Marcus / @djmcflush: Proof of what I've been suspecting for a long time. Each Waymo is but a spoke dependent on a centralized server to communicate directions. Very limited local autonomy. If this was simply Waymo's inability to handle dark intersections it points to a much broader problem. Waymo's planning system is not AI, it is a rules-based system. While it weighs various trajectories (plans) in real-time, it still relies on fixed weights. Effectively it is algorithmic. This is a problem is autonomous driving. There are countless long-tail problems in driving that should be negotiated with an end-to-end AI, like Tesla FSD. One scales, one does not.