I think it will handle edges better because it's explicitly not trying to classify everything into objects (for the purpose of loading into their virtual repres

I think it will handle edges better because it's explicitly not trying to classify everything into objects (for the purpose of loading into their virtual representation). So it doesn't need to "understand" a situation in terms of what is physically true, it just needs to understand what information is valuable for the task of driving. Consider this edge case: https://www.youtube.com/shorts/kM-xBgz26pE https://www.youtube.com/shorts/kM-xBgz26pE A utility truck carrying a load of new traffic lights. Tesla correctly identifies them as traffic lights and loads virtual representations into its world model. It doesn't seem to cause any weird behavior (thankfully), but this demonstrates a case where doing this fancy classification actually makes your system less robust.