])
+    rho = 0.4 - np.max(distance_to_lane_center[indices], axis=0)[1]
+    return rho
+
+def rule9(simulation, indices): # H, 1: reach intersection
+    if indices.size == 0:
+        return 1
+    if max(indices) < len(simulation.result.trajectory) - 1:
+        return 1
+    ego_dist_to_intersection = np.array(simulation.result.records["egoDistToIntersection"])
+    rho = -np.min(ego_dist_to_intersection[indices], axis=0)[1]
+    return rho
+
+def rule10(simulation, indices): # H, 2: finish right-turn
+    if indices.size == 0:
+        return 1
+    if max(indices) < len(simulation.result.trajectory) - 1:
+        return 1
+    ego_dist_to_end_lane = np.array(simulation.result.records["egoDistToEgoEndLane"])
+    rho = -np.min(ego_dist_to_end_lane[indices], axis=0)[1]
+    return rho
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_03/util/multi_03_analyze_diversity.py b/examples/dynamic_rulebook/multi_03/util/multi_03_analyze_diversity.py
new file mode 100644
index 0000000..9e6f0e7
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_03/util/multi_03_analyze_diversity.py
@@ -0,0 +1,47 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+import os
+
+directory = sys.argv[1]
+all_files = os.listdir(directory)
+all_files = [f for f in all_files if f.endswith('.csv') and f.startswith(sys.argv[2]+'.')]
+mode = sys.argv[3] # multi / single
+
+fig = plt.figure()
+ax = fig.add_subplot(projection='3d')
+count = 0
+adv1_speed = []
+adv2_speed = []
+adv_speed = []
+ego_speed = []
+for file in all_files:
+    infile = open(directory+'/'+file, 'r')
+    lines = infile.readlines()
+    if mode == 'single':
+        for i in range(1, len(lines)):
+            line = lines[i] #TODO: identify the counterexamples
+            ego_speed.append(float(line.split(',')[-10]))
+            adv_speed.append(float(line.split(',')[-11]))
+            adv2_speed.append(float(line.split(',')[-12]))
+            adv1_speed.append(float(line.split(',')[-13]))
+    else:
+        for i in range(1, len(lines), 3):
+            line1 = lines[i]
+            line2 = lines[i+1]
+            line3 = lines[i+2] #TODO: identify the counterexamples
+            ego_speed.append(float(line1.split(',')[-8]))
+            adv_speed.append(float(line1.split(',')[-9]))
+            adv2_speed.append(float(line1.split(',')[-10]))
+            adv1_speed.append(float(line1.split(',')[-11]))
+
+ax.scatter(ego_speed, adv_speed, adv2_speed)
+ax.set_xlabel('EGO_SPEED')
+ax.set_ylabel('ADV_SPEED')
+ax.set_zlabel('ADV2_SPEED')
+plt.savefig(directory+'/'+sys.argv[2]+'_scatter.png')
+
+print("Standard deviation of ego_speed:", np.std(ego_speed), len(ego_speed))
+print("Standard deviation of adv_speed:", np.std(adv_speed), len(adv_speed))
+print("Standard deviation of adv1_speed:", np.std(adv1_speed), len(adv1_speed))
+print("Standard deviation of adv2_speed:", np.std(adv2_speed), len(adv2_speed))
diff --git a/examples/dynamic_rulebook/multi_03/util/multi_03_collect_result.py b/examples/dynamic_rulebook/multi_03/util/multi_03_collect_result.py
new file mode 100644
index 0000000..98cc817
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_03/util/multi_03_collect_result.py
@@ -0,0 +1,144 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+import itertools
+
+infile = open(sys.argv[1], 'r') # *.txt
+mode = sys.argv[2] # multi / single
+order = sys.argv[3] # alternate / sequential
+
+# error weights
+result_count_0 = [[] for i in range(3)]
+result_count_1 = [[] for i in range(3)]
+result_count_2 = [[] for i in range(3)]
+# counterexample types
+counterexample_type_0 = [{} for i in range(3)]
+counterexample_type_1 = [{} for i in range(3)]
+counterexample_type_2 = [{} for i in range(3)]
+curr_source = 0
+lines = infile.readlines()
+infile.close()
+
+for i in range(len(lines)):
+    if mode == 'multi':
+        if 'RHO' in lines[i]:
+            line = lines[i+1].strip().split(' ')
+            val1 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val1.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val1) == 4, 'Invalid length of rho'
+            result_count_0[curr_source].append(val1[0]*8 + val1[1]*4 + val1[3]*2 + val1[2]*1)
+            if tuple(1*np.array([val1[0], val1[1], val1[3], val1[2]])) in counterexample_type_0[curr_source]:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1], val1[3], val1[2]]))] += 1
+            else:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1], val1[3], val1[2]]))] = 1
+
+            line = lines[i+2].strip().split(' ')
+            val2 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val2.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val2) == 7, 'Invalid length of rho'
+            result_count_1[curr_source].append(val2[0]*64 + val2[1]*4 + val2[2]*4 + val2[3]*4 + val2[4]*4 + val2[5]*2 + val2[6]*1)
+            if tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4], val2[5], val2[6]])) in counterexample_type_1[curr_source]:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4], val2[5], val2[6]]))] += 1
+            else:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4], val2[5], val2[6]]))] = 1
+
+            line = lines[i+3].strip().split(' ')
+            val3 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val3.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val3) == 5, 'Invalid length of rho'
+            result_count_2[curr_source].append(val3[0]*4 + val3[1]*4 + val3[2]*4 + val3[3]*2 + val3[4]*1)
+            if tuple(1*np.array([val3[0], val3[1], val3[2], val3[3], val3[4]])) in counterexample_type_2[curr_source]:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[0], val3[1], val3[2], val3[3], val3[4]]))] += 1
+            else:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[0], val3[1], val3[2], val3[3], val3[4]]))] = 1
+
+            if order == '-1':
+                curr_source = curr_source + 1 if curr_source < 2 else 0
+    else:
+        if 'Actual rho' in lines[i]:
+            line = lines[i+1].strip().split(' ')
+            val1 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val1.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val1) == 9, 'Invalid length of rho'
+            result_count_0[curr_source].append(val1[1]*8 + val1[5]*4 + val1[7]*2 + val1[6]*1)
+            if tuple(1*np.array([val1[1], val1[5], val1[7], val1[6]])) in counterexample_type_0[curr_source]:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[1], val1[5], val1[7], val1[6]]))] += 1
+            else:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[1], val1[5], val1[7], val1[6]]))] = 1
+
+            line = lines[i+2].strip().split(' ')
+            val2 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val2.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val2) == 9, 'Invalid length of rho'
+            result_count_1[curr_source].append(val2[0]*64 + val2[1]*4 + val2[2]*4 + val2[3]*4 + val2[4]*4 + val2[5]*2 + val2[8]*1)
+            if tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4], val2[5], val2[8]])) in counterexample_type_1[curr_source]:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4], val2[5], val2[8]]))] += 1
+            else:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4], val2[5], val2[8]]))] = 1
+
+            line = lines[i+3].strip().split(' ')
+            val3 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val3.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val3) == 9, 'Invalid length of rho'
+            result_count_2[curr_source].append(val3[2]*4 + val3[3]*4 + val3[4]*4 + val3[5]*2 + val3[6]*1)
+            if tuple(1*np.array([val3[2], val3[3], val3[4], val3[5], val3[6]])) in counterexample_type_2[curr_source]:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[2], val3[3], val3[4], val3[5], val3[6]]))] += 1
+            else:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[2], val3[3], val3[4], val3[5], val3[6]]))] = 1
+
+            if order == '-1':
+                curr_source = curr_source + 1 if curr_source < 2 else 0
+
+print('Error weights')
+print('segment 0:')
+for i in range(1):
+    print('average:', np.mean(result_count_0[i]), 'max:', np.max(result_count_0[i]), 'percentage:', float(np.count_nonzero(result_count_0[i])/len(result_count_0[i])), result_count_0[i])
+print('segment 1:')
+for i in range(1):
+    print('average:', np.mean(result_count_1[i]), 'max:', np.max(result_count_1[i]), 'percentage:', float(np.count_nonzero(result_count_1[i])/len(result_count_1[i])), result_count_1[i])
+print('segment 2:')
+for i in range(1):
+    print('average:', np.mean(result_count_2[i]), 'max:', np.max(result_count_2[i]), 'percentage:', float(np.count_nonzero(result_count_2[i])/len(result_count_2[i])), result_count_2[i])
+
+print('\nCounterexample types')
+print('segment 0:')
+for i in range(1):
+    print('Types:', len(counterexample_type_0[i]))
+    for key, value in reversed(sorted(counterexample_type_0[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print('segment 1:')
+for i in range(1):
+    print('Types:', len(counterexample_type_1[i]))
+    for key, value in reversed(sorted(counterexample_type_1[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print('segment 2:')
+for i in range(1):
+    print('Types:', len(counterexample_type_2[i]))
+    for key, value in reversed(sorted(counterexample_type_2[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print()
diff --git a/examples/dynamic_rulebook/multi_inter_left/multi_inter_left.scenic b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left.scenic
new file mode 100644
index 0000000..7d7833d
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left.scenic
@@ -0,0 +1,137 @@
+"""
+TITLE: Verifai 2.0 Left Turn
+AUTHOR: Kai-Chun Chang, kaichunchang@berkeley.edu
+"""
+
+#################################
+# MAP AND MODEL                 #
+#################################
+
+param map = localPath('../maps/Town05.xodr')
+param carla_map = 'Town05'
+model scenic.domains.driving.model
+
+#################################
+# CONSTANTS                     #
+#################################
+
+MODEL = 'vehicle.lincoln.mkz_2017' #'vehicle.toyota.prius'
+MODEL_ADV = 'vehicle.lincoln.mkz_2017'
+
+EGO_INIT_DIST = [30, 40]
+param EGO_SPEED = VerifaiRange(7, 10)
+param EGO_BRAKE = VerifaiRange(0.8, 1.0)
+
+param ADV1_DIST = VerifaiRange(6, 10)
+ADV_INIT_DIST = [15, 25]
+param ADV_SPEED = VerifaiRange(5, 8)
+
+PED_MIN_SPEED = 1.0
+PED_THRESHOLD = 20
+PED_FINAL_SPEED = 1.0
+
+SAFETY_DIST = 8
+CRASH_DIST = 5
+TERM_DIST = 80
+
+#################################
+# AGENT BEHAVIORS               #
+#################################
+
+behavior EgoBehavior(trajectory):
+    try:
+        do FollowTrajectoryBehavior(target_speed=globalParameters.EGO_SPEED, trajectory=trajectory)
+        do FollowLaneBehavior(target_speed=globalParameters.EGO_SPEED)
+    interrupt when withinDistanceToAnyObjs(self, SAFETY_DIST):
+        take SetBrakeAction(globalParameters.EGO_BRAKE)
+
+behavior Adv1Behavior(trajectory):
+    do FollowTrajectoryBehavior(target_speed=globalParameters.ADV_SPEED, trajectory=trajectory)
+    do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+
+behavior Adv2Behavior(trajectory):
+    do FollowTrajectoryBehavior(target_speed=globalParameters.ADV_SPEED, trajectory=trajectory)
+    do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+
+behavior Adv3Behavior(trajectory):
+    do FollowTrajectoryBehavior(target_speed=globalParameters.ADV_SPEED, trajectory=trajectory)
+    do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+
+#################################
+# SPATIAL RELATIONS             #
+#################################
+
+intersection = Uniform(*filter(lambda i: i.is4Way, network.intersections))
+
+# ego: left turn from S to W
+egoManeuver = Uniform(*filter(lambda m: m.type is ManeuverType.LEFT_TURN, intersection.maneuvers))
+egoInitLane = egoManeuver.startLane
+egoTrajectory = [egoInitLane, egoManeuver.connectingLane, egoManeuver.endLane]
+egoSpawnPt = new OrientedPoint in egoInitLane.centerline
+
+# adv1: straight from S to N
+adv1InitLane = egoInitLane
+adv1Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv1InitLane.maneuvers))
+adv1Trajectory = [adv1InitLane, adv1Maneuver.connectingLane, adv1Maneuver.endLane]
+
+# adv2: straight from W to E
+adv2InitLane = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT,
+        Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, egoInitLane.maneuvers)).conflictingManeuvers)).startLane
+adv2Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv2InitLane.maneuvers))
+adv2Trajectory = [adv2InitLane, adv2Maneuver.connectingLane, adv2Maneuver.endLane]
+adv2SpawnPt = new OrientedPoint in adv2InitLane.centerline
+
+# adv3: straight from E to W
+adv3InitLane = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv2Maneuver.reverseManeuvers)).startLane
+adv3Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv3InitLane.maneuvers))
+adv3Trajectory = [adv3InitLane, adv3Maneuver.connectingLane, adv3Maneuver.endLane]
+adv3SpawnPt = new OrientedPoint in adv3InitLane.centerline
+
+#################################
+# SCENARIO SPECIFICATION        #
+#################################
+
+ego = new Car at egoSpawnPt,
+    with blueprint MODEL,
+    with behavior EgoBehavior(egoTrajectory)
+
+adv1 = new Car following roadDirection for globalParameters.ADV1_DIST,
+    with blueprint MODEL_ADV,
+    with behavior Adv1Behavior(adv1Trajectory)
+
+adv2 = new Car at adv2SpawnPt,
+    with blueprint MODEL_ADV,
+    with behavior Adv2Behavior(adv2Trajectory)
+
+adv3 = new Car at adv3SpawnPt,
+    with blueprint MODEL_ADV,
+    with behavior Adv3Behavior(adv3Trajectory)
+
+require EGO_INIT_DIST[0] <= (distance to intersection) <= EGO_INIT_DIST[1]
+require ADV_INIT_DIST[0] <= (distance from adv2 to intersection) <= ADV_INIT_DIST[1]
+require ADV_INIT_DIST[0] <= (distance from adv3 to intersection) <= ADV_INIT_DIST[1]
+require adv2InitLane.road is egoManeuver.endLane.road
+terminate when (distance to egoSpawnPt) > TERM_DIST
+
+#################################
+# RECORDING                     #
+#################################
+
+record (ego in network.drivableRegion) as egoIsInDrivableRegion
+record (distance from ego to network.drivableRegion) as egoDistToDrivableRegion
+record (distance from ego to egoInitLane.group) as egoDistToEgoInitLane
+record (distance from ego to egoManeuver.endLane.group) as egoDistToEgoEndLane
+record (distance from ego to ego.lane.centerline) as egoDistToEgoLaneCenterline
+record (distance from ego to intersection) as egoDistToIntersection
+
+record (distance from ego to adv1) as egoDistToAdv1
+record (distance to egoSpawnPt) as egoDistToEgoSpawnPt
+
+record ego._boundingPolygon as egoPoly
+record adv1._boundingPolygon as adv1Poly
+record adv2._boundingPolygon as adv2Poly
+record adv3._boundingPolygon as adv3Poly
+record ego.lane.polygon as egoLanePoly
+record adv1.lane.polygon as adv1LanePoly
+record adv2.lane.polygon as adv2LanePoly
+record adv3.lane.polygon as adv3LanePoly
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_left/multi_inter_left.sgraph b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left.sgraph
new file mode 100644
index 0000000..84ebef3
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left.sgraph
@@ -0,0 +1,23 @@
+# ID 0
+# Node list
+0 rule0
+1 rule1
+2 rule2
+3 rule3
+4 rule4
+5 rule5
+6 rule6
+7 rule7
+8 rule8
+# Edge list
+0 3
+1 3
+2 3
+3 4
+3 5
+4 7
+4 8
+5 7
+5 8
+7 6
+8 6
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_00.graph b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_00.graph
new file mode 100644
index 0000000..82ebaca
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_00.graph
@@ -0,0 +1,12 @@
+# ID 0
+# Node list
+0 rule0
+3 rule3
+4 rule4
+6 rule6
+7 rule7
+# Edge list
+0 3
+3 4
+4 7
+7 6
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_01.graph b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_01.graph
new file mode 100644
index 0000000..c595a0f
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_01.graph
@@ -0,0 +1,12 @@
+# ID 1
+# Node list
+0 rule0
+1 rule1
+2 rule2
+3 rule3
+8 rule8
+# Edge list
+0 3
+1 3
+2 3
+3 8
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_02.graph b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_02.graph
new file mode 100644
index 0000000..ad03f6e
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_02.graph
@@ -0,0 +1,10 @@
+# ID 2
+# Node list
+2 rule2
+3 rule3
+5 rule5
+6 rule6
+# Edge list
+2 3
+3 5
+5 6
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_segment.py b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_segment.py
new file mode 100644
index 0000000..7b136bc
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_segment.py
@@ -0,0 +1,22 @@
+import numpy as np
+
+def segment_function(simulation):
+    ego_dist_to_intersection = np.array(simulation.result.records["egoDistToIntersection"])
+    # Find switching points, i.e., ego has reached the intersection / ego has finished the left turn
+    switch_idx_1 = len(simulation.result.trajectory)
+    switch_idx_2 = len(simulation.result.trajectory)
+    for i in range(len(ego_dist_to_intersection)):
+        if ego_dist_to_intersection[i][1] == 0 and switch_idx_1 == len(simulation.result.trajectory):
+            switch_idx_1 = i
+            break
+    if switch_idx_1 < len(simulation.result.trajectory):
+        for i in reversed(range(switch_idx_1, len(ego_dist_to_intersection))):
+            if ego_dist_to_intersection[i][1] == 0:
+                switch_idx_2 = i + 1
+                break
+    assert switch_idx_1 <= switch_idx_2
+    indices_0 = np.arange(0, switch_idx_1)
+    indices_1 = np.arange(switch_idx_1, switch_idx_2)
+    indices_2 = np.arange(switch_idx_2, len(simulation.result.trajectory))
+
+    return [indices_0, indices_1, indices_2]
