diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3620217df5..2b07701cc4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -69,6 +69,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - `VehicleIndex` no longer segfaults when attempting to `repr()` it.
 - Fixed issues related to waypoints in SUMO maps. Waypoints in junctions should now return all possible paths through the junction.
 - Fixed CI tests for metrics.
+- Fixed an issue where the actor states and vehicle states were not synchronized after simulation vehicle updates resulting in different values from the simulation frame.
 - Minor fix in regular expression compilation of `actor_of_interest_re_filter` from scenario metadata.
 - Fixed acceleration and jerk computation in comfort metric, by ignoring vehicle position jitters smaller than a threshold.
 ### Removed
diff --git a/smarts/core/actor.py b/smarts/core/actor.py
index 2b05627f4f..9665aac02a 100644
--- a/smarts/core/actor.py
+++ b/smarts/core/actor.py
@@ -63,6 +63,6 @@ def __hash__(self) -> int:
         return hash(self.actor_id)
 
     def __eq__(self, other) -> bool:
-        return self.__class__ == other.__class__ and hash(self.actor_id) == hash(
+        return isinstance(other, type(self)) and hash(self.actor_id) == hash(
             other.actor_id
         )
diff --git a/smarts/core/provider.py b/smarts/core/provider.py
index 043a86e8e1..7985b88d3c 100644
--- a/smarts/core/provider.py
+++ b/smarts/core/provider.py
@@ -89,6 +89,21 @@ def intersects(self, actor_ids: Set[str]) -> bool:
         intersection = actor_ids & provider_actor_ids
         return bool(intersection)
 
+    def replace_actor_type(
+        self, updated_actors: List[ActorState], actor_state_type: type
+    ):
+        """Replaces all actors of the given type.
+
+        Args:
+            updated_actors (List[ActorState]): The actors to use as replacement.
+            actor_type (str): The actor type to replace.
+        """
+        self.actors = [
+            actor_state
+            for actor_state in self.actors
+            if not issubclass(actor_state.__class__, actor_state_type)
+        ] + updated_actors
+
 
 class ProviderManager:
     """Interface to be implemented by a class that manages a set of Providers
diff --git a/smarts/core/road_map.py b/smarts/core/road_map.py
index 5fa3be671a..b1fda43f3e 100644
--- a/smarts/core/road_map.py
+++ b/smarts/core/road_map.py
@@ -447,7 +447,7 @@ def center_pose_at_point(self, point: Point) -> Pose:
             position = self.from_lane_coord(RefLinePoint(s=offset))
             desired_vector = self.vector_at_offset(offset)
             orientation = fast_quaternion_from_angle(vec_to_radians(desired_vector[:2]))
-            return Pose(position=position, orientation=orientation)
+            return Pose(position=position.as_np_array, orientation=orientation)
 
         def curvature_radius_at_offset(
             self, offset: float, lookahead: int = 5
diff --git a/smarts/core/smarts.py b/smarts/core/smarts.py
index acb8b8a4b8..940dd2081f 100644
--- a/smarts/core/smarts.py
+++ b/smarts/core/smarts.py
@@ -296,7 +296,6 @@ def _step(self, agent_actions, time_delta_since_last_step: Optional[float] = Non
         # 2. Step all providers and harmonize state
         with timeit("Stepping all providers and harmonizing state", self._log.debug):
             provider_state = self._step_providers(all_agent_actions)
-        self._last_provider_state = provider_state
         with timeit("Checking if all agents are active", self._log.debug):
             self._check_if_acting_on_active_agents(agent_actions)
 
@@ -314,7 +313,7 @@ def _step(self, agent_actions, time_delta_since_last_step: Optional[float] = Non
         # want these during their observation/reward computations.
         # This is a hack to give us some short term perf wins. Longer term we
         # need to expose better support for batched computations
-        self._vehicle_states = [v.state for v in self._vehicle_index.vehicles]
+        self._sync_smarts_and_provider_actor_states(provider_state)
         self._sensor_manager.clean_up_sensors_for_actors(
             set(v.actor_id for v in self._vehicle_states), renderer=self.renderer_ref
         )
@@ -1332,6 +1331,13 @@ def _step_providers(self, actions) -> ProviderState:
         self._harmonize_providers(accumulated_provider_state)
         return accumulated_provider_state
 
