diff --git a/examples/carla/Carla_Challenge/carlaChallenge10.scenic b/examples/carla/Carla_Challenge/carlaChallenge10.scenic
index b4bad7355..8a63f5d27 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge10.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge10.scenic
@@ -55,6 +55,6 @@ ego = Car at ego_spawn_pt,
 adversary = Car at adv_spawn_pt,
     with behavior AdversaryBehavior(adv_trajectory)
 
-require (distance to intersec) in Range(15, 20)
+require (distance to intersec) in Range(20, 25)
 require (distance from adversary to intersec) in Range(15, 20)
 terminate when (distance to ego_spawn_pt) > 70
diff --git a/examples/carla/Carla_Challenge/carlaChallenge4.scenic b/examples/carla/Carla_Challenge/carlaChallenge4.scenic
index 0f641edcf..69cde2479 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge4.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge4.scenic
@@ -47,6 +47,6 @@ bicycle = Bicycle at spotBicycle offset by 3.5@0,
     with behavior BicycleBehavior(BICYCLE_MIN_SPEED, THRESHOLD),
     with regionContainedIn None
 
-require (distance to intersec) in Range(10, 25)
+require (distance to intersec) in Range(10, 15)
 require (distance from bicycle to intersec) in Range(10, 15)
 terminate when (distance to spot) > 50
diff --git a/examples/carla/Carla_Challenge/carlaChallenge6.scenic b/examples/carla/Carla_Challenge/carlaChallenge6.scenic
index 5c8bb1cdd..17affb94e 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge6.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge6.scenic
@@ -6,8 +6,8 @@ traffic
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../tests/formats/opendrive/maps/CARLA/Town07.xodr')  # or other CARLA map that definitely works
-param carla_map = 'Town07'
+param map = localPath('../../../tests/formats/opendrive/maps/CARLA/Town01.xodr')  # or other CARLA map that definitely works
+param carla_map = 'Town01'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
@@ -16,7 +16,7 @@ EGO_SPEED = 7
 ONCOMING_CAR_SPEED = 10
 BLOCKING_CAR_DIST = Range(15, 20)
 BREAK_INTENSITY = 0.8
-DIST_THRESHOLD = 13
+DIST_THRESHOLD = 15
 
 ## DEFINING BEHAVIORS
 behavior EgoBehavior():
@@ -69,6 +69,6 @@ blockingCar = Car following roadDirection for BLOCKING_CAR_DIST,
 
 ## EXPLICIT HARD CONSTRAINTS
 require blockingCar can see oncomingCar
-require (distance from blockingCar to oncomingCar) < 10
-require (distance from blockingCar to intersection) > 10
+require (distance from blockingCar to oncomingCar) in Range(5, 15)
+require (distance from blockingCar to intersection) > 50
 require (ego.laneSection.isForward != oncomingCar.laneSection.isForward)
\ No newline at end of file
diff --git a/examples/carla/Carla_Challenge/carlaChallenge7.scenic b/examples/carla/Carla_Challenge/carlaChallenge7.scenic
index 2a2cec8aa..6a959af28 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge7.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge7.scenic
@@ -77,4 +77,4 @@ adversary = Car at adv_spawn_pt,
 
 require (distance to intersec) in Range(15, 20)
 require (distance from adversary to intersec) in Range(10, 15)
-terminate when (distance to ego_spawn_pt) > 70
\ No newline at end of file
+terminate when (distance to ego_spawn_pt) > 70
diff --git a/examples/carla/manual_control.py b/examples/carla/manual_control.py
index 09aa89ced..a852c9e99 100755
--- a/examples/carla/manual_control.py
+++ b/examples/carla/manual_control.py
@@ -50,6 +50,7 @@
     ESC          : quit
 """
 
+
 from __future__ import print_function
 
 # ==============================================================================
@@ -164,7 +165,7 @@ def restart(self):
                     print("Ego vehicle found")
                     self.player = vehicle
                     break
-        
+
         self.player_name = self.player.type_id
 
         # Set up the sensors.
@@ -174,7 +175,9 @@ def restart(self):
 
     def tick(self, clock):
         if len(self.world.get_actors().filter(self.player_name)) < 1:
-            return False
+            self.player = None
+            self.destroy()
+            self.restart()
 
         self.hud.tick(self, clock)
         return True
diff --git a/examples/carla/manual_control/carlaChallenge1.scenic b/examples/carla/manual_control/carlaChallenge1.scenic
index ab4276740..2c9ff4fce 100644
--- a/examples/carla/manual_control/carlaChallenge1.scenic
+++ b/examples/carla/manual_control/carlaChallenge1.scenic
@@ -8,6 +8,7 @@ its original lane.
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
 param map = localPath('../../../tests/formats/opendrive/maps/CARLA/Town01.xodr')  # or other CARLA map that definitely works
 param carla_map = 'Town01'
+param render = '0'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
diff --git a/examples/carla/manual_control/carlaChallenge3_dynamic.scenic b/examples/carla/manual_control/carlaChallenge3_dynamic.scenic
index 4d39b9e14..f2fcec916 100644
--- a/examples/carla/manual_control/carlaChallenge3_dynamic.scenic
+++ b/examples/carla/manual_control/carlaChallenge3_dynamic.scenic
@@ -8,6 +8,7 @@ emergency brake or an avoidance maneuver.
 # SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
 param map = localPath('../../../tests/formats/opendrive/maps/CARLA/Town05.xodr')  # or other CARLA map that definitely works
 param carla_map = 'Town05'
+param render = '0'
 model scenic.simulators.carla.model
 
 # CONSTANTS
diff --git a/examples/carla/manual_control/carlaChallenge4.scenic b/examples/carla/manual_control/carlaChallenge4.scenic
index aa031405c..5635ca9ac 100644
--- a/examples/carla/manual_control/carlaChallenge4.scenic
+++ b/examples/carla/manual_control/carlaChallenge4.scenic
@@ -8,6 +8,7 @@ emergency brake or an avoidance maneuver.
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
 param map = localPath('../../../tests/formats/opendrive/maps/CARLA/Town01.xodr')  # or other CARLA map that definitely works
 param carla_map = 'Town01'
+param render = '0'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
@@ -26,7 +27,8 @@ startLane = Uniform(*intersec.incomingLanes)
 maneuver = Uniform(*startLane.maneuvers)
 ego_trajectory = [maneuver.startLane, maneuver.connectingLane, maneuver.endLane]
 
-ego = Car in maneuver.startLane.centerline,
+spot = OrientedPoint in maneuver.startLane.centerline
+ego = Car at spot,
     with blueprint EGO_MODEL,
     with rolename 'hero'
 
@@ -39,4 +41,4 @@ bicycle = Bicycle at spotBicycle offset by 3.5@0,
 
 require (distance to intersec) in Range(10,25)
 require (distance from bicycle to intersec) in Range(5, 10)
-terminate when (distance to spot) > 50
\ No newline at end of file
+terminate when (distance to spot) > 50
diff --git a/examples/carla/manual_control/carlaChallenge7.scenic b/examples/carla/manual_control/carlaChallenge7.scenic
index 317c5151a..c23ddbe12 100644
--- a/examples/carla/manual_control/carlaChallenge7.scenic
+++ b/examples/carla/manual_control/carlaChallenge7.scenic
@@ -8,6 +8,7 @@ forcing the ego-vehicle to avoid the collision.
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
 param map = localPath('../../../tests/formats/opendrive/maps/CARLA/Town05.xodr')  # or other CARLA map that definitely works
 param carla_map = 'Town05'
+param render = '0'
 model scenic.simulators.carla.model
 
 ## CONSTANTS