The FDNY responded to the fire on the 7000 block of 15th Avenue just after 11:30 a.m.
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Firefighters arrived to find one child running out of a third-floor apartment and a second child was helped out by firefighters who went up a ladder to the third floor.
During the rescue, the driver of the truck, Louis Dym, noticed a pregnant woman waving from the third floor.
"I saw her at the window. That's our thing. You see life, you go for life," Dym said.
That's exactly what he did. Dym raised the aerial ladder through the window, climbed up, pushed the air conditioner out of the way and brought the woman to safety.
The fire was quickly put out and the cause is under investigation.
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All of the victims are expected to survive.
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