"But then it seems that inevitably you get to the point where your real-time classifiers are basically running the show anyway so are you back to - what good is

"But then it seems that inevitably you get to the point where your real-time classifiers are basically running the show anyway so are you back to - what good is a Map anyway?" Yep, pretty much. Robust real-time perception, for a wide variety of tasks that happen very rarely is one of the key bottlenecks.