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There was a notable case recently where the Waymo did swerve, to avoid someone who had fallen off a scooter into their lane (video here): https://www.reddit.com

• JumpCrisscross 1y ago
  I’d argue that’s more straightforward collision avoidance than a swerve since the rider was to the side when Waymo turned. As such, there wasn’t a choice between braking and swerving. One had to do both, and there was no real optionality as to whether to swerve right or left.