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_spec.py b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_spec.py
new file mode 100644
index 0000000..25680d5
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_left/multi_inter_left_spec.py
@@ -0,0 +1,74 @@
+import numpy as np
+
+def rule0(simulation, indices): # B, 1: safe distance to adv1
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [1], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule1(simulation, indices): # B, 2: safe distance to adv2
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [2], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule2(simulation, indices): # B, 3: safe distance to adv3
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [3], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule3(simulation, indices): # C: stay in drivable area
+    if indices.size == 0:
+        return 1
+    distance_to_drivable = np.array(simulation.result.records["egoDistToDrivableRegion"])
+    rho = -np.max(distance_to_drivable[indices], axis=0)[1]
+    return rho
+
+def rule4(simulation, indices): # D, 1: stay in the correct side of the road, before intersection
+    if indices.size == 0:
+        return 1
+    distance_to_lane_group = np.array(simulation.result.records["egoDistToEgoInitLane"])
+    rho = -np.max(distance_to_lane_group[indices], axis=0)[1]
+    return rho
+
+def rule5(simulation, indices): # D, 2: stay in the correct side of the road, after intersection
+    if indices.size == 0:
+        return 1
+    distance_to_lane_group = np.array(simulation.result.records["egoDistToEgoEndLane"])
+    rho = -np.max(distance_to_lane_group[indices], axis=0)[1]
+    return rho
+
+def rule6(simulation, indices): # F: lane keeping
+    if indices.size == 0:
+        return 1
+    distance_to_lane_center = np.array(simulation.result.records["egoDistToEgoLaneCenterline"])
+    rho = 0.4 - np.max(distance_to_lane_center[indices], axis=0)[1]
+    return rho
+
+def rule7(simulation, indices): # H, 1: reach intersection
+    if indices.size == 0:
+        return 1
+    if max(indices) < len(simulation.result.trajectory) - 1:
+        return 1
+    ego_dist_to_intersection = np.array(simulation.result.records["egoDistToIntersection"])
+    rho = -np.min(ego_dist_to_intersection[indices], axis=0)[1]
+    return rho
+
+def rule8(simulation, indices): # H, 2: reach end lane
+    if indices.size == 0:
+        return 1
+    if max(indices) < len(simulation.result.trajectory) - 1:
+        return 1
+    ego_dist_to_end_lane = np.array(simulation.result.records["egoDistToEgoEndLane"])
+    rho = -np.min(ego_dist_to_end_lane[indices], axis=0)[1]
+    return rho
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_left/util/multi_inter_left_analyze_diversity.py b/examples/dynamic_rulebook/multi_inter_left/util/multi_inter_left_analyze_diversity.py
new file mode 100644
index 0000000..6123e5b
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_left/util/multi_inter_left_analyze_diversity.py
@@ -0,0 +1,45 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+import os
+
+directory = sys.argv[1]
+all_files = os.listdir(directory)
+all_files = [f for f in all_files if f.endswith('.csv') and f.startswith(sys.argv[2]+'.')]
+mode = sys.argv[3] # multi / single
+
+fig = plt.figure()
+ax = fig.add_subplot(projection='3d')
+count = 0
+ego_speed = []
+ego_brake = []
+adv_speed = []
+adv1_dist = []
+for file in all_files:
+    infile = open(directory+'/'+file, 'r')
+    lines = infile.readlines()
+    if mode == 'single':
+        for i in range(1, len(lines)):
+            line = lines[i] #TODO: identify the counterexamples
+            ego_speed.append(float(line.split(',')[-6]))
+            ego_brake.append(float(line.split(',')[-7]))
+            adv_speed.append(float(line.split(',')[-8]))
+            adv1_dist.append(float(line.split(',')[-9]))
+    else:
+        for i in range(1, len(lines), 3):
+            line1 = lines[i]
+            ego_speed.append(float(line1.split(',')[-6]))
+            ego_brake.append(float(line1.split(',')[-7]))
+            adv_speed.append(float(line1.split(',')[-8]))
+            adv1_dist.append(float(line1.split(',')[-9]))
+
+ax.scatter(ego_speed, adv_speed, adv1_dist)
+ax.set_xlabel('EGO_SPEED')
+ax.set_ylabel('ADV_SPEED')
+ax.set_zlabel('ADV1_DIST')
+plt.savefig(directory+'/'+sys.argv[2]+'_scatter.png')
+
+print("Standard deviation of ego_speed:", np.std(ego_speed), len(ego_speed))
+print("Standard deviation of adv_speed:", np.std(adv_speed), len(adv_speed))
+print("Standard deviation of ego_brake:", np.std(ego_brake), len(ego_brake))
+print("Standard deviation of adv1_dist:", np.std(adv1_dist), len(adv1_dist))
diff --git a/examples/dynamic_rulebook/multi_inter_left/util/multi_inter_left_collect_result.py b/examples/dynamic_rulebook/multi_inter_left/util/multi_inter_left_collect_result.py
new file mode 100644
index 0000000..7aa0c8e
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_left/util/multi_inter_left_collect_result.py
@@ -0,0 +1,144 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+import itertools
+
+infile = open(sys.argv[1], 'r') # *.txt
+mode = sys.argv[2] # multi / single
+order = sys.argv[3] # alternate / sequential
+
+# error weights
+result_count_0 = [[] for i in range(3)]
+result_count_1 = [[] for i in range(3)]
+result_count_2 = [[] for i in range(3)]
+# counterexample types
+counterexample_type_0 = [{} for i in range(3)]
+counterexample_type_1 = [{} for i in range(3)]
+counterexample_type_2 = [{} for i in range(3)]
+curr_source = 0
+lines = infile.readlines()
+infile.close()
+
+for i in range(len(lines)):
+    if mode == 'multi':
+        if 'RHO' in lines[i]:
+            line = lines[i+1].strip().split(' ')
+            val1 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val1.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val1) == 5, 'Invalid length of rho'
+            result_count_0[curr_source].append(val1[0]*16 + val1[1]*8 + val1[2]*4 + val1[4]*2 + val1[3]*1)
+            if tuple(1*np.array([val1[0], val1[1], val1[2], val1[4], val1[3]])) in counterexample_type_0[curr_source]:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1], val1[2], val1[4], val1[3]]))] += 1
+            else:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1], val1[2], val1[4], val1[3]]))] = 1
+
+            line = lines[i+2].strip().split(' ')
+            val2 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val2.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val2) == 5, 'Invalid length of rho'
+            result_count_1[curr_source].append(val2[0]*4 + val2[1]*4 + val2[2]*4 + val2[3]*2 + val2[4]*1)
+            if tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4]])) in counterexample_type_1[curr_source]:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4]]))] += 1
+            else:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4]]))] = 1
+
+            line = lines[i+3].strip().split(' ')
+            val3 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val3.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val3) == 4, 'Invalid length of rho'
+            result_count_2[curr_source].append(val3[0]*8 + val3[1]*4 + val3[2]*2 + val3[3]*1)
+            if tuple(1*np.array([val3[0], val3[1], val3[2], val3[3]])) in counterexample_type_2[curr_source]:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[0], val3[1], val3[2], val3[3]]))] += 1
+            else:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[0], val3[1], val3[2], val3[3]]))] = 1
+
+            if order == '-1':
+                curr_source = curr_source + 1 if curr_source < 2 else 0
+    else:
+        if 'Actual rho' in lines[i]:
+            line = lines[i+1].strip().split(' ')
+            val1 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val1.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val1) == 9, 'Invalid length of rho'
+            result_count_0[curr_source].append(val1[0]*16 + val1[3]*8 + val1[4]*4 + val1[7]*2 + val1[6]*1)
+            if tuple(1*np.array([val1[0], val1[3], val1[4], val1[7], val1[6]])) in counterexample_type_0[curr_source]:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[3], val1[4], val1[7], val1[6]]))] += 1
+            else:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[3], val1[4], val1[7], val1[6]]))] = 1
+
+            line = lines[i+2].strip().split(' ')
+            val2 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val2.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val2) == 9, 'Invalid length of rho'
+            result_count_1[curr_source].append(val2[0]*4 + val2[1]*4 + val2[2]*4 + val2[3]*2 + val2[8]*1)
+            if tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[8]])) in counterexample_type_1[curr_source]:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[8]]))] += 1
+            else:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[8]]))] = 1
+    
+            line = lines[i+3].strip().split(' ')
+            val3 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val3.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val3) == 9, 'Invalid length of rho'
+            result_count_2[curr_source].append(val3[2]*8 + val3[3]*4 + val3[5]*2 + val3[6]*1)
+            if tuple(1*np.array([val3[2], val3[3], val3[5], val3[6]])) in counterexample_type_2[curr_source]:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[2], val3[3], val3[5], val3[6]]))] += 1
+            else:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[2], val3[3], val3[5], val3[6]]))] = 1
+            
+            if order == '-1':
+                curr_source = curr_source + 1 if curr_source < 2 else 0
+
+print('Error weights')
+print('segment 0:')
+for i in range(1):
+    print('average:', np.mean(result_count_0[i]), 'max:', np.max(result_count_0[i]), 'percentage:', float(np.count_nonzero(result_count_0[i])/len(result_count_0[i])), result_count_0[i])
+print('segment 1:')
+for i in range(1):
+    print('average:', np.mean(result_count_1[i]), 'max:', np.max(result_count_1[i]), 'percentage:', float(np.count_nonzero(result_count_1[i])/len(result_count_1[i])), result_count_1[i])
+print('segment 2:')
+for i in range(1):
+    print('average:', np.mean(result_count_2[i]), 'max:', np.max(result_count_2[i]), 'percentage:', float(np.count_nonzero(result_count_2[i])/len(result_count_2[i])), result_count_2[i])
+
+print('\nCounterexample types')
+print('segment 0:')
+for i in range(1):
+    print('Types:', len(counterexample_type_0[i]))
+    for key, value in reversed(sorted(counterexample_type_0[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print('segment 1:')
+for i in range(1):
+    print('Types:', len(counterexample_type_1[i]))
+    for key, value in reversed(sorted(counterexample_type_1[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print('segment 2:')
+for i in range(1):
+    print('Types:', len(counterexample_type_2[i]))
+    for key, value in reversed(sorted(counterexample_type_2[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print()
diff --git a/examples/dynamic_rulebook/multi_inter_right/multi_inter_right.scenic b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right.scenic
new file mode 100644
index 0000000..58839b9
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right.scenic
@@ -0,0 +1,137 @@
+"""
+TITLE: Verifai 2.0 Right Turn
+AUTHOR: Kai-Chun Chang, kaichunchang@berkeley.edu
+"""
+
+#################################
+# MAP AND MODEL                 #
+#################################
+
+param map = localPath('../maps/Town05.xodr')
+param carla_map = 'Town05'
+model scenic.domains.driving.model
+
+#################################
+# CONSTANTS                     #
+#################################
+
+MODEL = 'vehicle.lincoln.mkz_2017' #'vehicle.toyota.prius'
+MODEL_ADV = 'vehicle.lincoln.mkz_2017'
+
+EGO_INIT_DIST = [30, 40]
+param EGO_SPEED = VerifaiRange(7, 10)
+param EGO_BRAKE = VerifaiRange(0.8, 1.0)
+
+param ADV1_DIST = VerifaiRange(6, 10)
+ADV_INIT_DIST = [15, 25]
+param ADV_SPEED = VerifaiRange(5, 8)
+
+PED_MIN_SPEED = 1.0
+PED_THRESHOLD = 20
+PED_FINAL_SPEED = 1.0
+
+SAFETY_DIST = 8
+CRASH_DIST = 5
+TERM_DIST = 80
+
+#################################
+# AGENT BEHAVIORS               #
+#################################
+
+behavior EgoBehavior(trajectory):
+    try:
+        do FollowTrajectoryBehavior(target_speed=globalParameters.EGO_SPEED, trajectory=trajectory)
+        do FollowLaneBehavior(target_speed=globalParameters.EGO_SPEED)
+    interrupt when withinDistanceToAnyObjs(self, SAFETY_DIST):
+        take SetBrakeAction(globalParameters.EGO_BRAKE)
+
+behavior Adv1Behavior(trajectory):
+    do FollowTrajectoryBehavior(target_speed=globalParameters.ADV_SPEED, trajectory=trajectory)
+    do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+
+behavior Adv2Behavior(trajectory):
+    do FollowTrajectoryBehavior(target_speed=globalParameters.ADV_SPEED, trajectory=trajectory)
+    do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+
+behavior Adv3Behavior(trajectory):
+    do FollowTrajectoryBehavior(target_speed=globalParameters.ADV_SPEED, trajectory=trajectory)
+    do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+
+#################################
+# SPATIAL RELATIONS             #
+#################################
+
+intersection = Uniform(*filter(lambda i: i.is4Way, network.intersections))
+
+# ego: right turn from S to E
+egoManeuver = Uniform(*filter(lambda m: m.type is ManeuverType.RIGHT_TURN, intersection.maneuvers))
+egoInitLane = egoManeuver.startLane
+egoTrajectory = [egoInitLane, egoManeuver.connectingLane, egoManeuver.endLane]
+egoSpawnPt = new OrientedPoint in egoInitLane.centerline
+
+# adv1: straight from S to N
+adv1InitLane = egoInitLane
+adv1Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv1InitLane.maneuvers))
+adv1Trajectory = [adv1InitLane, adv1Maneuver.connectingLane, adv1Maneuver.endLane]
+
+# adv2: straight from W to E
+adv2InitLane = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT,
+        Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, egoInitLane.maneuvers)).conflictingManeuvers)).startLane
+adv2Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv2InitLane.maneuvers))
+adv2Trajectory = [adv2InitLane, adv2Maneuver.connectingLane, adv2Maneuver.endLane]
+adv2SpawnPt = new OrientedPoint in adv2InitLane.centerline
+
+# adv3: straight from E to W
+adv3InitLane = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv2Maneuver.reverseManeuvers)).startLane
+adv3Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv3InitLane.maneuvers))
+adv3Trajectory = [adv3InitLane, adv3Maneuver.connectingLane, adv3Maneuver.endLane]
+adv3SpawnPt = new OrientedPoint in adv3InitLane.centerline
+
+#################################
+# SCENARIO SPECIFICATION        #
+#################################
+
+ego = new Car at egoSpawnPt,
+    with blueprint MODEL,
+    with behavior EgoBehavior(egoTrajectory)
+
+adv1 = new Car following roadDirection for globalParameters.ADV1_DIST,
+    with blueprint MODEL_ADV,
+    with behavior Adv1Behavior(adv1Trajectory)
+
+adv2 = new Car at adv2SpawnPt,
+    with blueprint MODEL_ADV,
+    with behavior Adv2Behavior(adv2Trajectory)
+
+adv3 = new Car at adv3SpawnPt,
+    with blueprint MODEL_ADV,
+    with behavior Adv3Behavior(adv3Trajectory)
+
+require EGO_INIT_DIST[0] <= (distance to intersection) <= EGO_INIT_DIST[1]
+require ADV_INIT_DIST[0] <= (distance from adv2 to intersection) <= ADV_INIT_DIST[1]
+require ADV_INIT_DIST[0] <= (distance from adv3 to intersection) <= ADV_INIT_DIST[1]
+require adv3InitLane.road is egoManeuver.endLane.road
+terminate when (distance to egoSpawnPt) > TERM_DIST
+
+#################################
+# RECORDING                     #
+#################################
+
+record (ego in network.drivableRegion) as egoIsInDrivableRegion
+record (distance from ego to network.drivableRegion) as egoDistToDrivableRegion
+record (distance from ego to egoInitLane.group) as egoDistToEgoInitLane
+record (distance from ego to egoManeuver.endLane.group) as egoDistToEgoEndLane
+record (distance from ego to ego.lane.centerline) as egoDistToEgoLaneCenterline
+record (distance from ego to intersection) as egoDistToIntersection
+
+record (distance from ego to adv1) as egoDistToAdv1
+record (distance to egoSpawnPt) as egoDistToEgoSpawnPt
+
+record ego._boundingPolygon as egoPoly
+record adv1._boundingPolygon as adv1Poly
+record adv2._boundingPolygon as adv2Poly
+record adv3._boundingPolygon as adv3Poly
+record ego.lane.polygon as egoLanePoly
+record adv1.lane.polygon as adv1LanePoly
+record adv2.lane.polygon as adv2LanePoly
+record adv3.lane.polygon as adv3LanePoly
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_right/multi_inter_right.sgraph b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right.sgraph
new file mode 100644
index 0000000..84ebef3
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right.sgraph
@@ -0,0 +1,23 @@
+# ID 0
+# Node list
+0 rule0
+1 rule1
+2 rule2
+3 rule3
+4 rule4
+5 rule5
+6 rule6
+7 rule7
+8 rule8
+# Edge list
+0 3
+1 3
+2 3
+3 4
+3 5
+4 7
+4 8
+5 7
+5 8
+7 6
+8 6
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_00.graph b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_00.graph
new file mode 100644
index 0000000..82ebaca
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_00.graph
@@ -0,0 +1,12 @@
+# ID 0
+# Node list
+0 rule0
+3 rule3
+4 rule4
+6 rule6
+7 rule7
+# Edge list
+0 3
+3 4
+4 7
+7 6
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_01.graph b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_01.graph
new file mode 100644
index 0000000..c595a0f
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_01.graph
@@ -0,0 +1,12 @@
+# ID 1
+# Node list
+0 rule0
