diff --git a/examples/carla/Carla_Challenge/carlaChallenge1.scenic b/examples/carla/Carla_Challenge/carlaChallenge1.scenic
index df69bfcc1..aba7b40ef 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge1.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge1.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 01.
 Control loss without previous action.
 The ego-vehicle loses control due to bad conditions on the road and it must recover, coming back to
 its original lane.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge1.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
diff --git a/examples/carla/Carla_Challenge/carlaChallenge10.scenic b/examples/carla/Carla_Challenge/carlaChallenge10.scenic
index 47c9f0d3e..30e4b3b33 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge10.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge10.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 10.
 Crossing negotiation at an unsignalized intersection.
 The ego-vehicle needs to negotiate with other vehicles to cross an unsignalized intersection. In
 this situation it is assumed that the first to enter the intersection has priority.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge10.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
diff --git a/examples/carla/Carla_Challenge/carlaChallenge2.scenic b/examples/carla/Carla_Challenge/carlaChallenge2.scenic
index 0641f8f55..4c423f2b1 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge2.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge2.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 02.
 Longitudinal control after leading vehicle’s brake.
 The leading vehicle decelerates suddenly due to an obstacle and the ego-vehicle must perform an
 emergency brake or an avoidance maneuver.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge2.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
diff --git a/examples/carla/Carla_Challenge/carlaChallenge3_dynamic.scenic b/examples/carla/Carla_Challenge/carlaChallenge3_dynamic.scenic
index 7d1d87ad9..9fb37b60c 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge3_dynamic.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge3_dynamic.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 03 (dynamic).
 Obstacle avoidance without prior action.
 The ego-vehicle encounters an obstacle / unexpected entity on the road and must perform an
 emergency brake or an avoidance maneuver.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge3_dynamic.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 # SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
diff --git a/examples/carla/Carla_Challenge/carlaChallenge3_static.scenic b/examples/carla/Carla_Challenge/carlaChallenge3_static.scenic
index f721575b7..d01f5be21 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge3_static.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge3_static.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 03 (static).
 Obstacle avoidance without prior action.
 The ego-vehicle encounters an obstacle / unexpected entity on the road and must perform an
 emergency brake or an avoidance maneuver.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge3_static.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
diff --git a/examples/carla/Carla_Challenge/carlaChallenge4.scenic b/examples/carla/Carla_Challenge/carlaChallenge4.scenic
index 82e5576f5..4fe1cf019 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge4.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge4.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 04.
 Obstacle avoidance without prior action.
 The ego-vehicle encounters an obstacle / unexpected entity on the road and must perform an
 emergency brake or an avoidance maneuver.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge4.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
diff --git a/examples/carla/Carla_Challenge/carlaChallenge5.scenic b/examples/carla/Carla_Challenge/carlaChallenge5.scenic
index c470b63aa..b97c64655 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge5.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge5.scenic
@@ -1,6 +1,9 @@
 """ Scenario Description
 Based on 2019 Carla Challenge Traffic Scenario 05.
 Ego-vehicle performs a lane changing to evade a leading vehicle, which is moving too slowly.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge5.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
 param carla_map = 'Town05'
diff --git a/examples/carla/Carla_Challenge/carlaChallenge6.scenic b/examples/carla/Carla_Challenge/carlaChallenge6.scenic
index 4ea0a5130..f51b68262 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge6.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge6.scenic
@@ -2,6 +2,9 @@
 Based on CARLA Challenge Scenario 6: https://carlachallenge.org/challenge/nhtsa/
 Ego-vehicle must go around a blocking object
 using the opposite lane, yielding to oncoming traffic.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge6.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 # N.B. Town07 is not included with CARLA by default; see installation instructions at
diff --git a/examples/carla/Carla_Challenge/carlaChallenge7.scenic b/examples/carla/Carla_Challenge/carlaChallenge7.scenic
index 676c90449..92027273b 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge7.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge7.scenic
@@ -3,6 +3,9 @@ Based on 2019 Carla Challenge Traffic Scenario 07.
