My experience is that the more complex a loss function that you write for optimisation the lower the likelihood of a "natural" or robust result. So, the softwar

My experience is that the more complex a loss function that you write for optimisation the lower the likelihood of a "natural" or robust result. So, the software is highly likely to work for all the test cases, and nothing else. This is kinda the problem that Tesla has for FSD; they are endlessly patching it and it's endlessly finding ways to go wrong.