How might one KNOW what any of this means without seeing the associated scenario data? For example given you struggle with unprotected lefts couldn't the improvement being you are learning benign scenarios, this is hype, meant to mislead and provide false confidence and you are nowhere near done? Why not release the scenarios tested data? Using the term corner or edge case case also be misleading. Meant to make folks think things that are very rare and complex are being done. Most complex or dangerous scenarios are simply scenarios. Just because we don’t want them to occur or don’t like the outcome does not make them edge or corner cases. Given the unprotected left issue in well lit, well marked areas in good weather I assume you call that an edge or corner case?

SAE Autonomous Vehicle Engineering Magazine

End Public Shadow Driving

https://www.nxtbook.com/nxtbooks/sae/ave_201901/index.php

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