 Ego-vehicle is going straight at an intersection but a crossing vehicle 
 runs a red light, forcing the ego-vehicle to perform a collision avoidance maneuver.
 Note: The traffic light control is not implemented yet, but it will soon be. 
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge7.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
 param carla_map = 'Town05'
diff --git a/examples/carla/Carla_Challenge/carlaChallenge8.scenic b/examples/carla/Carla_Challenge/carlaChallenge8.scenic
index 97837cfcd..e1f8125df 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge8.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge8.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 08.
 Unprotected left turn at intersection with oncoming traffic.
 The ego-vehicle is performing an unprotected left turn at an intersection, yielding to oncoming
 traffic.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge8.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
diff --git a/examples/carla/Carla_Challenge/carlaChallenge9.scenic b/examples/carla/Carla_Challenge/carlaChallenge9.scenic
index 0b4e3e9e5..133b4e07c 100644
--- a/examples/carla/Carla_Challenge/carlaChallenge9.scenic
+++ b/examples/carla/Carla_Challenge/carlaChallenge9.scenic
@@ -1,6 +1,9 @@
 """ Scenario Description
 Based on 2019 Carla Challenge Traffic Scenario 09.
 Ego-vehicle is performing a right turn at an intersection, yielding to crossing traffic.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge9.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
 param carla_map = 'Town05'
diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_01.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_01.scenic
index 1541c313b..b041174bf 100644
--- a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_01.scenic
+++ b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_01.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, findaheng@berkeley.edu
 DESCRIPTION: Ego vehicle performs a lane change to bypass a slow 
 adversary vehicle before returning to its original lane.
 SOURCE: NHSTA, #16
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/bypassing/bypassing_01.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_02.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_02.scenic
index 5e72aaa04..b95269650 100644
--- a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_02.scenic
+++ b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_02.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, findaheng@berkeley.edu
 DESCRIPTION: Adversary vehicle performs a lane change to bypass the 
 slow ego vehicle before returning to its original lane.
 SOURCE: NHSTA, #16
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/bypassing/bypassing_02.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_03.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_03.scenic
index 6493bdc1a..6ec12c61e 100644
--- a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_03.scenic
+++ b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_03.scenic
@@ -6,6 +6,9 @@ adversary vehicle but cannot return to its original lane because
 the adversary accelerates. Ego vehicle must then slow down to avoid 
 collision with leading vehicle in new lane.
 SOURCE: NHSTA, #16
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/bypassing/bypassing_03.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_04.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_04.scenic
index ff5feda9b..f4c42378c 100644
--- a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_04.scenic
+++ b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_04.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, findaheng@berkeley.edu
 DESCRIPTION: Ego vehicle performs multiple lane changes to bypass 
 two slow adversary vehicles.
 SOURCE: NHSTA, #16
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/bypassing/bypassing_04.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_05.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_05.scenic
index 5046e3659..3001bcc92 100644
--- a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_05.scenic
+++ b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_05.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, findaheng@berkeley.edu
 DESCRIPTION: Ego vehicle performs multiple lane changes to bypass three 
 slow adversary vehicles.
 SOURCE: NHSTA, #16
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/bypassing/bypassing_05.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_01.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_01.scenic
index 571ae9734..d17fdb7c3 100644
--- a/examples/carla/NHTSA_Scenarios/intersection/intersection_01.scenic
+++ b/examples/carla/NHTSA_Scenarios/intersection/intersection_01.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego vehicle goes straight at 4-way intersection and must
 suddenly stop to avoid collision when adversary vehicle from opposite 
 lane makes a left turn.
 SOURCE: NHSTA, #30
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_01.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_02.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_02.scenic
index 0d4063ee5..697e302b8 100644
--- a/examples/carla/NHTSA_Scenarios/intersection/intersection_02.scenic
+++ b/examples/carla/NHTSA_Scenarios/intersection/intersection_02.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego vehicle makes a left turn at 4-way intersection and
 must suddenly stop to avoid collision when adversary vehicle from 
 opposite lane goes straight.