+1 rule1
+2 rule2
+3 rule3
+8 rule8
+# Edge list
+0 3
+1 3
+2 3
+3 8
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_02.graph b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_02.graph
new file mode 100644
index 0000000..3050cfe
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_02.graph
@@ -0,0 +1,10 @@
+# ID 2
+# Node list
+1 rule1
+3 rule3
+5 rule5
+6 rule6
+# Edge list
+1 3
+3 5
+5 6
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_segment.py b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_segment.py
new file mode 100644
index 0000000..1d0b8c1
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_segment.py
@@ -0,0 +1,22 @@
+import numpy as np
+
+def segment_function(simulation):
+    ego_dist_to_intersection = np.array(simulation.result.records["egoDistToIntersection"])
+    # Find switching points, i.e., ego has reached the intersection / ego has finished the right turn
+    switch_idx_1 = len(simulation.result.trajectory)
+    switch_idx_2 = len(simulation.result.trajectory)
+    for i in range(len(ego_dist_to_intersection)):
+        if ego_dist_to_intersection[i][1] == 0 and switch_idx_1 == len(simulation.result.trajectory):
+            switch_idx_1 = i
+            break
+    if switch_idx_1 < len(simulation.result.trajectory):
+        for i in reversed(range(switch_idx_1, len(ego_dist_to_intersection))):
+            if ego_dist_to_intersection[i][1] == 0:
+                switch_idx_2 = i + 1
+                break
+    assert switch_idx_1 <= switch_idx_2
+    indices_0 = np.arange(0, switch_idx_1)
+    indices_1 = np.arange(switch_idx_1, switch_idx_2)
+    indices_2 = np.arange(switch_idx_2, len(simulation.result.trajectory))
+    
+    return [indices_0, indices_1, indices_2]
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_spec.py b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_spec.py
new file mode 100644
index 0000000..25680d5
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_right/multi_inter_right_spec.py
@@ -0,0 +1,74 @@
+import numpy as np
+
+def rule0(simulation, indices): # B, 1: safe distance to adv1
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [1], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule1(simulation, indices): # B, 2: safe distance to adv2
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [2], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule2(simulation, indices): # B, 3: safe distance to adv3
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [3], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule3(simulation, indices): # C: stay in drivable area
+    if indices.size == 0:
+        return 1
+    distance_to_drivable = np.array(simulation.result.records["egoDistToDrivableRegion"])
+    rho = -np.max(distance_to_drivable[indices], axis=0)[1]
+    return rho
+
+def rule4(simulation, indices): # D, 1: stay in the correct side of the road, before intersection
+    if indices.size == 0:
+        return 1
+    distance_to_lane_group = np.array(simulation.result.records["egoDistToEgoInitLane"])
+    rho = -np.max(distance_to_lane_group[indices], axis=0)[1]
+    return rho
+
+def rule5(simulation, indices): # D, 2: stay in the correct side of the road, after intersection
+    if indices.size == 0:
+        return 1
+    distance_to_lane_group = np.array(simulation.result.records["egoDistToEgoEndLane"])
+    rho = -np.max(distance_to_lane_group[indices], axis=0)[1]
+    return rho
+
+def rule6(simulation, indices): # F: lane keeping
+    if indices.size == 0:
+        return 1
+    distance_to_lane_center = np.array(simulation.result.records["egoDistToEgoLaneCenterline"])
+    rho = 0.4 - np.max(distance_to_lane_center[indices], axis=0)[1]
+    return rho
+
+def rule7(simulation, indices): # H, 1: reach intersection
+    if indices.size == 0:
+        return 1
+    if max(indices) < len(simulation.result.trajectory) - 1:
+        return 1
+    ego_dist_to_intersection = np.array(simulation.result.records["egoDistToIntersection"])
+    rho = -np.min(ego_dist_to_intersection[indices], axis=0)[1]
+    return rho
+
+def rule8(simulation, indices): # H, 2: reach end lane
+    if indices.size == 0:
+        return 1
+    if max(indices) < len(simulation.result.trajectory) - 1:
+        return 1
+    ego_dist_to_end_lane = np.array(simulation.result.records["egoDistToEgoEndLane"])
+    rho = -np.min(ego_dist_to_end_lane[indices], axis=0)[1]
+    return rho
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_right/util/multi_inter_right_analyze_diversity.py b/examples/dynamic_rulebook/multi_inter_right/util/multi_inter_right_analyze_diversity.py
new file mode 100644
index 0000000..ee4c86d
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_right/util/multi_inter_right_analyze_diversity.py
@@ -0,0 +1,45 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+import os
+
+directory = sys.argv[1]
+all_files = os.listdir(directory)
+all_files = [f for f in all_files if f.endswith('.csv') and f.startswith(sys.argv[2]+'.')]
+mode = sys.argv[3] # multi / single
+
+fig = plt.figure()
+ax = fig.add_subplot(projection='3d')
+count = 0
+ego_speed = []
+ego_brake = []
+adv_speed = []
+adv1_dist = []
+for file in all_files:
+    infile = open(directory+'/'+file, 'r')
+    lines = infile.readlines()
+    if mode == 'single':
+        for i in range(1, len(lines)):
+            line = lines[i] #TODO: identify the counterexamples
+            ego_speed.append(float(line.split(',')[-6]))
+            ego_brake.append(float(line.split(',')[-7]))
+            adv_speed.append(float(line.split(',')[-8]))
+            adv1_dist.append(float(line.split(',')[-9]))
+    else:
+        for i in range(1, len(lines), 3):
+            line1 = lines[i]
+            ego_speed.append(float(line1.split(',')[-10]))
+            ego_brake.append(float(line1.split(',')[-11]))
+            adv_speed.append(float(line1.split(',')[-12]))
+            adv1_dist.append(float(line1.split(',')[-13]))
+
+ax.scatter(ego_speed, adv_speed, adv1_dist)
+ax.set_xlabel('EGO_SPEED')
+ax.set_ylabel('ADV_SPEED')
+ax.set_zlabel('ADV1_DIST')
+plt.savefig(directory+'/'+sys.argv[2]+'_scatter.png')
+
+print("Standard deviation of ego_speed:", np.std(ego_speed), len(ego_speed))
+print("Standard deviation of adv_speed:", np.std(adv_speed), len(adv_speed))
+print("Standard deviation of ego_brake:", np.std(ego_brake), len(ego_brake))
+print("Standard deviation of adv1_dist:", np.std(adv1_dist), len(adv1_dist))
diff --git a/examples/dynamic_rulebook/multi_inter_right/util/multi_inter_right_collect_result.py b/examples/dynamic_rulebook/multi_inter_right/util/multi_inter_right_collect_result.py
new file mode 100644
index 0000000..bace28c
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_right/util/multi_inter_right_collect_result.py
@@ -0,0 +1,144 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+import itertools
+
+infile = open(sys.argv[1], 'r') # *.txt
+mode = sys.argv[2] # multi / single
+order = sys.argv[3] # alternate / sequential
+
+# error weights
+result_count_0 = [[] for i in range(3)]
+result_count_1 = [[] for i in range(3)]
+result_count_2 = [[] for i in range(3)]
+# counterexample types
+counterexample_type_0 = [{} for i in range(3)]
+counterexample_type_1 = [{} for i in range(3)]
+counterexample_type_2 = [{} for i in range(3)]
+curr_source = 0
+lines = infile.readlines()
+infile.close()
+
+for i in range(len(lines)):
+    if mode == 'multi':
+        if 'RHO' in lines[i]:
+            line = lines[i+1].strip().split(' ')
+            val1 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val1.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val1) == 5, 'Invalid length of rho'
+            result_count_0[curr_source].append(val1[0]*16 + val1[1]*8 + val1[2]*4 + val1[4]*2 + val1[3]*1)
+            if tuple(1*np.array([val1[0], val1[1], val1[2], val1[4], val1[3]])) in counterexample_type_0[curr_source]:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1], val1[2], val1[4], val1[3]]))] += 1
+            else:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1], val1[2], val1[4], val1[3]]))] = 1
+
+            line = lines[i+2].strip().split(' ')
+            val2 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val2.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val2) == 5, 'Invalid length of rho'
+            result_count_1[curr_source].append(val2[0]*4 + val2[1]*4 + val2[2]*4 + val2[3]*2 + val2[4]*1)
+            if tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4]])) in counterexample_type_1[curr_source]:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4]]))] += 1
+            else:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4]]))] = 1
+
+            line = lines[i+3].strip().split(' ')
+            val3 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val3.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val3) == 4, 'Invalid length of rho'
+            result_count_2[curr_source].append(val3[0]*8 + val3[1]*4 + val3[2]*2 + val3[3]*1)
+            if tuple(1*np.array([val3[0], val3[1], val3[2], val3[3]])) in counterexample_type_2[curr_source]:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[0], val3[1], val3[2], val3[3]]))] += 1
+            else:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[0], val3[1], val3[2], val3[3]]))] = 1
+
+            if order == '-1':
+                curr_source = curr_source + 1 if curr_source < 2 else 0
+    else:
+        if 'Actual rho' in lines[i]:
+            line = lines[i+1].strip().split(' ')
+            val1 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val1.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val1) == 9, 'Invalid length of rho'
+            result_count_0[curr_source].append(val1[0]*16 + val1[3]*8 + val1[4]*4 + val1[7]*2 + val1[6]*1)
+            if tuple(1*np.array([val1[0], val1[3], val1[4], val1[7], val1[6]])) in counterexample_type_0[curr_source]:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[3], val1[4], val1[7], val1[6]]))] += 1
+            else:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[3], val1[4], val1[7], val1[6]]))] = 1
+
+            line = lines[i+2].strip().split(' ')
+            val2 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val2.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val2) == 9, 'Invalid length of rho'
+            result_count_1[curr_source].append(val2[0]*4 + val2[1]*4 + val2[2]*4 + val2[3]*2 + val2[8]*1)
+            if tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[8]])) in counterexample_type_1[curr_source]:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[8]]))] += 1
+            else:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[8]]))] = 1
+    
+            line = lines[i+3].strip().split(' ')
+            val3 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val3.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val3) == 9, 'Invalid length of rho'
+            result_count_2[curr_source].append(val3[1]*8 + val3[3]*4 + val3[5]*2 + val3[6]*1)
+            if tuple(1*np.array([val3[1], val3[3], val3[5], val3[6]])) in counterexample_type_2[curr_source]:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[1], val3[3], val3[5], val3[6]]))] += 1
+            else:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[1], val3[3], val3[5], val3[6]]))] = 1
+            
+            if order == '-1':
+                curr_source = curr_source + 1 if curr_source < 2 else 0
+
+print('Error weights')
+print('segment 0:')
+for i in range(1):
+    print('average:', np.mean(result_count_0[i]), 'max:', np.max(result_count_0[i]), 'percentage:', float(np.count_nonzero(result_count_0[i])/len(result_count_0[i])), result_count_0[i])
+print('segment 1:')
+for i in range(1):
+    print('average:', np.mean(result_count_1[i]), 'max:', np.max(result_count_1[i]), 'percentage:', float(np.count_nonzero(result_count_1[i])/len(result_count_1[i])), result_count_1[i])
+print('segment 2:')
+for i in range(1):
+    print('average:', np.mean(result_count_2[i]), 'max:', np.max(result_count_2[i]), 'percentage:', float(np.count_nonzero(result_count_2[i])/len(result_count_2[i])), result_count_2[i])
+
+print('\nCounterexample types')
+print('segment 0:')
+for i in range(1):
+    print('Types:', len(counterexample_type_0[i]))
+    for key, value in reversed(sorted(counterexample_type_0[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print('segment 1:')
+for i in range(1):
+    print('Types:', len(counterexample_type_1[i]))
+    for key, value in reversed(sorted(counterexample_type_1[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print('segment 2:')
+for i in range(1):
+    print('Types:', len(counterexample_type_2[i]))
+    for key, value in reversed(sorted(counterexample_type_2[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print()
diff --git a/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight.scenic b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight.scenic
new file mode 100644
index 0000000..cd39edb
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight.scenic
@@ -0,0 +1,136 @@
+"""
+TITLE: Verifai 2.0 Going Straight
+AUTHOR: Kai-Chun Chang, kaichunchang@berkeley.edu
+"""
+
+#################################
+# MAP AND MODEL                 #
+#################################
+
+param map = localPath('../maps/Town05.xodr')
+param carla_map = 'Town05'
+model scenic.domains.driving.model
+
+#################################
+# CONSTANTS                     #
+#################################
+
+MODEL = 'vehicle.lincoln.mkz_2017' #'vehicle.toyota.prius'
+MODEL_ADV = 'vehicle.lincoln.mkz_2017'
+
+EGO_INIT_DIST = [30, 40]
+param EGO_SPEED = VerifaiRange(7, 10)
+param EGO_BRAKE = VerifaiRange(0.8, 1.0)
+
+param ADV1_DIST = VerifaiRange(6, 10)
+ADV_INIT_DIST = [15, 25]
+param ADV_SPEED = VerifaiRange(5, 8)
+
+PED_MIN_SPEED = 1.0
+PED_THRESHOLD = 20
+PED_FINAL_SPEED = 1.0
+
+SAFETY_DIST = 8
+CRASH_DIST = 5
+TERM_DIST = 80
+
+#################################
+# AGENT BEHAVIORS               #
+#################################
+
+behavior EgoBehavior(trajectory):
+    try:
+        do FollowTrajectoryBehavior(target_speed=globalParameters.EGO_SPEED, trajectory=trajectory)
+        do FollowLaneBehavior(target_speed=globalParameters.EGO_SPEED)
+    interrupt when withinDistanceToAnyObjs(self, SAFETY_DIST):
+        take SetBrakeAction(globalParameters.EGO_BRAKE)
+
+behavior Adv1Behavior(trajectory):
+    do FollowTrajectoryBehavior(target_speed=globalParameters.ADV_SPEED, trajectory=trajectory)
+    do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+
+behavior Adv2Behavior(trajectory):
+    do FollowTrajectoryBehavior(target_speed=globalParameters.ADV_SPEED, trajectory=trajectory)
+    do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+
+behavior Adv3Behavior(trajectory):
+    do FollowTrajectoryBehavior(target_speed=globalParameters.ADV_SPEED, trajectory=trajectory)
+    do FollowLaneBehavior(target_speed=globalParameters.ADV_SPEED)
+
+#################################
+# SPATIAL RELATIONS             #
+#################################
+
+intersection = Uniform(*filter(lambda i: i.is4Way, network.intersections))
+
+# ego: straight from S to N
+egoManeuver = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, intersection.maneuvers))
+egoInitLane = egoManeuver.startLane
+egoTrajectory = [egoInitLane, egoManeuver.connectingLane, egoManeuver.endLane]
+egoSpawnPt = new OrientedPoint in egoInitLane.centerline
+
+# adv1: straight from S to N
+adv1InitLane = egoInitLane
+adv1Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv1InitLane.maneuvers))
+adv1Trajectory = [adv1InitLane, adv1Maneuver.connectingLane, adv1Maneuver.endLane]
+
+# adv2: straight from W to E
+adv2InitLane = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT,
+        Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, egoInitLane.maneuvers)).conflictingManeuvers)).startLane
+adv2Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv2InitLane.maneuvers))
+adv2Trajectory = [adv2InitLane, adv2Maneuver.connectingLane, adv2Maneuver.endLane]
+adv2SpawnPt = new OrientedPoint in adv2InitLane.centerline
+
+# adv3: straight from E to W
+adv3InitLane = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv2Maneuver.reverseManeuvers)).startLane
+adv3Maneuver = Uniform(*filter(lambda m: m.type is ManeuverType.STRAIGHT, adv3InitLane.maneuvers))
+adv3Trajectory = [adv3InitLane, adv3Maneuver.connectingLane, adv3Maneuver.endLane]
+adv3SpawnPt = new OrientedPoint in adv3InitLane.centerline
+
+#################################
+# SCENARIO SPECIFICATION        #
+#################################
+
+ego = new Car at egoSpawnPt,
+    with blueprint MODEL,
+    with behavior EgoBehavior(egoTrajectory)
+
+adv1 = new Car following roadDirection for globalParameters.ADV1_DIST,
+    with blueprint MODEL_ADV,
+    with behavior Adv1Behavior(adv1Trajectory)
+
+adv2 = new Car at adv2SpawnPt,
+    with blueprint MODEL_ADV,
+    with behavior Adv2Behavior(adv2Trajectory)
+
+adv3 = new Car at adv3SpawnPt,
+    with blueprint MODEL_ADV,
+    with behavior Adv3Behavior(adv3Trajectory)
+
+require EGO_INIT_DIST[0] <= (distance to intersection) <= EGO_INIT_DIST[1]
+require ADV_INIT_DIST[0] <= (distance from adv2 to intersection) <= ADV_INIT_DIST[1]
+require ADV_INIT_DIST[0] <= (distance from adv3 to intersection) <= ADV_INIT_DIST[1]
+terminate when (distance to egoSpawnPt) > TERM_DIST
+
+#################################
+# RECORDING                     #
+#################################
+
+record (ego in network.drivableRegion) as egoIsInDrivableRegion
+record (distance from ego to network.drivableRegion) as egoDistToDrivableRegion
+record (distance from ego to egoInitLane.group) as egoDistToEgoInitLane
+record (distance from ego to egoManeuver.endLane.group) as egoDistToEgoEndLane
