My understanding is that they used to have a lot more special-purpose modules than they do now, but their “occupancy network” architecture has replaced a bunch of them. So they have one big end-to-end network doing most of the vision, which hands a volumetric representation over to the collection of special-purpose-smaller-modules for path planning. But path planning is the easier part (easier to generate synthetic data for, easier to detect if something is going wrong beforehand and send a take-over alarm.).
My understanding is that they used to have a lot more special-purpose modules than they do now, but their “occupancy network” architecture has replaced a bunch of them. So they have one big end-to-end network doing most of the vision, which hands a volumetric representation over to the collection of special-purpose-smaller-modules for path planning. But path planning is the easier part (easier to generate synthetic data for, easier to detect if something is going wrong beforehand and send a take-over alarm.).