+    def _sync_smarts_and_provider_actor_states(
+        self, external_provider_state: ProviderState
+    ):
+        self._last_provider_state = external_provider_state
+        self._vehicle_states = [v.state for v in self._vehicle_index.vehicles]
+        self._last_provider_state.replace_actor_type(self._vehicle_states, VehicleState)
+
     @property
     def should_reset(self):
         """If the simulation requires a reset."""
@@ -1671,7 +1677,8 @@ def cached_frame(self):
             step_count=self.step_count,
             vehicle_collisions=self._vehicle_collisions,
             vehicle_states={
-                vehicle_id: vehicle.state for vehicle_id, vehicle in vehicles.items()
+                vehicle_state.actor_id: vehicle_state
+                for vehicle_state in self._vehicle_states
             },
             vehicles_for_agents={
                 agent_id: self.vehicle_index.vehicle_ids_by_owner_id(
diff --git a/smarts/core/tests/test_observations.py b/smarts/core/tests/test_observations.py
index 069de2cef1..310894c923 100644
--- a/smarts/core/tests/test_observations.py
+++ b/smarts/core/tests/test_observations.py
@@ -98,19 +98,19 @@ def agent_spec(agent_interface):
 
 
 @pytest.fixture
-def env(agent_spec):
-    env = gym.make(
+def env(agent_spec: AgentSpec):
+    _env = gym.make(
         "smarts.env:hiway-v0",
         scenarios=["scenarios/sumo/figure_eight"],
-        agent_specs={AGENT_ID: agent_spec},
+        agent_interfaces={AGENT_ID: agent_spec.interface},
         headless=True,
         visdom=False,
         fixed_timestep_sec=0.1,
         seed=42,
     )
 
-    yield env
-    env.close()
+    yield _env
+    _env.close()
 
 
 def project_2d(lens, img_metadata: GridMapMetadata, pos):
diff --git a/smarts/core/tests/test_simulation_state_frame.py b/smarts/core/tests/test_simulation_state_frame.py
index dca791478d..6c0fbaff9f 100644
--- a/smarts/core/tests/test_simulation_state_frame.py
+++ b/smarts/core/tests/test_simulation_state_frame.py
@@ -89,6 +89,23 @@ def test_state(sim: SMARTS, scenario):
     assert hasattr(frame, "vehicle_collisions")
 
 
+def test_vehicles_in_actors(sim: SMARTS, scenario):
+    sim.setup(scenario)
+    frame: SimulationFrame = sim.cached_frame
+
+    while (frame := sim.cached_frame) and len(frame.vehicle_states) < 1:
+        sim.step({})
+
+    assert set(k for k in frame.vehicle_states) == set(
+        actor_state.actor_id for actor_state in frame.actor_states
+    )
+    actor_states = {
+        actor_state.actor_id: actor_state for actor_state in frame.actor_states
+    }
+    for k, vehicle_state in frame.vehicle_states.items():
+        assert vehicle_state == actor_states[k]
+
+
 def test_state_serialization(sim: SMARTS, scenario: Scenario):
     sim.setup(scenario)
     sim.reset(scenario, start_time=10)
diff --git a/smarts/core/vehicle_state.py b/smarts/core/vehicle_state.py
index cee9b8c10c..5bfe11d4c3 100644
--- a/smarts/core/vehicle_state.py
+++ b/smarts/core/vehicle_state.py
@@ -120,7 +120,11 @@ def __post_init__(self):
         assert self.pose is not None and self.dimensions is not None
 
     def __eq__(self, __o: object):
-        return super().__eq__(__o)
+        return (
+            isinstance(__o, type(self))
+            and super().__eq__(__o)
+            and self.pose == __o.pose
+        )
 
     @property
     def bounding_box_points(