+record (distance from ego to ego.lane.centerline) as egoDistToEgoLaneCenterline
+record (distance from ego to intersection) as egoDistToIntersection
+
+record (distance from ego to adv1) as egoDistToAdv1
+record (distance to egoSpawnPt) as egoDistToEgoSpawnPt
+
+record ego._boundingPolygon as egoPoly
+record adv1._boundingPolygon as adv1Poly
+record adv2._boundingPolygon as adv2Poly
+record adv3._boundingPolygon as adv3Poly
+record ego.lane.polygon as egoLanePoly
+record adv1.lane.polygon as adv1LanePoly
+record adv2.lane.polygon as adv2LanePoly
+record adv3.lane.polygon as adv3LanePoly
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight.sgraph b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight.sgraph
new file mode 100644
index 0000000..84ebef3
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight.sgraph
@@ -0,0 +1,23 @@
+# ID 0
+# Node list
+0 rule0
+1 rule1
+2 rule2
+3 rule3
+4 rule4
+5 rule5
+6 rule6
+7 rule7
+8 rule8
+# Edge list
+0 3
+1 3
+2 3
+3 4
+3 5
+4 7
+4 8
+5 7
+5 8
+7 6
+8 6
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_00.graph b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_00.graph
new file mode 100644
index 0000000..82ebaca
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_00.graph
@@ -0,0 +1,12 @@
+# ID 0
+# Node list
+0 rule0
+3 rule3
+4 rule4
+6 rule6
+7 rule7
+# Edge list
+0 3
+3 4
+4 7
+7 6
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_01.graph b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_01.graph
new file mode 100644
index 0000000..c595a0f
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_01.graph
@@ -0,0 +1,12 @@
+# ID 1
+# Node list
+0 rule0
+1 rule1
+2 rule2
+3 rule3
+8 rule8
+# Edge list
+0 3
+1 3
+2 3
+3 8
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_02.graph b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_02.graph
new file mode 100644
index 0000000..603ed29
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_02.graph
@@ -0,0 +1,10 @@
+# ID 2
+# Node list
+0 rule0
+3 rule3
+5 rule5
+6 rule6
+# Edge list
+0 3
+3 5
+5 6
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_segment.py b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_segment.py
new file mode 100644
index 0000000..b39c2ac
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_segment.py
@@ -0,0 +1,22 @@
+import numpy as np
+
+def segment_function(simulation):
+    ego_dist_to_intersection = np.array(simulation.result.records["egoDistToIntersection"])
+    # Find switching points, i.e., ego has reached the intersection / ego has passed the intersection
+    switch_idx_1 = len(simulation.result.trajectory)
+    switch_idx_2 = len(simulation.result.trajectory)
+    for i in range(len(ego_dist_to_intersection)):
+        if ego_dist_to_intersection[i][1] == 0 and switch_idx_1 == len(simulation.result.trajectory):
+            switch_idx_1 = i
+            break
+    if switch_idx_1 < len(simulation.result.trajectory):
+        for i in reversed(range(switch_idx_1, len(ego_dist_to_intersection))):
+            if ego_dist_to_intersection[i][1] == 0:
+                switch_idx_2 = i + 1
+                break
+    assert switch_idx_1 <= switch_idx_2
+    indices_0 = np.arange(0, switch_idx_1)
+    indices_1 = np.arange(switch_idx_1, switch_idx_2)
+    indices_2 = np.arange(switch_idx_2, len(simulation.result.trajectory))
+    
+    return [indices_0, indices_1, indices_2]
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_spec.py b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_spec.py
new file mode 100644
index 0000000..25680d5
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_straight/multi_inter_straight_spec.py
@@ -0,0 +1,74 @@
+import numpy as np
+
+def rule0(simulation, indices): # B, 1: safe distance to adv1
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [1], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule1(simulation, indices): # B, 2: safe distance to adv2
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [2], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule2(simulation, indices): # B, 3: safe distance to adv3
+    if indices.size == 0:
+        return 1
+    positions = np.array(simulation.result.trajectory)
+    distances_to_adv = positions[indices, [0], :] - positions[indices, [3], :]
+    distances_to_adv = np.linalg.norm(distances_to_adv, axis=1)
+    rho = np.min(distances_to_adv, axis=0) - 8
+    return rho
+
+def rule3(simulation, indices): # C: stay in drivable area
+    if indices.size == 0:
+        return 1
+    distance_to_drivable = np.array(simulation.result.records["egoDistToDrivableRegion"])
+    rho = -np.max(distance_to_drivable[indices], axis=0)[1]
+    return rho
+
+def rule4(simulation, indices): # D, 1: stay in the correct side of the road, before intersection
+    if indices.size == 0:
+        return 1
+    distance_to_lane_group = np.array(simulation.result.records["egoDistToEgoInitLane"])
+    rho = -np.max(distance_to_lane_group[indices], axis=0)[1]
+    return rho
+
+def rule5(simulation, indices): # D, 2: stay in the correct side of the road, after intersection
+    if indices.size == 0:
+        return 1
+    distance_to_lane_group = np.array(simulation.result.records["egoDistToEgoEndLane"])
+    rho = -np.max(distance_to_lane_group[indices], axis=0)[1]
+    return rho
+
+def rule6(simulation, indices): # F: lane keeping
+    if indices.size == 0:
+        return 1
+    distance_to_lane_center = np.array(simulation.result.records["egoDistToEgoLaneCenterline"])
+    rho = 0.4 - np.max(distance_to_lane_center[indices], axis=0)[1]
+    return rho
+
+def rule7(simulation, indices): # H, 1: reach intersection
+    if indices.size == 0:
+        return 1
+    if max(indices) < len(simulation.result.trajectory) - 1:
+        return 1
+    ego_dist_to_intersection = np.array(simulation.result.records["egoDistToIntersection"])
+    rho = -np.min(ego_dist_to_intersection[indices], axis=0)[1]
+    return rho
+
+def rule8(simulation, indices): # H, 2: reach end lane
+    if indices.size == 0:
+        return 1
+    if max(indices) < len(simulation.result.trajectory) - 1:
+        return 1
+    ego_dist_to_end_lane = np.array(simulation.result.records["egoDistToEgoEndLane"])
+    rho = -np.min(ego_dist_to_end_lane[indices], axis=0)[1]
+    return rho
\ No newline at end of file
diff --git a/examples/dynamic_rulebook/multi_inter_straight/util/multi_inter_straight_analyze_diversity.py b/examples/dynamic_rulebook/multi_inter_straight/util/multi_inter_straight_analyze_diversity.py
new file mode 100644
index 0000000..ee4c86d
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_straight/util/multi_inter_straight_analyze_diversity.py
@@ -0,0 +1,45 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+import os
+
+directory = sys.argv[1]
+all_files = os.listdir(directory)
+all_files = [f for f in all_files if f.endswith('.csv') and f.startswith(sys.argv[2]+'.')]
+mode = sys.argv[3] # multi / single
+
+fig = plt.figure()
+ax = fig.add_subplot(projection='3d')
+count = 0
+ego_speed = []
+ego_brake = []
+adv_speed = []
+adv1_dist = []
+for file in all_files:
+    infile = open(directory+'/'+file, 'r')
+    lines = infile.readlines()
+    if mode == 'single':
+        for i in range(1, len(lines)):
+            line = lines[i] #TODO: identify the counterexamples
+            ego_speed.append(float(line.split(',')[-6]))
+            ego_brake.append(float(line.split(',')[-7]))
+            adv_speed.append(float(line.split(',')[-8]))
+            adv1_dist.append(float(line.split(',')[-9]))
+    else:
+        for i in range(1, len(lines), 3):
+            line1 = lines[i]
+            ego_speed.append(float(line1.split(',')[-10]))
+            ego_brake.append(float(line1.split(',')[-11]))
+            adv_speed.append(float(line1.split(',')[-12]))
+            adv1_dist.append(float(line1.split(',')[-13]))
+
+ax.scatter(ego_speed, adv_speed, adv1_dist)
+ax.set_xlabel('EGO_SPEED')
+ax.set_ylabel('ADV_SPEED')
+ax.set_zlabel('ADV1_DIST')
+plt.savefig(directory+'/'+sys.argv[2]+'_scatter.png')
+
+print("Standard deviation of ego_speed:", np.std(ego_speed), len(ego_speed))
+print("Standard deviation of adv_speed:", np.std(adv_speed), len(adv_speed))
+print("Standard deviation of ego_brake:", np.std(ego_brake), len(ego_brake))
+print("Standard deviation of adv1_dist:", np.std(adv1_dist), len(adv1_dist))
diff --git a/examples/dynamic_rulebook/multi_inter_straight/util/multi_inter_straight_collect_result.py b/examples/dynamic_rulebook/multi_inter_straight/util/multi_inter_straight_collect_result.py
new file mode 100644
index 0000000..2c7f280
--- /dev/null
+++ b/examples/dynamic_rulebook/multi_inter_straight/util/multi_inter_straight_collect_result.py
@@ -0,0 +1,144 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+import itertools
+
+infile = open(sys.argv[1], 'r') # *.txt
+mode = sys.argv[2] # multi / single
+order = sys.argv[3] # alternate / sequential
+
+# error weights
+result_count_0 = [[] for i in range(3)]
+result_count_1 = [[] for i in range(3)]
+result_count_2 = [[] for i in range(3)]
+# counterexample types
+counterexample_type_0 = [{} for i in range(3)]
+counterexample_type_1 = [{} for i in range(3)]
+counterexample_type_2 = [{} for i in range(3)]
+curr_source = 0
+lines = infile.readlines()
+infile.close()
+
+for i in range(len(lines)):
+    if mode == 'multi':
+        if 'RHO' in lines[i]:
+            line = lines[i+1].strip().split(' ')
+            val1 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val1.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val1) == 5, 'Invalid length of rho'
+            result_count_0[curr_source].append(val1[0]*16 + val1[1]*8 + val1[2]*4 + val1[4]*2 + val1[3]*1)
+            if tuple(1*np.array([val1[0], val1[1], val1[2], val1[4], val1[3]])) in counterexample_type_0[curr_source]:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1], val1[2], val1[4], val1[3]]))] += 1
+            else:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[1], val1[2], val1[4], val1[3]]))] = 1
+
+            line = lines[i+2].strip().split(' ')
+            val2 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val2.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val2) == 5, 'Invalid length of rho'
+            result_count_1[curr_source].append(val2[0]*4 + val2[1]*4 + val2[2]*4 + val2[3]*2 + val2[4]*1)
+            if tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4]])) in counterexample_type_1[curr_source]:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4]]))] += 1
+            else:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[4]]))] = 1
+
+            line = lines[i+3].strip().split(' ')
+            val3 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val3.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val3) == 4, 'Invalid length of rho'
+            result_count_2[curr_source].append(val3[0]*8 + val3[1]*4 + val3[2]*2 + val3[3]*1)
+            if tuple(1*np.array([val3[0], val3[1], val3[2], val3[3]])) in counterexample_type_2[curr_source]:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[0], val3[1], val3[2], val3[3]]))] += 1
+            else:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[0], val3[1], val3[2], val3[3]]))] = 1
+
+            if order == '-1':
+                curr_source = curr_source + 1 if curr_source < 2 else 0
+    else:
+        if 'Actual rho' in lines[i]:
+            line = lines[i+1].strip().split(' ')
+            val1 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val1.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val1) == 9, 'Invalid length of rho'
+            result_count_0[curr_source].append(val1[0]*16 + val1[3]*8 + val1[4]*4 + val1[7]*2 + val1[6]*1)
+            if tuple(1*np.array([val1[0], val1[3], val1[4], val1[7], val1[6]])) in counterexample_type_0[curr_source]:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[3], val1[4], val1[7], val1[6]]))] += 1
+            else:
+                counterexample_type_0[curr_source][tuple(1*np.array([val1[0], val1[3], val1[4], val1[7], val1[6]]))] = 1
+
+            line = lines[i+2].strip().split(' ')
+            val2 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val2.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val2) == 9, 'Invalid length of rho'
+            result_count_1[curr_source].append(val2[0]*4 + val2[1]*4 + val2[2]*4 + val2[3]*2 + val2[8]*1)
+            if tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[8]])) in counterexample_type_1[curr_source]:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[8]]))] += 1
+            else:
+                counterexample_type_1[curr_source][tuple(1*np.array([val2[0], val2[1], val2[2], val2[3], val2[8]]))] = 1
+    
+            line = lines[i+3].strip().split(' ')
+            val3 = []
+            val_print = []
+            for s in line:
+                if s != '':
+                    val3.append(float(s) < 0)
+                    val_print.append(float(s))
+            assert len(val3) == 9, 'Invalid length of rho'
+            result_count_2[curr_source].append(val3[0]*8 + val3[3]*4 + val3[5]*2 + val3[6]*1)
+            if tuple(1*np.array([val3[0], val3[3], val3[5], val3[6]])) in counterexample_type_2[curr_source]:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[0], val3[3], val3[5], val3[6]]))] += 1
+            else:
+                counterexample_type_2[curr_source][tuple(1*np.array([val3[0], val3[3], val3[5], val3[6]]))] = 1
+            
+            if order == '-1':
+                curr_source = curr_source + 1 if curr_source < 2 else 0
+
+print('Error weights')
+print('segment 0:')
+for i in range(1):
+    print('average:', np.mean(result_count_0[i]), 'max:', np.max(result_count_0[i]), 'percentage:', float(np.count_nonzero(result_count_0[i])/len(result_count_0[i])), result_count_0[i])
+print('segment 1:')
+for i in range(1):
+    print('average:', np.mean(result_count_1[i]), 'max:', np.max(result_count_1[i]), 'percentage:', float(np.count_nonzero(result_count_1[i])/len(result_count_1[i])), result_count_1[i])
+print('segment 2:')
+for i in range(1):
+    print('average:', np.mean(result_count_2[i]), 'max:', np.max(result_count_2[i]), 'percentage:', float(np.count_nonzero(result_count_2[i])/len(result_count_2[i])), result_count_2[i])
+
+print('\nCounterexample types')
+print('segment 0:')
+for i in range(1):
+    print('Types:', len(counterexample_type_0[i]))
+    for key, value in reversed(sorted(counterexample_type_0[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print('segment 1:')
+for i in range(1):
+    print('Types:', len(counterexample_type_1[i]))
+    for key, value in reversed(sorted(counterexample_type_1[i].items(), key=lambda x: x[0])):
+        print("{} : {}".format(key, value))
+print('segment 2:')
+for i in range(1):
+   print('Types:', len(counterexample_type_2[i]))
+   for key, value in reversed(sorted(counterexample_type_2[i].items(), key=lambda x: x[0])):
+       print("{} : {}".format(key, value))
+print()
diff --git a/examples/dynamic_rulebook/run_multi_dynamic.sh b/examples/dynamic_rulebook/run_multi_dynamic.sh
new file mode 100644
index 0000000..a4bb41b
--- /dev/null
+++ b/examples/dynamic_rulebook/run_multi_dynamic.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+iteration=100
+scenario='multi_inter_left'
+use_dynamic_rulebook=true # true / false (false is for a static rulebook)
+sampler_idx=1
+sampler_type=demab # demab / dmab / dce / random / halton
+exploration_ratio=2.0
+simulator=scenic.simulators.metadrive.model
+simulation_steps=180
+log_file="result_${scenario}_${sampler_type}_${sampler_idx}_${use_dynamic_rulebook}.log"
+result_file="result_${scenario}_${sampler_type}_${sampler_idx}_${use_dynamic_rulebook}.txt"
+csv_file="result_${scenario}_${sampler_type}_${sampler_idx}_${use_dynamic_rulebook}"
+
+rm $scenario/outputs/$log_file
+rm $scenario/outputs/$result_file
+rm $scenario/outputs/$csv_file.*csv
+rm $scenario/outputs/$csv_file\_scatter.png
+if [ "$use_dynamic_rulebook" = true ]; then
+
+    for seed in $(seq 0 1);
+    do
+        python multi.py -n $iteration --headless -e $csv_file.$seed -sp $scenario/$scenario.scenic -gp $scenario/ -rp $scenario/$scenario\_spec.py -sfp $scenario/$scenario\_segment.py -s $sampler_type --seed $seed --using-sampler $sampler_idx -m $simulator --max-simulation-steps $simulation_steps -co $scenario/outputs --exploration-ratio $exploration_ratio >> $scenario/outputs/$log_file
+    done
+
+    python $scenario/util/$scenario\_collect_result.py $scenario/outputs/$log_file multi $sampler_idx >> $scenario/outputs/$result_file
+    python $scenario/util/$scenario\_analyze_diversity.py $scenario/outputs/ $csv_file multi >> $scenario/outputs/$result_file
+
+else
+
+    for seed in $(seq 0 1);
+    do
+        python multi.py -n $iteration --headless -e $csv_file.$seed -sp $scenario/$scenario.scenic --single-graph -gp $scenario/$scenario.sgraph -rp $scenario/$scenario\_spec.py -sfp $scenario/$scenario\_segment.py -s $sampler_type --seed $seed --using-sampler 0 -m $simulator --max-simulation-steps $simulation_steps -co $scenario/outputs --exploration-ratio $exploration_ratio >> $scenario/outputs/$log_file
+    done
+
+    python $scenario/util/$scenario\_collect_result.py $scenario/outputs/$log_file single 0 >> $scenario/outputs/$result_file
+    python $scenario/util/$scenario\_analyze_diversity.py $scenario/outputs/ $csv_file single >> $scenario/outputs/$result_file
+fi
diff --git a/src/verifai/error_table.py b/src/verifai/error_table.py
index 600087f..861302a 100644
--- a/src/verifai/error_table.py
+++ b/src/verifai/error_table.py
@@ -38,7 +38,7 @@ def update_column_names(self, column_names):
         self.table.columns = column_names
         self.column_names = column_names
 
