This was found to be one of the early challenges of self driving: reading traffic signal gestures of traffic agents. It does it. But the jury is out if it does it well.
I often see humans drivers being confused with the police officers gesturing more and more until the person figures it out.
I remember being in a construction area where they had temporary traffic lights, PLUS a flagman directing traffic against the red lights. sigh.
Yeah we know people suck at driving. What situation is there that people don't suck at? People suck at 4 way stops. People suck at merging onto the freeway. People can't even exit the freeway without causing a mess. People can't even drive in a straight goddamn line without varying speed by 10mph and weaving all over the road. What exactly are we trying to say here?