BY guy:
NY law defines a yellow light as follows:
(i) Vehicular traffic facing such signal is thereby warned that the red signal will be exhibited immediately thereafter and such vehicular traffic shall not enter the intersection when the red signal is exhibited.
(ii) Pedestrians facing such signal are thereby warned that there is insufficient time to cross the roadway, and shall not enter or cross the roadway. Pedestrians already in the roadway shall proceed to the nearest safety island or sidewalk.
Therefore, your answer is more correct than the cop’s. if you already entered the intersection you can go but if you have not then you cannot enter the intersection on the yellow.