-    def update_error_table(self, sample, rho):
+    def update_error_table(self, sample, rho, is_multi=False):
         sample = self.space.flatten(sample, fixedDimension=True)
         sample_dict = {}
         for k, v in zip(self.table.columns, list(sample)):
@@ -46,7 +46,7 @@ def update_error_table(self, sample, rho):
                 locs = np.where(np.array(sample) == None)
                 self.ignore_locs = self.ignore_locs + list(locs[0])
             sample_dict[k] = float(v) if self.column_type[k] and v is not None else v
-        if isinstance(rho, (list, tuple)):
+        if is_multi or isinstance(rho, (list, tuple)):
             for i,r in enumerate(rho[:-1]):
                 if "rho_" + str(i) not in self.column_names:
                     self.column_names.append("rho_"+str(i))
diff --git a/src/verifai/falsifier.py b/src/verifai/falsifier.py
index fe2caef..b82e840 100644
--- a/src/verifai/falsifier.py
+++ b/src/verifai/falsifier.py
@@ -4,6 +4,7 @@
 from verifai.samplers import TerminationException
 from dotmap import DotMap
 from verifai.monitor import mtl_specification, specification_monitor, multi_objective_monitor
+from verifai.rulebook import rulebook
 from verifai.error_table import error_table
 import numpy as np
 import progressbar
@@ -36,9 +37,12 @@ def __init__(self, monitor, sampler_type=None, sampler=None, sample_space=None,
             params.update(falsifier_params)
         if params.sampler_params is None:
             params.sampler_params = DotMap(thres=params.fal_thres)
-        self.multi = isinstance(self.monitor, multi_objective_monitor)
-        if self.multi:
+        self.multi = isinstance(self.monitor, multi_objective_monitor) or isinstance(self.monitor, rulebook)
+        self.dynamic = isinstance(self.monitor, rulebook)
+        if isinstance(self.monitor, multi_objective_monitor):
             params.sampler_params.priority_graph = self.monitor.graph
+        elif isinstance(self.monitor, rulebook):
+            pass
         self.save_error_table = params.save_error_table
         self.save_safe_table = params.save_safe_table
         self.error_table_path = params.error_table_path
@@ -51,7 +55,7 @@ def __init__(self, monitor, sampler_type=None, sampler=None, sample_space=None,
         self.sampler_params = params.sampler_params
         self.verbosity = params.verbosity
 
