As I understood the Tesla AI presentations the path is determined using a Monte Carlo Beamsearch which looks for a feasible path while optimizing an objective t

As I understood the Tesla AI presentations the path is determined using a Monte Carlo Beamsearch which looks for a feasible path while optimizing an objective that includes minimizing sideways g-forces and keeping the paths derivatives low (smooth path). Form the videos I have seen this fails often (in that the path doesn’t go straight even if it can). Knowing a bit about randomized met heuristics myself, I am not surprised. I think, they need to perform some post processing on these paths (a low iteration local search). I think, they should also start with a guess (like just go straight here, or do a standard turn), and then check if the guess is ok. I think, that could help with a lot of the problems they have.