"Yandex" conducted a test drive of a robotaxi through four Moscow districts – Ochakovo-Matveevskoye, Khamovniki, Yasenevo, and Maryino. The route was recorded in one continuous video without editing to show how the autonomous car operates in various road conditions.

In each district, the car navigated specific scenarios. In Khamovniki, these included narrow streets, high pedestrian and cyclist activity, unregulated intersections, and embankments. In Ochakovo-Matveevskoye, the robotaxi had to account for complex interchanges, exits to highways, and higher speeds.

Yasenevo is characterized by unusual intersection geometry, U-turns, and a limited number of exits to the Moscow Ring Road. In Maryino, traffic flow is concentrated on several major highways, and within the district, there are roundabouts, scooter riders, and couriers.

To prepare the system, data from real trips, HD maps, and computer modeling of various road situations were used. Special attention was paid to rare and complex episodes. If several models evaluate a situation differently, such a scenario is further analyzed and used for subsequent training.