-        server_params = DotMap(init=True)
+        server_params = DotMap(init=True, dynamic=self.dynamic)
         if server_options is not None:
             server_params.update(server_options)
         if server_params.init:
@@ -82,11 +86,11 @@ def init_error_table(self):
 
     def populate_error_table(self, sample, rho, error=True):
         if error:
-            self.error_table.update_error_table(sample, rho)
+            self.error_table.update_error_table(sample, rho, is_multi=self.multi)
             if self.error_table_path:
                 self.write_table(self.error_table.table, self.error_table_path)
         else:
-            self.safe_table.update_error_table(sample, rho)
+            self.safe_table.update_error_table(sample, rho, is_multi=self.multi)
             if self.safe_table_path:
                 self.write_table(self.safe_table.table, self.safe_table_path)
 
@@ -159,6 +163,12 @@ def run_falsifier(self):
                     break
                 if self.verbosity >= 2:
                     print("Sample no: ", i, "\nSample: ", sample, "\nRho: ", rho)
+                if self.dynamic:
+                    print('RHO')
+                    for rh in rho:
+                        for r in rh:
+                            print(r, end=' ')
+                        print()
                 self.samples[i] = sample
                 server_samples.append(sample)
                 rhos.append(rho)
@@ -176,15 +186,23 @@ def run_falsifier(self):
                 bar.finish()
             self.server.terminate()
         for sample, rho in zip(server_samples, rhos):
-            ce = any([r <= self.fal_thres for r in rho]) if self.multi else rho <= self.fal_thres
-            if ce:
-                if self.save_error_table:
-                    self.populate_error_table(sample, rho)
-                ce_num = ce_num + 1
-                if ce_num >= self.ce_num_max:
-                    break
-            elif self.save_safe_table:
-                self.populate_error_table(sample, rho, error=False)
+            ce = False
+            if self.dynamic:
+                for r in rho:
+                    self.populate_error_table(sample, r)
+            else:
+                if self.multi:
+                    ce = any([r <= self.fal_thres for r in rho])
+                else:
+                    ce = rho <= self.fal_thres
+                if ce:
+                    if self.save_error_table:
+                        self.populate_error_table(sample, rho)
+                    ce_num = ce_num + 1
+                    if ce_num >= self.ce_num_max:
+                        break
+                elif self.save_safe_table:
+                    self.populate_error_table(sample, rho, error=False)
         if self.verbosity >= 1:
             print('Falsification complete.')
 
