Core Insights - Tesla has shared insights into its architecture, emphasizing the use of a large model and extensive data, which allows for a fixed computation time and high-frequency actions in its Full Self-Driving (FSD) system [5][6]. Group 1: Reasons for End-to-End Approach - The complexity of human driving behavior makes it difficult to define a single evaluation function, leading to challenges in rule-based optimization [8]. - The interface definition between perception, prediction, and planning is problematic, resulting in information loss [8]. - An end-to-end approach is better suited for scalability and addressing long-tail problems [8]. - Fixed computation time based on neural networks reduces latency compared to traditional methods [8]. - Philosophically, reliance on computational power and data is preferred over human experience [8]. Group 2: Challenges of End-to-End Systems - The three main challenges faced by end-to-end systems include evaluation, the curse of dimensionality, and ensuring interpretability and safety [19][20]. - The curse of dimensionality leads to insufficient supervisory signals when transitioning from high-dimensional to low-dimensional spaces [21]. - Ensuring interpretability and safety is crucial, as the model must genuinely understand driving behavior rather than just fitting shortcuts [23]. Group 3: Evaluation Challenges - High-quality datasets cannot solely describe performance through loss metrics, indicating a need for more comprehensive evaluation methods [39]. - Open-loop evaluations cannot replace closed-loop assessments, highlighting the necessity for real-world testing [39]. - Driving behavior is multimodal, requiring evaluation metrics that encompass various driving actions [39]. - One proposed method involves predicting the consequences of actions, potentially using a critic to assess model performance [39]. - Balancing the evaluation dataset is essential for accurate assessments [39]. Group 4: World Model Simulator - Tesla introduced a world model simulator that generates subsequent videos based on real scenarios, indicating a high barrier to entry for this technology [41]. - The simulator allows for replaying previous issues to assess improvements, akin to two-stage simulations [44]. - This technology can also be applied to humanoid robots, enabling reinforcement training and simulation [46].