The linked [1] blog post is more structured and easier to follow for context. After that, I think you could parse much of geohot's stream of consciousness post.

The linked [1] blog post is more structured and easier to follow for context. After that, I think you could parse much of geohot's stream of consciousness post. [1] https://blog.comma.ai/end-to-end-lateral-planning/ https://blog.comma.ai/end-to-end-lateral-planning/