My takeaways: They're using transformers to persist occluded objects which is very cool. Path planning is done almost entirely without neural networks. The do

My takeaways: They're using transformers to persist occluded objects which is very cool. Path planning is done almost entirely without neural networks. The do have an optimization routine which runs on the car with cost functions for comfort, distance, etc. They have HD maps but the data is stored in the vision network's latent space. A joke was made about the vision network overfitting and storing a representation of the whole world, ie an HD map embedded in the network weights. Also a comment was made about detecting pillars, seems that's on top of mind for the team.