My understanding is that each car can run a shadow model, and then they have a data collection thing running that uploads interesting video clips, where one of

My understanding is that each car can run a shadow model, and then they have a data collection thing running that uploads interesting video clips, where one of the possible conditions is "something different than what we predicted happened". Those clips may then get analyzed, labeled and used for training. Some Tesla owners seem to think that the cars are learning from all the weird situations they encounter, and I think that's just plain wrong. But some of them, yes.