diff --git a/src/verifai/rulebook.py b/src/verifai/rulebook.py
new file mode 100644
index 0000000..6076145
--- /dev/null
+++ b/src/verifai/rulebook.py
@@ -0,0 +1,191 @@
+from abc import ABC
+import networkx as nx
+import mtl
+import ast
+import numpy as np
+import os
+
+from verifai.monitor import specification_monitor
+
+class FunctionVisitor(ast.NodeVisitor):
+    def __init__(self):
+        self.functions = []
+
+    def visit_FunctionDef(self, node):
+        self.functions.append(node)
+
+class rulebook(ABC):
+    priority_graphs = {}
+    using_sampler = -1
+    verbosity = 1
+    exploration_ratio = 2.0
+    using_continuous = False
+    
+    def __init__(self, graph_path, rule_file, segment_func_path, save_path=None, single_graph=False, using_sampler=-1, exploration_ratio=2.0):
+        print('(rulebook.py) Parsing rules...')
+        self._parse_rules(rule_file)
+        print('(rulebook.py) Parsing rulebooks...')
+        if single_graph:
+            self._parse_rulebook(graph_path)
+        else:
+            self._parse_rulebooks(graph_path)
+        self.single_graph = single_graph
+        print('(rulebook.py) Parsing the segment function...')
+        self._parse_segment_function(segment_func_path)
+        self.save_path = save_path
+        rulebook.using_sampler = using_sampler
+        rulebook.exploration_ratio = exploration_ratio
+
+    def _parse_rules(self, file_path):
+        # Parse the input rules (*_spec.py)
+        with open(file_path, 'r') as file:
+            file_contents = file.read()
+
+        tree = ast.parse(file_contents)
+
+        function_visitor = FunctionVisitor()
+        function_visitor.visit(tree)
+
+        self.functions = {}
+        for function_node in function_visitor.functions:
+            function_name = function_node.name
+            function_code = compile(ast.Module(body=[function_node], type_ignores=[]), '<string>', 'exec')
+            exec(function_code)
+            self.functions[function_name] = locals()[function_name]
+
+        print(f'(rulebook.py) Parsed functions: {self.functions}')
+
+    def _parse_rulebooks(self, dir):
+        if os.path.isdir(dir):
+            for root, _, files in os.walk(dir):
+                for name in files:
+                    fname = os.path.join(root, name)
+                    if os.path.splitext(fname)[1] == '.graph':
+                        self._parse_rulebook(fname)
+
+    def _parse_rulebook(self, file):
+        priority_graph = nx.DiGraph()
+        graph_id = -1
+        with open(file, 'r') as f:
+            lines = f.readlines()
+            node_section = False
+            edge_section = False
+            for line in lines:
+                line = line.strip()
+                if line.startswith('# ID'):
+                    graph_id = int(line.split(' ')[-1])
+                    if self.verbosity >= 1:
+                        print(f'(rulebook.py) Parsing graph {graph_id}')
+                if line == '# Node list':
+                    node_section = True
+                    continue
+                elif line == '# Edge list':
+                    node_section = False
+                    edge_section = True
+                    continue
+                
+                # Node
+                if node_section:
+                    node_info = line.split(' ')
+                    node_id = int(node_info[0])
+                    rule_name = node_info[1]
+                    ru = rule(node_id, self.functions[rule_name])
+                    priority_graph.add_node(node_id, rule=ru, name=rule_name)
+                    if self.verbosity >= 2:
+                        print(f'Add node {node_id} with rule {rule_name}')
+                
+                # Edge
+                if edge_section:
+                    edge_info = line.split(' ')
+                    src = int(edge_info[0])
+                    dst = int(edge_info[1])
+                    if not priority_graph.has_node(src) or not priority_graph.has_node(dst):
+                        raise ValueError(f'Edge refers to non-existent node: {src} -> {dst}')
+                    priority_graph.add_edge(src, dst)
+                    if self.verbosity >= 2:
+                        print(f'Add edge from {src} to {dst}')
+                
+        self.priority_graphs[graph_id] = priority_graph
+        
+    def _parse_segment_function(self, file_path):
+        # Parse the function that outputs the indices for different segments
+        with open(file_path, 'r') as file:
+            file_contents = file.read()
+
+        tree = ast.parse(file_contents)
+
+        function_visitor = FunctionVisitor()
+        function_visitor.visit(tree)
+
+        if len(function_visitor.functions) == 0:
+            raise ValueError('No function found in segment function file')
+        if len(function_visitor.functions) > 1:
+            raise ValueError('Multiple functions found in segment function file')
+
+        function_node = function_visitor.functions[0]
+        function_code = compile(ast.Module(body=[function_node], type_ignores=[]), '<string>', 'exec')
+        exec(function_code)
+        self.segment_function = locals()[function_node.name]
+
+    def evaluate_segment(self, traj, graph_idx=0, indices=None):
+        # Evaluate the result of each rule on the segment traj[indices] of the trajectory
+        priority_graph = self.priority_graphs[graph_idx]
+        rho = np.ones(len(priority_graph.nodes))
+        idx = 0
+        for id in sorted(priority_graph.nodes):
+            rule = priority_graph.nodes[id]['rule']
+            rho[idx] = rule.evaluate(traj, indices)
+            idx += 1
+        return rho
+    
+    def evaluate_rule(self, traj, rule_id, graph_idx=0, indices=None):
+        # Evaluate the result of a rule on the trajectory
+        priority_graph = self.priority_graphs[graph_idx]
+        rule = priority_graph.nodes[rule_id]['rule']
+        rho = 1
+        if priority_graph.nodes[rule_id]['active']:
+            if self.verbosity >= 2:
+                print('Evaluating rule', rule_id)
+            rho = rule.evaluate(traj, indices)
+        return rho
+
+    def evaluate(self, simulation):
+        # Use the segment function to get different segments
+        segments = self.segment_function(simulation)
+        
+        # Use evaluate_segment to evaluate each segment
+        if self.single_graph:
+            print('Actual rho:')
+            for i in range(len(segments)):
+                rho = self.evaluate_segment(simulation, 0, segments[i])
+                for r in rho:
+                    print(r, end=' ')
+                print()
+            rho = self.evaluate_segment(simulation, 0, np.arange(0, len(simulation.result.trajectory)))
+            return np.array([rho])
+        else:
+            assert len(segments) == len(self.priority_graphs), 'Number of segments does not match number of graphs'
+            rhos = []
+            for i in range(len(segments)):
+                rho = self.evaluate_segment(simulation, i, segments[i])
+                rhos.append(rho)
+            return np.array(rhos, dtype=object)
+
+    def update_graph(self):
+        pass
+
+class rule(specification_monitor):
+    def __init__(self, node_id, spec, spec_type='monitor'):
+        self.node_id = node_id
+        if spec_type == 'monitor': # spec is a function
+            super().__init__(spec)
+        else: # spec is MTL
+            mtl_specs = [mtl.parse(sp) for sp in spec]
+            mtl_spec = mtl_specs[0]
+            if len(mtl_specs) > 1:
+                for sp in mtl_specs[1:]:
+                    mtl_spec = (mtl_spec & sp)
+            super().__init__(mtl_spec)
+    
+    def evaluate(self, traj, indices=None):
+        return self.specification(traj, indices)
diff --git a/src/verifai/samplers/dynamic_ce.py b/src/verifai/samplers/dynamic_ce.py
new file mode 100644
index 0000000..0b84f5a
--- /dev/null
+++ b/src/verifai/samplers/dynamic_ce.py
@@ -0,0 +1,146 @@
+import numpy as np
+import networkx as nx
+from itertools import product
+from verifai.samplers.domain_sampler import BoxSampler, DiscreteBoxSampler, \
+    DomainSampler, SplitSampler
+from verifai.samplers.random_sampler import RandomSampler
+from verifai.samplers.cross_entropy import DiscreteCrossEntropySampler
+from verifai.samplers.multi_objective import MultiObjectiveSampler
+from verifai.rulebook import rulebook
+
+class DynamicCrossEntropySampler(DomainSampler):
+    verbosity = 1
+    
+    def __init__(self, domain, dce_params):
+        super().__init__(domain)
+        self.alpha = dce_params.alpha
+        self.thres = dce_params.thres
+        self.cont_buckets = dce_params.cont.buckets
+        self.cont_dist = dce_params.cont.dist
+        self.disc_dist = dce_params.disc.dist
+        self.cont_ce = lambda domain: ContinuousDynamicCESampler(domain=domain,
+                                                     buckets=self.cont_buckets,
+                                                     dist=self.cont_dist,
+                                                     alpha=self.alpha,
+                                                     thres=self.thres)
+        self.disc_ce = lambda domain: DiscreteDynamicCESampler(domain=domain,
+                                                   dist=self.disc_dist,
+                                                   alpha=self.alpha,
+                                                   thres=self.thres)
+        partition = (
+            (lambda d: d.standardizedDimension > 0, self.cont_ce),
+            (lambda d: d.standardizedIntervals, self.disc_ce)
+        )
+        self.split_samplers = {}
+        for id, priority_graph in rulebook.priority_graphs.items():
+            self.split_samplers[id] = SplitSampler.fromPartition(domain,
+                                                                partition,
+                                                                RandomSampler)
+            for subsampler in self.split_samplers[id].samplers:
+                if isinstance(subsampler, ContinuousDynamicCESampler):
+                    subsampler.set_graph(priority_graph)
+                elif isinstance(subsampler, DiscreteDynamicCESampler):
+                    assert True
+                else:
+                    assert isinstance(subsampler, RandomSampler)
+        if not sorted(list(self.split_samplers.keys())) == list(range(len(rulebook.priority_graphs))):
+            raise ValueError('Priority graph IDs should be in order and start from 0')
+        self.num_segs = len(self.split_samplers)
+        self.sampler_idx = 0
+        self.using_sampler = rulebook.using_sampler # -1: round-robin
+        assert self.using_sampler < self.num_segs
+
+    def getSample(self):
+        if self.using_sampler == -1:
+            # Sample from each segment in a round-robin fashion
+            idx = self.sampler_idx % self.num_segs
+        else:
+            idx = self.using_sampler
+        return self.split_samplers[idx].getSample()
+
+    def update(self, sample, info, rhos):
+        # Update each sampler based on the corresponding segment
+        try:
+            iter(rhos)
+        except:
+            for i in range(len(self.split_samplers)):
+                self.split_samplers[i].update(sample, info, rhos)
+            return
+        if self.using_sampler == -1:
+            if self.verbosity >= 2:
+                print('(dynamic_ce.py) Getting feedback from segment', self.sampler_idx % self.num_segs)
+            for i in range(len(rhos)):
+                self.split_samplers[i].update(sample, info, rhos[i])
+        else:
+            if self.verbosity >= 2:
+                print('(dynamic_ce.py) Getting feedback from segment', self.using_sampler)
+            self.split_samplers[self.using_sampler].update(sample, info, rhos[self.using_sampler])
+        self.sampler_idx += 1
+
+class ContinuousDynamicCESampler(BoxSampler, MultiObjectiveSampler):
+    verbosity = 2
+
+    def __init__(self, domain, alpha, thres,
+                 buckets=10, dist=None, restart_every=100):
+        super().__init__(domain)
+        if isinstance(buckets, int):
+            buckets = np.ones(self.dimension) * buckets
+        elif len(buckets) > 1:
+            assert len(buckets) == self.dimension
+        else:
+            buckets = np.ones(self.dimension) * buckets[0]
+        if dist is not None:
+            assert (len(dist) == len(buckets))
+        if dist is None:
+            dist = np.array([np.ones(int(b))/b for b in buckets])
+        self.buckets = buckets # 1*d, each element specifies the number of buckets in that dimension
+        self.dist = dist # N*d
+        self.alpha = alpha
+        self.thres = thres
+        self.current_sample = None
+
+    def getVector(self):
+        return self.generateSample()
+    
+    def generateSample(self):
+        bucket_samples = np.array([np.random.choice(int(b), p=self.dist[i])
+                                   for i, b in enumerate(self.buckets)])
+        self.current_sample = bucket_samples
+        ret = tuple(np.random.uniform(bs, bs+1.)/b for b, bs
+              in zip(self.buckets, bucket_samples))
+        return ret, bucket_samples
+    
+    def updateVector(self, vector, info, rho):
+        assert rho is not None
+        self.update_dist_from_multi(vector, info, rho)
+    
+    def update_dist_from_multi(self, sample, info, rho):
+        try:
+            iter(rho)
+        except:
+            return
+        if len(rho) != self.num_properties:
+            return
+        
+        # AND
+        is_ce = True
+        for node in self.priority_graph.nodes:
+            if rho[node] >= self.thres[node]:
+                is_ce = False
+                break
+        # OR
+        #is_ce = False
+        #for node in self.priority_graph.nodes:
+        #    if rho[node] < self.thres[node]:
+        #        is_ce = True
+        #        break
+        
+        if not is_ce:
+            return
+        print('(dynamic_ce.py) IS CE! Updating!')
+        for row, b in zip(self.dist, info):
+            row *= self.alpha
+            row[b] += 1 - self.alpha
+
+class DiscreteDynamicCESampler(DiscreteCrossEntropySampler):
+    pass
diff --git a/src/verifai/samplers/dynamic_emab.py b/src/verifai/samplers/dynamic_emab.py
new file mode 100644
index 0000000..355755e
--- /dev/null
+++ b/src/verifai/samplers/dynamic_emab.py
@@ -0,0 +1,251 @@
+import numpy as np
+import networkx as nx
+from itertools import product
+from verifai.samplers.domain_sampler import BoxSampler, DiscreteBoxSampler, \
+    DomainSampler, SplitSampler
+from verifai.samplers.random_sampler import RandomSampler
+from verifai.samplers.cross_entropy import DiscreteCrossEntropySampler
+from verifai.samplers.multi_objective import MultiObjectiveSampler
+from verifai.rulebook import rulebook
+
+class DynamicExtendedMultiArmedBanditSampler(DomainSampler):
+    verbosity = 1
+    
+    def __init__(self, domain, demab_params):
+        super().__init__(domain)
+        self.alpha = demab_params.alpha
+        self.thres = demab_params.thres
+        self.cont_buckets = demab_params.cont.buckets
+        self.cont_dist = demab_params.cont.dist
+        self.disc_dist = demab_params.disc.dist
+        self.cont_ce = lambda domain: ContinuousDynamicEMABSampler(domain=domain,
+                                                     buckets=self.cont_buckets,
+                                                     dist=self.cont_dist,
+                                                     alpha=self.alpha,
+                                                     thres=self.thres,
+                                                     exploration_ratio=rulebook.exploration_ratio)
+        self.disc_ce = lambda domain: DiscreteDynamicEMABSampler(domain=domain,
+                                                   dist=self.disc_dist,
+                                                   alpha=self.alpha,
+                                                   thres=self.thres)
+        partition = (
+            (lambda d: d.standardizedDimension > 0, self.cont_ce),
+            (lambda d: d.standardizedIntervals, self.disc_ce)
+        )
+        self.split_samplers = {}
+        for id, priority_graph in rulebook.priority_graphs.items():
+            self.split_samplers[id] = SplitSampler.fromPartition(domain,
+                                                                partition,
+                                                                RandomSampler)
+            for subsampler in self.split_samplers[id].samplers:
+                if isinstance(subsampler, ContinuousDynamicEMABSampler):
+                    subsampler.set_graph(priority_graph)
+                    subsampler.compute_error_weight()
+                elif isinstance(subsampler, DiscreteDynamicEMABSampler):
+                    assert True
+                else:
+                    assert isinstance(subsampler, RandomSampler)
+        if not sorted(list(self.split_samplers.keys())) == list(range(len(rulebook.priority_graphs))):
+            raise ValueError('Priority graph IDs should be in order and start from 0')
+        self.num_segs = len(self.split_samplers)
+        self.sampler_idx = 0
+        self.using_sampler = rulebook.using_sampler # -1: round-robin
+        assert self.using_sampler < self.num_segs
+
+    def getSample(self):
+        if self.using_sampler == -1:
+            # Sample from each segment in a round-robin fashion
+            idx = self.sampler_idx % self.num_segs
+        else:
+            idx = self.using_sampler
+        return self.split_samplers[idx].getSample()
+
+    def update(self, sample, info, rhos):
+        # Update each sampler based on the corresponding segment
+        try:
+            iter(rhos)
+        except:
+            for i in range(len(self.split_samplers)):
+                self.split_samplers[i].update(sample, info, rhos)
+            return
+        if self.using_sampler == -1:
+            if self.verbosity >= 2:
+                print('(dynamic_emab.py) Getting feedback from segment', self.sampler_idx % self.num_segs)
+            for i in range(len(rhos)):
+                self.split_samplers[i].update(sample, info, rhos[i])
+        else:
+            if self.verbosity >= 2:
+                print('(dynamic_emab.py) Getting feedback from segment', self.using_sampler)
+            self.split_samplers[self.using_sampler].update(sample, info, rhos[self.using_sampler])
+        self.sampler_idx += 1
+
+class ContinuousDynamicEMABSampler(BoxSampler, MultiObjectiveSampler):
+    verbosity = 1
+
+    def __init__(self, domain, alpha, thres,
+                 buckets=10, dist=None, restart_every=100, exploration_ratio=2.0):
+        super().__init__(domain)
+        if isinstance(buckets, int):
+            buckets = np.ones(self.dimension) * buckets
+        elif len(buckets) > 1:
+            assert len(buckets) == self.dimension
+        else:
+            buckets = np.ones(self.dimension) * buckets[0]
+        if dist is not None:
+            assert (len(dist) == len(buckets))
+        if dist is None:
+            dist = np.array([np.ones(int(b))/b for b in buckets])
+        self.buckets = buckets # 1*d, each element specifies the number of buckets in that dimension
+        self.dist = dist # N*d, ???
+        self.alpha = alpha
+        self.thres = thres
+        self.current_sample = None
+        self.counts = np.array([np.ones(int(b)) for b in buckets]) # N*d, T (visit times)
+        self.errors = np.array([np.zeros(int(b)) for b in buckets]) # N*d, total times resulting in maximal counterexample
+        self.t = 1 # time, used in Q
+        self.counterexamples = dict()
+        self.is_multi = True #False
+        self.invalid = np.array([np.zeros(int(b)) for b in buckets]) # N*d, ???
+        self.monitor = None
+        self.rho_values = []
+        self.restart_every = restart_every
+        self.exploration_ratio = exploration_ratio
+
+    def getVector(self):
+        return self.generateSample()
+    
+    def generateSample(self):
+        proportions = self.errors / self.counts
+        Q = proportions + np.sqrt(self.exploration_ratio / self.counts * np.log(self.t))
+        # choose the bucket with the highest "goodness" value, breaking ties randomly.
+        bucket_samples = np.array([np.random.choice(np.flatnonzero(np.isclose(Q[i], Q[i].max())))
+            for i in range(len(self.buckets))])
+        self.current_sample = bucket_samples
+        ret = tuple(np.random.uniform(bs, bs+1.)/b for b, bs
+              in zip(self.buckets, bucket_samples)) # uniform randomly sample from the range of the bucket
+        return ret, bucket_samples
+    
+    def updateVector(self, vector, info, rho):
+        assert rho is not None
+        # "random restarts" to generate a new topological sort of the priority graph
+        # every restart_every samples.
+        if self.is_multi:
+            if self.monitor is not None and self.monitor.linearize and self.t % self.restart_every == 0:
+                self.monitor._linearize()
+            self.update_dist_from_multi(vector, info, rho)
+            return
+        self.t += 1
+        for i, b in enumerate(info):
+            self.counts[i][b] += 1.
+            if rho < self.thres:
+                self.errors[i][b] += 1.
+
+    def is_better_counterexample(self, ce1, ce2):
+        if ce2 is None:
+            return True
+        return self._compute_error_value(ce1) > self._compute_error_value(ce2)
+
+    def _get_total_counterexamples(self):
+        return sum(self.counterexamples.values())
+    
+    def _update_counterexample(self, ce, to_delete=False): # update counterexamples, may or may not delete non-maximal counterexamples
+        if ce in self.counterexamples:
+            return True
+        if to_delete:
+            to_remove = set()
+            if len(self.counterexamples) > 0:
+                for other_ce in self.counterexamples:
+                    if self.is_better_counterexample(other_ce, ce):
+                        return False
+            for other_ce in self.counterexamples:
+                if self.is_better_counterexample(ce, other_ce):
+                    to_remove.add(other_ce)
+            for other_ce in to_remove:
+                del self.counterexamples[other_ce]
+        self.counterexamples[ce] = np.array([np.zeros(int(b)) for b in self.buckets])
+        return True
+    
+    def update_dist_from_multi(self, sample, info, rho):
+        try:
+            iter(rho)
+        except:
+            for i, b in enumerate(info):
+                self.invalid[i][b] += 1.
+            return
+        if len(rho) != self.num_properties:
+            for i, b in enumerate(info):
+                self.invalid[i][b] += 1.
+            return
+        counter_ex_dict = {}
+        idx = 0
+        for node in sorted(self.priority_graph.nodes):
+            counter_ex_dict[node] = rho[idx] < self.thres[idx]
+            idx += 1
+        counter_ex = tuple(rho[i] < self.thres[i] for i in range(len(rho)))
+        error_value = self._compute_error_value(counter_ex_dict)
+        if rulebook.using_continuous:
+            error_value = self._compute_error_value_continuous(rho)
+            print('(dynamic_emab.py) error_value =', error_value)
+        self._update_counterexample(counter_ex)
+        for i, b in enumerate(info):
+            self.counts[i][b] += self.sum_error_weight
+            self.counterexamples[counter_ex][i][b] += error_value
+        self.errors = self._get_total_counterexamples()
+        self.t += 1
+        if self.verbosity >= 2:
+            print('counterexamples =', self.counterexamples)
+        if self.verbosity >= 2:
+            for ce in self.counterexamples:
+                if self._compute_error_value(ce) > 0:
+                    print('counterexamples =', ce, ', times =', int(np.sum(self.counterexamples[ce], axis = 1)[0]/self._compute_error_value(ce)))
+        if self.verbosity >= 2:
+            proportions = self.errors / self.counts
+            print('self.errors[0] =', self.errors[0])
+            print('self.counts[0] =', self.counts[0])
+            Q = proportions + np.sqrt(self.exploration_ratio / self.counts * np.log(self.t))
+            print('Q[0] =', Q[0], '\nfirst_term[0] =', proportions[0], '\nsecond_term[0] =', np.sqrt(self.exploration_ratio / self.counts * np.log(self.t))[0], '\nratio[0] =', proportions[0]/(proportions+np.sqrt(self.exploration_ratio / self.counts * np.log(self.t)))[0])
+
+    def _compute_error_value(self, counter_ex):
+        error_value = 0
+        for key in counter_ex:
+            if counter_ex[key]:
+                error_value += 2**(self.error_weight[key])
+        return error_value
+    
+    def _compute_error_value_continuous(self, rho):
+        error_value = 0
+        for i in range(len(rho)):
+            error_value += 2**(self.error_weight[i]) * -1 * rho[i]
+        return error_value
+    
+    def compute_error_weight(self):
+        level = {}
+        for node in nx.topological_sort(self.priority_graph):
+            if self.priority_graph.in_degree(node) == 0:
+                level[node] = 0
+            else:
+                level[node] = max([level[p] for p in self.priority_graph.predecessors(node)]) + 1
+        
+        ranking_map = {}
+        ranking_count = {}
+        for rank in sorted(level.values()):
+            if rank not in ranking_count:
+                ranking_count[rank] = 1
+            else:
+                ranking_count[rank] += 1
+        count = 0
+        for key, value in reversed(ranking_count.items()):
+            ranking_map[key] = count
+            count += value
+        
+        self.error_weight = {} #node_id -> weight
+        self.sum_error_weight = 0
+        for node in level:
+            self.error_weight[node] = ranking_map[level[node]]
+            self.sum_error_weight += 2**self.error_weight[node]
+        for key, value in sorted(self.error_weight.items()):
+            if self.verbosity >= 2:
+                print(f"Node {key}: {value}")
+
+class DiscreteDynamicEMABSampler(DiscreteCrossEntropySampler):
+    pass
diff --git a/src/verifai/samplers/dynamic_mab.py b/src/verifai/samplers/dynamic_mab.py
new file mode 100644
index 0000000..d881a2c
--- /dev/null
+++ b/src/verifai/samplers/dynamic_mab.py
@@ -0,0 +1,242 @@
+import numpy as np
+import networkx as nx
+from itertools import product
+from verifai.samplers.domain_sampler import BoxSampler, DiscreteBoxSampler, \
+    DomainSampler, SplitSampler
+from verifai.samplers.random_sampler import RandomSampler
+from verifai.samplers.cross_entropy import DiscreteCrossEntropySampler
+from verifai.samplers.multi_objective import MultiObjectiveSampler
+from verifai.rulebook import rulebook
+
+class DynamicMultiArmedBanditSampler(DomainSampler):
+    verbosity = 1
+    
+    def __init__(self, domain, dmab_params):
+        super().__init__(domain)
+        self.alpha = dmab_params.alpha
+        self.thres = dmab_params.thres
+        self.cont_buckets = dmab_params.cont.buckets
+        self.cont_dist = dmab_params.cont.dist
+        self.disc_dist = dmab_params.disc.dist
+        self.cont_ce = lambda domain: ContinuousDynamicMABSampler(domain=domain,
+                                                     buckets=self.cont_buckets,
+                                                     dist=self.cont_dist,
+                                                     alpha=self.alpha,
+                                                     thres=self.thres)
+        self.disc_ce = lambda domain: DiscreteDynamicMABSampler(domain=domain,
+                                                   dist=self.disc_dist,
+                                                   alpha=self.alpha,
+                                                   thres=self.thres)
+        partition = (
+            (lambda d: d.standardizedDimension > 0, self.cont_ce),
+            (lambda d: d.standardizedIntervals, self.disc_ce)
+        )
+        self.split_samplers = {}
+        for id, priority_graph in rulebook.priority_graphs.items():
+            self.split_samplers[id] = SplitSampler.fromPartition(domain,
+                                                                partition,
+                                                                RandomSampler)
+            for subsampler in self.split_samplers[id].samplers:
+                if isinstance(subsampler, ContinuousDynamicMABSampler):
+                    subsampler.set_graph(priority_graph)
+                    subsampler.compute_error_weight()
+                elif isinstance(subsampler, DiscreteDynamicMABSampler):
+                    assert True
+                else:
+                    assert isinstance(subsampler, RandomSampler)
+        if not sorted(list(self.split_samplers.keys())) == list(range(len(rulebook.priority_graphs))):
+            raise ValueError('Priority graph IDs should be in order and start from 0')
+        self.num_segs = len(self.split_samplers)
+        self.sampler_idx = 0
+        self.using_sampler = rulebook.using_sampler # -1: round-robin
+        assert self.using_sampler < self.num_segs
+
+    def getSample(self):
+        if self.using_sampler == -1:
+            # Sample from each segment in a round-robin fashion
+            idx = self.sampler_idx % self.num_segs
+        else:
+            idx = self.using_sampler
+        return self.split_samplers[idx].getSample()
+
+    def update(self, sample, info, rhos):
+        # Update each sampler based on the corresponding segment
+        try:
+            iter(rhos)
+        except:
+            for i in range(len(self.split_samplers)):
+                self.split_samplers[i].update(sample, info, rhos)
+            return
+        if self.using_sampler == -1:
+            if self.verbosity >= 2:
+                print('(dynamic_mab.py) Getting feedback from segment', self.sampler_idx % self.num_segs)
+            for i in range(len(rhos)):
+                self.split_samplers[i].update(sample, info, rhos[i])
+        else:
+            if self.verbosity >= 2:
+                print('(dynamic_mab.py) Getting feedback from segment', self.using_sampler)
+            self.split_samplers[self.using_sampler].update(sample, info, rhos[self.using_sampler])
+        self.sampler_idx += 1
+
+class ContinuousDynamicMABSampler(BoxSampler, MultiObjectiveSampler):
+    verbosity = 2
+
+    def __init__(self, domain, alpha, thres,
+                 buckets=10, dist=None, restart_every=100):
+        super().__init__(domain)
+        if isinstance(buckets, int):
+            buckets = np.ones(self.dimension) * buckets
+        elif len(buckets) > 1:
+            assert len(buckets) == self.dimension
+        else:
+            buckets = np.ones(self.dimension) * buckets[0]
+        if dist is not None:
+            assert (len(dist) == len(buckets))
+        if dist is None:
+            dist = np.array([np.ones(int(b))/b for b in buckets])
+        self.buckets = buckets # 1*d, each element specifies the number of buckets in that dimension
+        self.dist = dist # N*d, ???
+        self.alpha = alpha
+        self.thres = thres
+        self.current_sample = None
+        self.counts = np.array([np.ones(int(b)) for b in buckets]) # N*d, T (visit times)
+        self.errors = np.array([np.zeros(int(b)) for b in buckets]) # N*d, total times resulting in maximal counterexample
+        self.t = 1 # time, used in Q
+        self.counterexamples = dict()
+        self.is_multi = True #False
+        self.invalid = np.array([np.zeros(int(b)) for b in buckets]) # N*d, ???
+        self.monitor = None
+        self.rho_values = []
+        self.restart_every = restart_every
+        self.exploration_ratio = 2.0
+
+    def getVector(self):
+        return self.generateSample()
+    
+    def generateSample(self):
+        proportions = self.errors / self.counts
+        Q = proportions + np.sqrt(self.exploration_ratio / self.counts * np.log(self.t))
+        # choose the bucket with the highest "goodness" value, breaking ties randomly.
+        bucket_samples = np.array([np.random.choice(np.flatnonzero(np.isclose(Q[i], Q[i].max())))
+            for i in range(len(self.buckets))])
+        self.current_sample = bucket_samples
+        ret = tuple(np.random.uniform(bs, bs+1.)/b for b, bs
+              in zip(self.buckets, bucket_samples)) # uniform randomly sample from the range of the bucket
+        return ret, bucket_samples
+    
+    def updateVector(self, vector, info, rho):
+        assert rho is not None
+        # "random restarts" to generate a new topological sort of the priority graph
+        # every restart_every samples.
+        if self.is_multi:
+            if self.monitor is not None and self.monitor.linearize and self.t % self.restart_every == 0:
+                self.monitor._linearize()
+            self.update_dist_from_multi(vector, info, rho)
+            return
+        self.t += 1
+        for i, b in enumerate(info):
+            self.counts[i][b] += 1.
+            if rho < self.thres:
+                self.errors[i][b] += 1.
+
+    def is_better_counterexample(self, ce1, ce2):
+        if ce2 is None:
+            return True
+        return self._compute_error_value(ce1) > self._compute_error_value(ce2)
+
+    def _get_total_counterexamples(self):
+        return sum(self.counterexamples.values())
+    
+    def _update_counterexample(self, ce, to_delete=False): # update counterexamples, may or may not delete non-maximal counterexamples
+        if ce in self.counterexamples:
+            return True
+        if to_delete:
+            to_remove = set()
+            if len(self.counterexamples) > 0:
+                for other_ce in self.counterexamples:
+                    if self.is_better_counterexample(other_ce, ce):
+                        return False
+            for other_ce in self.counterexamples:
+                if self.is_better_counterexample(ce, other_ce):
+                    to_remove.add(other_ce)
+            for other_ce in to_remove:
+                del self.counterexamples[other_ce]
+        self.counterexamples[ce] = np.array([np.zeros(int(b)) for b in self.buckets])
+        return True
+    
+    def update_dist_from_multi(self, sample, info, rho):
+        try:
+            iter(rho)
+        except:
+            for i, b in enumerate(info):
+                self.invalid[i][b] += 1.
+            return
+        if len(rho) != self.num_properties:
+            for i, b in enumerate(info):
+                self.invalid[i][b] += 1.
+            return
+        
+        counter_ex_dict = {}
+        idx = 0
+        for node in sorted(self.priority_graph.nodes):
+            counter_ex_dict[node] = rho[idx] < self.thres[idx]
+            idx += 1
+        counter_ex = tuple(rho[i] < self.thres[i] for i in range(len(rho)))
+        error_value = self._compute_error_value(counter_ex_dict)
+        is_ce = self._update_counterexample(counter_ex, True)
+        for i, b in enumerate(info):
+            self.counts[i][b] += 1
+            if is_ce:
+                self.counterexamples[counter_ex][i][b] += 1
+        self.errors = self._get_total_counterexamples()
+        self.t += 1
+        if self.verbosity >= 2:
+            print('counterexamples =', self.counterexamples)
+        if self.verbosity >= 2:
+            for ce in self.counterexamples:
+                if self._compute_error_value(ce) > 0:
+                    print('largest counterexamples =', ce, ', times =', int(np.sum(self.counterexamples[ce], axis = 1)[0]))
+        if self.verbosity >= 2:
+            proportions = self.errors / self.counts
+            print('self.errors[0] =', self.errors[0])
+            print('self.counts[0] =', self.counts[0])
+            Q = proportions + np.sqrt(self.exploration_ratio / self.counts * np.log(self.t))
+            print('Q[0] =', Q[0], '\nfirst_term[0] =', proportions[0], '\nsecond_term[0] =', np.sqrt(2 / self.counts * np.log(self.t))[0], '\nratio[0] =', proportions[0]/(proportions+np.sqrt(2 / self.counts * np.log(self.t)))[0])
+
+    def _compute_error_value(self, counter_ex):
+        error_value = 0
+        for i in range(len(counter_ex)):
+            error_value += 2**(self.error_weight[i]) * counter_ex[i]
+        return error_value
+    
+    def compute_error_weight(self):
+        level = {}
+        for node in nx.topological_sort(self.priority_graph):
+            if self.priority_graph.in_degree(node) == 0:
+                level[node] = 0
+            else:
+                level[node] = max([level[p] for p in self.priority_graph.predecessors(node)]) + 1
+        
+        ranking_map = {}
+        ranking_count = {}
+        for rank in sorted(level.values()):
+            if rank not in ranking_count:
+                ranking_count[rank] = 1
+            else:
+                ranking_count[rank] += 1
+        count = 0
+        for key, value in reversed(ranking_count.items()):
+            ranking_map[key] = count
+            count += value
+        
+        self.error_weight = {} #node_id -> weight
+        self.sum_error_weight = 0
+        for node in level:
+            self.error_weight[node] = ranking_map[level[node]]
+            self.sum_error_weight += 2**self.error_weight[node]
+        for key, value in sorted(self.error_weight.items()):
+            if self.verbosity >= 2:
+                print(f"Node {key}: {value}")
+
+class DiscreteDynamicMABSampler(DiscreteCrossEntropySampler):
+    pass
diff --git a/src/verifai/samplers/feature_sampler.py b/src/verifai/samplers/feature_sampler.py
index 5890505..d65804c 100644
--- a/src/verifai/samplers/feature_sampler.py
+++ b/src/verifai/samplers/feature_sampler.py
@@ -20,6 +20,11 @@
 from verifai.samplers.bayesian_optimization import BayesOptSampler
 from verifai.samplers.simulated_annealing import SimulatedAnnealingSampler
 from verifai.samplers.grid_sampler import GridSampler
+from verifai.samplers.extended_multi_armed_bandit import ExtendedMultiArmedBanditSampler
+from verifai.samplers.dynamic_emab import DynamicExtendedMultiArmedBanditSampler
+from verifai.samplers.dynamic_mab import DynamicMultiArmedBanditSampler
+from verifai.samplers.dynamic_ce import DynamicCrossEntropySampler
+from verifai.samplers.dynamic_unified_emab import DynamicUnifiedExtendedMultiArmedBanditSampler
 