 SOURCE: NHSTA, #30
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_02.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_03.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_03.scenic
index 6e3af7870..859898bec 100644
--- a/examples/carla/NHTSA_Scenarios/intersection/intersection_03.scenic
+++ b/examples/carla/NHTSA_Scenarios/intersection/intersection_03.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego vehicle either goes straight or makes a left turn at
 4-way intersection and must suddenly stop to avoid collision when 
 adversary vehicle from lateral lane continues straight.
 SOURCE: NHSTA, #28 #29
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_03.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_04.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_04.scenic
index 12820cff1..4ef689d10 100644
--- a/examples/carla/NHTSA_Scenarios/intersection/intersection_04.scenic
+++ b/examples/carla/NHTSA_Scenarios/intersection/intersection_04.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego vehicle either goes straight or makes a left turn at
 4-way intersection and must suddenly stop to avoid collision when 
 adversary vehicle from lateral lane makes a left turn.
 SOURCE: NHSTA, #28 #29
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_04.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_05.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_05.scenic
index bba6bd19c..eff0df4d9 100644
--- a/examples/carla/NHTSA_Scenarios/intersection/intersection_05.scenic
+++ b/examples/carla/NHTSA_Scenarios/intersection/intersection_05.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, findaheng@berkeley.edu
 DESCRIPTION: Ego vehicle makes a right turn at 4-way intersection 
 while adversary vehicle from opposite lane makes a left turn.
 SOURCE: NHSTA, #25
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_05.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_06.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_06.scenic
index cb749407f..5c74c5f34 100644
--- a/examples/carla/NHTSA_Scenarios/intersection/intersection_06.scenic
+++ b/examples/carla/NHTSA_Scenarios/intersection/intersection_06.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, findaheng@berkeley.edu
 DESCRIPTION: Ego vehicle makes a right turn at 4-way intersection while 
 adversary vehicle from lateral lane goes straight.
 SOURCE: NHSTA, #25 #26
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_06.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_07.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_07.scenic
index d7d84f19e..22551f68e 100644
--- a/examples/carla/NHTSA_Scenarios/intersection/intersection_07.scenic
+++ b/examples/carla/NHTSA_Scenarios/intersection/intersection_07.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego vehicle makes a left turn at 3-way intersection and
 must suddenly stop to avoid collision when adversary vehicle from 
 lateral lane continues straight.
 SOURCE: NHSTA, #30
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_07.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_08.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_08.scenic
index 5c4e9cdc2..89e1482ec 100644
--- a/examples/carla/NHTSA_Scenarios/intersection/intersection_08.scenic
+++ b/examples/carla/NHTSA_Scenarios/intersection/intersection_08.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego vehicle goes straight at 3-way intersection and must
 suddenly stop to avoid collision when adversary vehicle makes a left 
 turn.
 SOURCE: NHSTA, #30
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_08.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_09.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_09.scenic
index 776c70808..e9c81ae4b 100644
--- a/examples/carla/NHTSA_Scenarios/intersection/intersection_09.scenic
+++ b/examples/carla/NHTSA_Scenarios/intersection/intersection_09.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, findaheng@berkeley.edu
 DESCRIPTION: Ego vehicle makes a right turn at 3-way intersection 
 while adversary vehicle from lateral lane goes straight.
 SOURCE: NHSTA, #28 #29
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_09.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_10.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_10.scenic
index 6aa8353a0..50f34b6ec 100644
--- a/examples/carla/NHTSA_Scenarios/intersection/intersection_10.scenic
+++ b/examples/carla/NHTSA_Scenarios/intersection/intersection_10.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego Vehicle waits at 4-way intersection while adversary
 vehicle in adjacent lane passes before performing a lane change to 
 bypass a stationary vehicle waiting to make a left turn.
 SOURCE: NHSTA, #16
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_10.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_01.scenic b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_01.scenic
index 7202f0e3d..c07454ccb 100644
--- a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_01.scenic
+++ b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_01.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, findaheng@berkeley.edu
 DESCRIPTION: Ego vehicle must suddenly stop to avoid collision when 
 pedestrian crosses the road unexpectedly.
