Techniques for Navigating Vehicles using Teleoperator Instructions

Techniques and methods for navigating an autonomous vehicle using teleoperator instructions. For instance, while navigating to a location, progress of an autonomous vehicle may stop. This may be caused by the autonomous vehicle yielding to another vehicle, such as at an intersection or when the other vehicle is located along a route of the autonomous vehicle. After yielding for a threshold amount of time, the autonomous vehicle may send sensor data and/or an indication of the other vehicle to the teleoperator. The autonomous vehicle may then receive, from the teleoperator, an instruction to cease yielding to the other vehicle. Based at least in part on the instruction, the autonomous vehicle may again begin navigating.