 ### Samplers defined over FeatureSpaces
 
@@ -91,12 +96,89 @@ def multiArmedBanditSamplerFor(space, mab_params=None):
         Uses random sampling for lengths of feature lists and any Domains
         that are not standardizable.
         """
+        print('(feature_sampler.py) Using mab sampler')
         if mab_params is None:
             mab_params = default_sampler_params('mab')
+        print('(feature_sampler.py) mab_params =', mab_params)
         return LateFeatureSampler(space, RandomSampler,
             lambda domain: MultiArmedBanditSampler(domain=domain,
                                                    mab_params=mab_params))
 
+    @staticmethod
+    def extendedMultiArmedBanditSamplerFor(space, emab_params=None):
+        """Creates an extended multi-armed bandit sampler for a given space.
+
+        Uses random sampling for lengths of feature lists and any Domains
+        that are not standardizable.
+        """
+        print('(feature_sampler.py) Using emab sampler')
+        if emab_params is None:
+            emab_params = default_sampler_params('emab')
+        print('(feature_sampler.py) emab_params =', emab_params)
+        return LateFeatureSampler(space, RandomSampler,
+            lambda domain: ExtendedMultiArmedBanditSampler(domain=domain,
+                                                   emab_params=emab_params))
+    
+    @staticmethod
+    def dynamicExtendedMultiArmedBanditSamplerFor(space, demab_params=None):
+        """Creates a dynamic extended multi-armed bandit sampler for a given space.
+
+        Uses random sampling for lengths of feature lists and any Domains
+        that are not standardizable.
+        """
+        print('(feature_sampler.py) Using demab sampler')
+        if demab_params is None:
+            demab_params = default_sampler_params('demab')
+        print('(feature_sampler.py) demab_params =', demab_params)
+        return LateFeatureSampler(space, RandomSampler,
+            lambda domain: DynamicExtendedMultiArmedBanditSampler(domain=domain,
+                                                                  demab_params=demab_params))
+    
+    @staticmethod
+    def dynamicMultiArmedBanditSamplerFor(space, dmab_params=None):
+        """Creates a dynamic multi-armed bandit sampler for a given space.
+
+        Uses random sampling for lengths of feature lists and any Domains
+        that are not standardizable.
+        """
+        print('(feature_sampler.py) Using dmab sampler')
+        if dmab_params is None:
+            dmab_params = default_sampler_params('dmab')
+        print('(feature_sampler.py) dmab_params =', dmab_params)
+        return LateFeatureSampler(space, RandomSampler,
+            lambda domain: DynamicMultiArmedBanditSampler(domain=domain,
+                                                          dmab_params=dmab_params))
+    
+    @staticmethod
+    def dynamicCrossEntropySamplerFor(space, dce_params=None):
+        """Creates a dynamic cross-entropy sampler for a given space.
+
+        Uses random sampling for lengths of feature lists and any Domains
+        that are not standardizable.
+        """
+        print('(feature_sampler.py) Using dce sampler')
+        if dce_params is None:
+            dce_params = default_sampler_params('dce')
+        print('(feature_sampler.py) dce_params =', dce_params)
+        return LateFeatureSampler(space, RandomSampler,
+            lambda domain: DynamicCrossEntropySampler(domain=domain,
+                                                      dce_params=dce_params))
+
+    @staticmethod
+    def dynamicUnifiedExtendedMultiArmedBanditSamplerFor(space, udemab_params=None):
+        """Creates a dynamic unified extended multi-armed bandit sampler for a given space.
+
+        Uses random sampling for lengths of feature lists and any Domains
+        that are not standardizable.
+        """
+        print('(feature_sampler.py) Using udemab sampler')
+        if udemab_params is None:
+            udemab_params = default_sampler_params('udemab')
+        print('(feature_sampler.py) udemab_params =', udemab_params)
+        return LateFeatureSampler(space, RandomSampler,
+            lambda domain: DynamicUnifiedExtendedMultiArmedBanditSampler(domain=domain,
+                                                                         udemab_params=udemab_params))
+    
     @staticmethod
     def gridSamplerFor(space, grid_params=None):
         """Creates a grid sampler for a given space.
@@ -258,7 +340,11 @@ def makeRandomSampler(domain):
 def default_sampler_params(sampler_type):
     if sampler_type == 'halton':
         return DotMap(sample_index=0, bases_skipped=0)
-    elif sampler_type in ('ce', 'eg', 'mab'):
+    elif sampler_type in ('ce', 'eg', 'mab', 'emab'):
+        cont = DotMap(buckets=5, dist=None)
+        disc = DotMap(dist=None)
+        return DotMap(alpha=0.9, thres=0.0, cont=cont, disc=disc)
+    elif sampler_type in ('demab', 'dmab', 'dce', 'udemab'):
         cont = DotMap(buckets=5, dist=None)
         disc = DotMap(dist=None)
         return DotMap(alpha=0.9, thres=0.0, cont=cont, disc=disc)
diff --git a/src/verifai/samplers/multi_armed_bandit.py b/src/verifai/samplers/multi_armed_bandit.py
index a6c6e39..4ed029a 100644
--- a/src/verifai/samplers/multi_armed_bandit.py
+++ b/src/verifai/samplers/multi_armed_bandit.py
@@ -6,6 +6,7 @@
 from verifai.samplers.random_sampler import RandomSampler
 from verifai.samplers.cross_entropy import DiscreteCrossEntropySampler
 from verifai.samplers.multi_objective import MultiObjectiveSampler
+from verifai.rulebook import rulebook
 
 class MultiArmedBanditSampler(DomainSampler):
     def __init__(self, domain, mab_params):
@@ -54,6 +55,8 @@ def update(self, sample, info, rho):
         self.split_sampler.update(sample, info, rho)
 
 class ContinuousMultiArmedBanditSampler(BoxSampler, MultiObjectiveSampler):
+    verbosity = 1
+    
     def __init__(self, domain, alpha, thres,
                  buckets=10, dist=None, restart_every=100):
         super().__init__(domain)
@@ -81,19 +84,20 @@ def __init__(self, domain, alpha, thres,
         self.monitor = None
         self.rho_values = []
         self.restart_every = restart_every
+        self.exploration_ratio = 2.0
 
     def getVector(self):
         return self.generateSample()
     
     def generateSample(self):
         proportions = self.errors / self.counts
-        Q = proportions + np.sqrt(2 / self.counts * np.log(self.t))
+        Q = proportions + np.sqrt(self.exploration_ratio / self.counts * np.log(self.t))
         # choose the bucket with the highest "goodness" value, breaking ties randomly.
         bucket_samples = np.array([np.random.choice(np.flatnonzero(np.isclose(Q[i], Q[i].max())))
             for i in range(len(self.buckets))])
         self.current_sample = bucket_samples
         ret = tuple(np.random.uniform(bs, bs+1.)/b for b, bs
-              in zip(self.buckets, bucket_samples))
+              in zip(self.buckets, bucket_samples)) # uniform randomly sample from the range of the bucket
         return ret, bucket_samples
     
     def updateVector(self, vector, info, rho):
@@ -170,19 +174,25 @@ def update_dist_from_multi(self, sample, info, rho):
             for i, b in enumerate(info):
                 self.invalid[i][b] += 1.
             return
-        # print('inside update_dist_from_multi')
         counter_ex = tuple(
             rho[node] < self.thres[node] for node in nx.dfs_preorder_nodes(self.priority_graph)
         )
         self.rho_values.append(counter_ex)
-        # print(f'counter_ex = {counter_ex}')
-        # print(self.counterexamples)
         is_ce = self._add_to_running(counter_ex)
         for i, b in enumerate(info):
             self.counts[i][b] += 1.
             if is_ce:
                 self.counterexamples[counter_ex][i][b] += 1.
-        self.errors = self.invalid + self._get_total_counterexamples()
+        #self.errors = self.invalid + self._get_total_counterexamples()
+        self.errors = self._get_total_counterexamples()
+        self.t += 1
+        if self.verbosity >= 2:
+            print('counterexamples =', self.counterexamples)
+            for ce in self.counterexamples:
+                print('largest counterexamples =', ce, ', times =', int(np.sum(self.counterexamples[ce], axis = 1)[0]))
+            proportions = self.errors / self.counts
+            Q = proportions + np.sqrt(2 / self.counts * np.log(self.t))
+            print('Q =', Q, '\nfirst_term =', proportions, '\nsecond_term =', np.sqrt(self.exploration_ratio / self.counts * np.log(self.t)), '\nratio =', proportions/(proportions+np.sqrt(2 / self.counts * np.log(self.t))))
 
 class DiscreteMultiArmedBanditSampler(DiscreteCrossEntropySampler):
     pass
\ No newline at end of file
diff --git a/src/verifai/scenic_server.py b/src/verifai/scenic_server.py
index fc58dcd..9c75b5b 100644
--- a/src/verifai/scenic_server.py
+++ b/src/verifai/scenic_server.py
@@ -51,11 +51,18 @@ def __init__(self, sampling_data, monitor, options={}):
             self.simulator = self.sampler.scenario.getSimulator()
         else:
             self.simulator = defaults.simulator
+        self.dynamic = defaults.get('dynamic', False)
 
     def evaluate_sample(self, sample):
         scene = self.sampler.lastScene
         assert scene
         result = self._simulate(scene)
+        if self.dynamic:
+            while result is None:
+                sample = self.get_sample(1)
+                scene = self.sampler.lastScene
+                assert scene
+                result = self._simulate(scene)
         if result is None:
             return self.rejectionFeedback
         value = (0 if self.monitor is None
diff --git a/src/verifai/server.py b/src/verifai/server.py
index ef4b043..2875753 100644
--- a/src/verifai/server.py
+++ b/src/verifai/server.py
@@ -26,6 +26,7 @@ def choose_sampler(sample_space, sampler_type,
         sampler = FeatureSampler.haltonSamplerFor(sample_space,
                                                   halton_params=halton_params)
         return 'halton', sampler
+    
     if sampler_type == 'ce':
         if sampler_params is None:
             ce_params = default_sampler_params('ce')
@@ -45,6 +46,7 @@ def choose_sampler(sample_space, sampler_type,
         sampler = FeatureSampler.crossEntropySamplerFor(
             sample_space, ce_params=ce_params)
         return 'ce', sampler
+    
     if sampler_type == 'mab':
         if sampler_params is None:
             mab_params = default_sampler_params('mab')
@@ -66,6 +68,113 @@ def choose_sampler(sample_space, sampler_type,
         sampler = FeatureSampler.multiArmedBanditSamplerFor(
             sample_space, mab_params=mab_params)
         return 'mab', sampler
+    
+    if sampler_type == 'emab':
+        if sampler_params is None:
+            emab_params = default_sampler_params('emab')
+        else:
+            emab_params = default_sampler_params('emab')
+            if 'cont' in sampler_params:
+                if 'buckets' in sampler_params.cont:
+                    emab_params.cont.buckets = sampler_params.cont.buckets
+                if 'dist' in sampler_params.cont:
+                    emab_params.cont.dist = sampler_params.cont.dist
+            if 'dist' in sampler_params.disc:
+                emab_params.disc.dist = sampler_params.disc.dist
+            if 'alpha' in sampler_params:
+                emab_params.alpha = sampler_params.alpha
+            if 'thres' in sampler_params:
+                emab_params.thres = sampler_params.thres
+            if 'priority_graph' in sampler_params:
+                emab_params.priority_graph = sampler_params.priority_graph
+        sampler = FeatureSampler.extendedMultiArmedBanditSamplerFor(
+            sample_space, emab_params=emab_params)
+        return 'emab', sampler
+    
+    if sampler_type == 'demab':
+        if sampler_params is None:
+            demab_params = default_sampler_params('demab')
+        else:
+            demab_params = default_sampler_params('demab')
+            if 'cont' in sampler_params:
+                if 'buckets' in sampler_params.cont:
+                    demab_params.cont.buckets = sampler_params.cont.buckets
+                if 'dist' in sampler_params.cont:
+                    demab_params.cont.dist = sampler_params.cont.dist
+            if 'dist' in sampler_params.disc:
+                demab_params.disc.dist = sampler_params.disc.dist
+            if 'alpha' in sampler_params:
+                demab_params.alpha = sampler_params.alpha
+            if 'thres' in sampler_params:
+                demab_params.thres = sampler_params.thres
+            if 'priority_graph' in sampler_params:
+                demab_params.priority_graph = sampler_params.priority_graph
+        sampler = FeatureSampler.dynamicExtendedMultiArmedBanditSamplerFor(
+            sample_space, demab_params=demab_params)
+        return 'demab', sampler
+    
+    if sampler_type == 'dmab':
+        if sampler_params is None:
+            dmab_params = default_sampler_params('dmab')
+        else:
+            dmab_params = default_sampler_params('dmab')
+            if 'cont' in sampler_params:
+                if 'buckets' in sampler_params.cont:
+                    dmab_params.cont.buckets = sampler_params.cont.buckets
+                if 'dist' in sampler_params.cont:
+                    dmab_params.cont.dist = sampler_params.cont.dist
+            if 'dist' in sampler_params.disc:
+                dmab_params.disc.dist = sampler_params.disc.dist
+            if 'alpha' in sampler_params:
+                dmab_params.alpha = sampler_params.alpha
+            if 'thres' in sampler_params:
+                dmab_params.thres = sampler_params.thres
+            if 'priority_graph' in sampler_params:
+                dmab_params.priority_graph = sampler_params.priority_graph
+        sampler = FeatureSampler.dynamicMultiArmedBanditSamplerFor(
+            sample_space, dmab_params=dmab_params)
+        return 'dmab', sampler
+    
+    if sampler_type == 'dce':
+        if sampler_params is None:
+            dce_params = default_sampler_params('dce')
+        else:
+            dce_params = default_sampler_params('dce')
+            if 'cont' in sampler_params:
+                if 'buckets' in sampler_params.cont:
+                    dce_params.cont.buckets = sampler_params.cont.buckets
+                if 'dist' in sampler_params.cont:
+                    dce_params.cont.dist = sampler_params.cont.dist
+            if 'dist' in sampler_params.disc:
+                dce_params.disc.dist = sampler_params.disc.dist
+            if 'alpha' in sampler_params:
+                dce_params.alpha = sampler_params.alpha
+            if 'thres' in sampler_params:
+                dce_params.thres = sampler_params.thres
+        sampler = FeatureSampler.dynamicCrossEntropySamplerFor(
+            sample_space, dce_params=dce_params)
+        return 'dce', sampler
+    
+    if sampler_type == 'udemab':
+        if sampler_params is None:
+            udemab_params = default_sampler_params('udemab')
+        else:
+            udemab_params = default_sampler_params('udemab')
+            if 'cont' in sampler_params:
+                if 'buckets' in sampler_params.cont:
+                    udemab_params.cont.buckets = sampler_params.cont.buckets
+                if 'dist' in sampler_params.cont:
+                    udemab_params.cont.dist = sampler_params.cont.dist
+            if 'dist' in sampler_params.disc:
+                udemab_params.disc.dist = sampler_params.disc.dist
+            if 'alpha' in sampler_params:
+                udemab_params.alpha = sampler_params.alpha
+            if 'thres' in sampler_params:
+                udemab_params.thres = sampler_params.thres
+        sampler = FeatureSampler.dynamicUnifiedExtendedMultiArmedBanditSamplerFor(
+            sample_space, udemab_params=udemab_params)
+        return 'udemab', sampler
+    
     if sampler_type == 'eg':
         if sampler_params is None:
             eg_params = default_sampler_params('eg')