 SOURCE: Carla Challenge, #03
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_01.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_02.scenic b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_02.scenic
index c0a9a0109..eb4c0ea40 100644
--- a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_02.scenic
+++ b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_02.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, findaheng@berkeley.edu
 DESCRIPTION: Both ego and adversary vehicles must suddenly stop to avoid 
 collision when pedestrian crosses the road unexpectedly.
 SOURCE: Carla Challenge, #03
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_02.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_03.scenic b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_03.scenic
index 06fadebc1..d07736569 100644
--- a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_03.scenic
+++ b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_03.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, findaheng@berkeley.edu
 DESCRIPTION: Ego vehicle makes a left turn at an intersection and must 
 suddenly stop to avoid collision when pedestrian crosses the crosswalk.
 SOURCE: Carla Challenge, #04
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_03.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_04.scenic b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_04.scenic
index 7d2aa7adb..edc9ff90c 100644
--- a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_04.scenic
+++ b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_04.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, findaheng@berkeley.edu
 DESCRIPTION: Ego vehicle makes a right turn at an intersection and must 
 yield when pedestrian crosses the crosswalk.
 SOURCE: Carla Challenge, #04
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_04.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_05.scenic b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_05.scenic
index 4d1776bb9..b2b6dbb4a 100644
--- a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_05.scenic
+++ b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_05.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, findaheng@berkeley.edu
 DESCRIPTION: Ego vehicle goes straight at an intersection and must 
 yield when pedestrian crosses the crosswalk.
 SOURCE: Carla Challenge, #04
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_05.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################
diff --git a/examples/carla/OAS_Scenarios/oas_scenario_05.scenic b/examples/carla/OAS_Scenarios/oas_scenario_05.scenic
index f3890d5d6..4573b8376 100644
--- a/examples/carla/OAS_Scenarios/oas_scenario_05.scenic
+++ b/examples/carla/OAS_Scenarios/oas_scenario_05.scenic
@@ -1,6 +1,9 @@
 """ Scenario Description
 Voyage OAS Scenario Unique ID: 2-2-XX-CF-STR-CAR:Pa>E:03
 The lead car suddenly stops and then resumes moving forward
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/OAS_Scenarios/oas_scenario_05.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 param map = localPath('../../../assets/maps/CARLA/Town01.xodr')  # or other CARLA map that definitely works
diff --git a/examples/carla/OAS_Scenarios/oas_scenario_06.scenic b/examples/carla/OAS_Scenarios/oas_scenario_06.scenic
index dfcb3ad8e..f9c0b8aeb 100644
--- a/examples/carla/OAS_Scenarios/oas_scenario_06.scenic
+++ b/examples/carla/OAS_Scenarios/oas_scenario_06.scenic
@@ -2,6 +2,9 @@
 Voyage OAS Scenario Unique ID: 2-2-XX-CF-STR-CAR:Pa>E:03
 The car ahead of ego that is badly parked over the sidewalk cuts into ego vehicle's lane.
 This scenario may fail if there exists any obstacle (e.g. fences) on the sidewalk 
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/OAS_Scenarios/oas_scenario_06.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 
diff --git a/examples/carla/adjacentLanes.scenic b/examples/carla/adjacentLanes.scenic
index 9015e077a..4bf11661e 100644
--- a/examples/carla/adjacentLanes.scenic
+++ b/examples/carla/adjacentLanes.scenic
@@ -1,3 +1,8 @@
+'''
+To run this file using the Carla simulator:
+    scenic examples/carla/adjacentLanes.scenic --2d --model scenic.simulators.carla.model
+'''
+
 param map = localPath('../../assets/maps/CARLA/Town03.xodr')
 model scenic.simulators.carla.model
 
diff --git a/examples/carla/adjacentOpposingPair.scenic b/examples/carla/adjacentOpposingPair.scenic
index 8f6c0ab80..f28044289 100644
--- a/examples/carla/adjacentOpposingPair.scenic
+++ b/examples/carla/adjacentOpposingPair.scenic
@@ -1,3 +1,7 @@
+'''
+To run this file using the Carla simulator:
+    scenic examples/carla/adjacentOpposingPair.scenic --2d --model scenic.simulators.carla.model
+'''
 param map = localPath('../../assets/maps/CARLA/Town01.xodr')
 model scenic.simulators.carla.model
 
diff --git a/examples/carla/backgroundActivity.scenic b/examples/carla/backgroundActivity.scenic
index f2cfb906b..8b29e1f01 100644
--- a/examples/carla/backgroundActivity.scenic
+++ b/examples/carla/backgroundActivity.scenic
@@ -2,6 +2,9 @@
 Background Activity
 The simulation is filled with vehicles that freely roam around the town.
