There is a mix of a "neural net planner" and a "explicit planning and control" in traditional code[1]. The explicit planner has the last word, and uses input fr

There is a mix of a "neural net planner" and a "explicit planning and control" in traditional code[1]. The explicit planner has the last word, and uses input from both the "vector space" and the neural net planner. Karpathy has commented about the neural nets gradually replacing the traditional code. See his presentation[2] around 18:45. [1] https://saneryee-studio.medium.com/deep-understanding-tesla-fsd-part-3-planning-control-9a25cc6d04f0 https://saneryee-studio.medium.com/deep-understanding-tesla-... [2] https://youtu.be/hx7BXih7zx8 https://youtu.be/hx7BXih7zx8