The real way to achieve level 4, in the Tesla software, is to improve its decision making AI. You'll pretty much never spot the neural network not detect someth

The real way to achieve level 4, in the Tesla software, is to improve its decision making AI. You'll pretty much never spot the neural network not detect something in all of the public FSD videos, at least when it's important to the operational safety of the car (the objects on the screen don't always match up with the NN since they likely have an renderable object budget). Where it always, always fails is in deciding "is is safe to turn right now" or "can i pull into the center of the divided highway for my unprotected left yet".