 This simulates normal driving conditions, without any abnormal behaviors
+
+To run this file using the Carla simulator:
+    scenic examples/carla/backgroundActivity.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 # SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
 param map = localPath('../../assets/maps/CARLA/Town05.xodr')  # or other CARLA map that definitely works
@@ -18,6 +21,10 @@ behavior EgoBehavior(speed=10):
     interrupt when withinDistanceToObjsInLane(self, 10):
         take SetBrakeAction(1.0)
 
+# PEDESTRIAN BEHAVIOR: cross the street
+behavior PedestrianBehavior(min_speed=1, threshold=10):
+    do CrossingBehavior(ego, min_speed, threshold)
+
 ## DEFINING SPATIAL RELATIONS
 # Please refer to scenic/domains/driving/roads.py how to access detailed road infrastructure
 # 'network' is the 'class Network' object in roads.py 
@@ -36,7 +43,7 @@ background_walkers = []
 for _ in range(10):
     sideWalk = Uniform(*network.sidewalks)
     background_walker = new Pedestrian in sideWalk,
-        with behavior WalkBehavior()
+        with behavior PedestrianBehavior()
     background_walkers.append(background_walker)
 
 
diff --git a/examples/carla/car.scenic b/examples/carla/car.scenic
index edf60b5a9..1f4c68cb7 100644
--- a/examples/carla/car.scenic
+++ b/examples/carla/car.scenic
@@ -1,3 +1,7 @@
+'''
+To run this file using the Carla simulator:
+    scenic examples/carla/car.scenic --2d --model scenic.simulators.carla.model --simulate
+'''
 param map = localPath('../../assets/maps/CARLA/Town01.xodr')
 model scenic.simulators.carla.model
 
diff --git a/examples/carla/manual_control/carlaChallenge1.scenic b/examples/carla/manual_control/carlaChallenge1.scenic
index 763385dfe..bb024a335 100644
--- a/examples/carla/manual_control/carlaChallenge1.scenic
+++ b/examples/carla/manual_control/carlaChallenge1.scenic
@@ -3,12 +3,15 @@ Traffic Scenario 01.
 Control loss without previous action.
 The ego-vehicle loses control due to bad conditions on the road and it must recover, coming back to
 its original lane.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/manual_control/carlaChallenge1.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
 param map = localPath('../../../assets/maps/CARLA/Town01.xodr')  # or other CARLA map that definitely works
 param carla_map = 'Town01'
-param render = '0'
+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 3410d5cae..1ae36f3f4 100644
--- a/examples/carla/manual_control/carlaChallenge3_dynamic.scenic
+++ b/examples/carla/manual_control/carlaChallenge3_dynamic.scenic
@@ -3,12 +3,15 @@ Traffic Scenario 03 (dynamic).
 Obstacle avoidance without prior action.
 The ego-vehicle encounters an obstacle / unexpected entity on the road and must perform an
 emergency brake or an avoidance maneuver.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/manual_control/carlaChallenge3_dynamic.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 # SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
 param map = localPath('../../../assets/maps/CARLA/Town05.xodr')  # or other CARLA map that definitely works
 param carla_map = 'Town05'
-param render = '0'
+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 100d091bf..4b3eb48e5 100644
--- a/examples/carla/manual_control/carlaChallenge4.scenic
+++ b/examples/carla/manual_control/carlaChallenge4.scenic
@@ -3,12 +3,15 @@ Traffic Scenario 04.
