I sometimes wonder whether we will ever solve all edge cases like the one described here; maybe, autonomous driving will always remain semi and almost there, but never quite fully
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And Nashville: https://news.ycombinator.com/item?id=45275415
Waymo actually works, and is likely to be at or near breakeven financially.
The SFO permit also involves an initial phase using human safety drivers in the car: https://www.sf.gov/news-mayor-lurie-takes-key-step-toward-la...
Waymo actually works because they don't insist on automating what they cannot automate safely yet.
Tesla Robo taxis have remote monitors and have a safety driver, either in the passenger seat or in the driver's seat.
I've seen it suggested that Tesla remotely monitors demo rides. But they don't officially say so.