Unfortunately my understanding is that he originated the vision-only approach while at Tesla. As in, he's the one who sold Musk on the idea in the first place.

Unfortunately my understanding is that he originated the vision-only approach while at Tesla. As in, he's the one who sold Musk on the idea in the first place. I don't have time to dig up the citation that someone pointed me towards, but it's out there and can be found. Which is a bummer, because I've learned a lot from his videos and writing and have a lot of respect for his work.