 Obstacle avoidance without prior action.
 The ego-vehicle encounters an obstacle / unexpected entity on the road and must perform an
 emergency brake or an avoidance maneuver.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/manual_control/carlaChallenge4.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
 param map = localPath('../../../assets/maps/CARLA/Town01.xodr')  # or other CARLA map that definitely works
 param carla_map = 'Town01'
-param render = '0'
+param render = 0
 model scenic.simulators.carla.model
 
 ## CONSTANTS
diff --git a/examples/carla/manual_control/carlaChallenge7.scenic b/examples/carla/manual_control/carlaChallenge7.scenic
index 68f123f67..49477f9c7 100644
--- a/examples/carla/manual_control/carlaChallenge7.scenic
+++ b/examples/carla/manual_control/carlaChallenge7.scenic
@@ -3,12 +3,15 @@ Traffic Scenario 07.
 Crossing traffic running a red light at an intersection.
 The ego-vehicle is going straight at an intersection but a crossing vehicle runs a red light,
 forcing the ego-vehicle to avoid the collision.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/manual_control/carlaChallenge7.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
 param map = localPath('../../../assets/maps/CARLA/Town05.xodr')  # or other CARLA map that definitely works
 param carla_map = 'Town05'
-param render = '0'
+param render = 0
 model scenic.simulators.carla.model
 
 ## CONSTANTS
diff --git a/examples/carla/pedestrian.scenic b/examples/carla/pedestrian.scenic
index 9559a1d04..3298d69d6 100644
--- a/examples/carla/pedestrian.scenic
+++ b/examples/carla/pedestrian.scenic
@@ -1,6 +1,10 @@
+'''
+To run this file using the Carla simulator:
+    scenic examples/carla/pedestrian.scenic --2d --model scenic.simulators.carla.model --simulate
+'''
 param map = localPath('../../assets/maps/CARLA/Town03.xodr')
 param carla_map = 'Town03'
 model scenic.simulators.carla.model
 
 ego = new Car
-new Pedestrian on visible sidewalk
+new Pedestrian on visible sidewalk
\ No newline at end of file
diff --git a/examples/carla/trafficLights.scenic b/examples/carla/trafficLights.scenic
index 8bfc12b0f..17013211f 100644
--- a/examples/carla/trafficLights.scenic
+++ b/examples/carla/trafficLights.scenic
@@ -1,5 +1,8 @@
 """ Scenario Description
 Example scenario of traffic lights management.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/trafficLights.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
diff --git a/examples/driving/Carla_Challenge/carlaChallenge2.scenic b/examples/driving/Carla_Challenge/carlaChallenge2.scenic
index 61c689f77..f9e95833d 100644
--- a/examples/driving/Carla_Challenge/carlaChallenge2.scenic
+++ b/examples/driving/Carla_Challenge/carlaChallenge2.scenic
@@ -3,6 +3,9 @@ Based on 2019 Carla Challenge Traffic Scenario 02.
 Leading vehicle decelerates suddently due to an obstacle and 
 ego-vehicle must react, performing an emergency brake or an avoidance maneuver.
 Note: The scenario may fail if the leadCar or the ego get past the intersection while following the roadDirection
+
+To run this file using the Carla simulator:
+    scenic examples/driving/Carla_Challenge/carlaChallenge2.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 param map = localPath('../../../assets/maps/CARLA/Town07.xodr')  # or other CARLA map that definitely works
 param carla_map = 'Town07'
diff --git a/examples/driving/Carla_Challenge/carlaChallenge3.scenic b/examples/driving/Carla_Challenge/carlaChallenge3.scenic
index 37256b334..c232683ca 100644
--- a/examples/driving/Carla_Challenge/carlaChallenge3.scenic
+++ b/examples/driving/Carla_Challenge/carlaChallenge3.scenic
@@ -2,6 +2,9 @@
 Based on 2019 Carla Challenge Traffic Scenario 03.
 Leading vehicle decelerates suddenly due to an obstacle and 
 ego-vehicle must react, performing an emergency brake or an avoidance maneuver.
+
+To run this file using the Carla simulator:
+    scenic examples/driving/Carla_Challenge/carlaChallenge3.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 param map = localPath('../../../assets/maps/CARLA/Town01.xodr')  # or other CARLA map that definitely works
 param carla_map = 'Town01'
diff --git a/examples/driving/OAS_Scenarios/oas_scenario_03.scenic b/examples/driving/OAS_Scenarios/oas_scenario_03.scenic
index 8c103dfcd..79ad88961 100644
--- a/examples/driving/OAS_Scenarios/oas_scenario_03.scenic
+++ b/examples/driving/OAS_Scenarios/oas_scenario_03.scenic
@@ -1,6 +1,9 @@
 """ Scenario Description
 Voyage OAS Scenario Unique ID: 2-2-XX-CF-STR-CAR
 The ego vehicle follows the lead car
+
+To run this file using the Carla simulator:
+    scenic examples/driving/OAS_Scenarios/oas_scenario_03.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 param map = localPath('../../../assets/maps/CARLA/Town04.xodr')  # or other CARLA map that definitely works
diff --git a/examples/driving/OAS_Scenarios/oas_scenario_04.scenic b/examples/driving/OAS_Scenarios/oas_scenario_04.scenic
index 0b497214c..3dc09a7cf 100644
--- a/examples/driving/OAS_Scenarios/oas_scenario_04.scenic
+++ b/examples/driving/OAS_Scenarios/oas_scenario_04.scenic
@@ -1,6 +1,9 @@
 """ Scenario Description
 Voyage OAS Scenario Unique ID: 2-2-XX-CF-STR-CAR:01
 The ego vehicle follows the lead car which suddenly stops
+
+To run this file using the Carla simulator:
+    scenic examples/driving/OAS_Scenarios/oas_scenario_04.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 param map = localPath('../../../assets/maps/CARLA/Town07.xodr')  # or other CARLA map that definitely works
diff --git a/examples/driving/OAS_Scenarios/oas_scenario_28.scenic b/examples/driving/OAS_Scenarios/oas_scenario_28.scenic
index 72fa8dc2f..26ff7a592 100644
--- a/examples/driving/OAS_Scenarios/oas_scenario_28.scenic
+++ b/examples/driving/OAS_Scenarios/oas_scenario_28.scenic
@@ -3,6 +3,9 @@ Voyage OAS Scenario Unique ID: 3-2-ESW-I-STR-CAR:S>W:02
 At three-way intersection. The ego vehicle goes straight. 
 The other car, on the other leg of the intersection, takes a left turn first 
 because it is closer to the intersection.
+
+To run this file using the Carla simulator:
+    scenic examples/driving/OAS_Scenarios/oas_scenario_28.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 param map = localPath('../../../assets/maps/CARLA/Town05.xodr')  # or other CARLA map that definitely works
diff --git a/examples/driving/OAS_Scenarios/oas_scenario_29.scenic b/examples/driving/OAS_Scenarios/oas_scenario_29.scenic
index 212b92ac6..2561a70e3 100644
--- a/examples/driving/OAS_Scenarios/oas_scenario_29.scenic
+++ b/examples/driving/OAS_Scenarios/oas_scenario_29.scenic
@@ -3,6 +3,9 @@ Voyage OAS Scenario Unique ID: 3-2-NSW-I-L-CAR:S>W:02
 At 3 way intersection. The ego car turns left. 
 The other car, on a different leg of the intersection, 
 has the right of the way and makes a left turn first because it is closer to the intersection.
+
+To run this file using the Carla simulator:
+    scenic examples/driving/OAS_Scenarios/oas_scenario_29.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 param map = localPath('../../../assets/maps/CARLA/Town05.xodr')  # or other CARLA map that definitely works
 param carla_map = 'Town05'
diff --git a/examples/driving/OAS_Scenarios/oas_scenario_30.scenic b/examples/driving/OAS_Scenarios/oas_scenario_30.scenic
index 4ddb712df..30b4cf30d 100644
--- a/examples/driving/OAS_Scenarios/oas_scenario_30.scenic
+++ b/examples/driving/OAS_Scenarios/oas_scenario_30.scenic
@@ -3,6 +3,9 @@ Voyage OAS Scenario Unique ID: 3-2-NWS-I-L-CAR:S>W:01
 At 3 way intersection. The ego car turns left. 
 The other car approaches from a different leg of the intersection to make a left turn, but
 ego has the right of the way because it is closer to the intersection.
+
+To run this file using the Carla simulator:
+    scenic examples/driving/OAS_Scenarios/oas_scenario_30.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 param map = localPath('../../../assets/maps/CARLA/Town10HD.xodr')  # or other CARLA map that definitely works
diff --git a/examples/driving/OAS_Scenarios/oas_scenario_32.scenic b/examples/driving/OAS_Scenarios/oas_scenario_32.scenic
index 9a63373ab..985325df9 100644
--- a/examples/driving/OAS_Scenarios/oas_scenario_32.scenic
+++ b/examples/driving/OAS_Scenarios/oas_scenario_32.scenic
@@ -2,6 +2,9 @@
 Voyage OAS Scenario Unique ID: 3-2-W-I-L-CAR:N>S
 At 3-way intersection, ego turns left and the other car on a different leg of the
 intersection goes straight. There is no requirement on which vehicle has the right of the way.
+
+To run this file using the Carla simulator:
+    scenic examples/driving/OAS_Scenarios/oas_scenario_32.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 param map = localPath('../../../assets/maps/CARLA/Town10HD.xodr')  # or other CARLA map that definitely works
diff --git a/examples/driving/badlyParkedCarPullingIn.scenic b/examples/driving/badlyParkedCarPullingIn.scenic
index dd36ede2b..aedfcb667 100644
--- a/examples/driving/badlyParkedCarPullingIn.scenic
+++ b/examples/driving/badlyParkedCarPullingIn.scenic
@@ -1,3 +1,8 @@
+'''
+To run this file using the Carla simulator:
+    scenic examples/driving/badlyParkedCarPullingIn.scenic --2d --model scenic.simulators.carla.model --simulate
+'''
+
 param map = localPath('../../assets/maps/CARLA/Town05.xodr')
 param carla_map = 'Town05'
 param time_step = 1.0/10
diff --git a/examples/driving/car.scenic b/examples/driving/car.scenic
index 91743ac53..c1d0e3d54 100644
--- a/examples/driving/car.scenic
+++ b/examples/driving/car.scenic
@@ -1,3 +1,7 @@
+'''
+To run this file using the Carla simulator:
+    scenic examples/driving/car.scenic --2d --model scenic.simulators.carla.model --simulate
+'''
 
 param map = localPath('../../assets/maps/CARLA/Town01.xodr')
 
diff --git a/examples/driving/pedestrian.scenic b/examples/driving/pedestrian.scenic
index e564107b4..fb938284c 100644
--- a/examples/driving/pedestrian.scenic
+++ b/examples/driving/pedestrian.scenic
@@ -1,3 +1,7 @@
+'''
+To run this file using the Carla simulator:
+    scenic examples/driving/pedestrian.scenic --2d --model scenic.simulators.carla.model --simulate
+'''
 
 param map = localPath('../../assets/maps/CARLA/Town01.xodr')
 param carla_map = 'Town01'
diff --git a/examples/driving/pedestrianAcrossRoad.scenic b/examples/driving/pedestrianAcrossRoad.scenic
index 2bc6f9329..304608d01 100644
--- a/examples/driving/pedestrianAcrossRoad.scenic
+++ b/examples/driving/pedestrianAcrossRoad.scenic
@@ -1,3 +1,7 @@
+'''
+To run this file using the Carla simulator:
+    scenic examples/driving/pedestrianAcrossRoad.scenic --2d --model scenic.simulators.carla.model --simulate
+'''
 
 param map = localPath('../../assets/maps/CARLA/Town01.xodr')