7 years ago I started comma.ai with a simple idea. Gather tons of human driving data, state action pairs: (S_t, A_t) Train a supervised model f(S_t) -> A_t Drive cars with that model. The exact original formulation was a model that predicts steering angle from image, then used a PID loop to bring the wheel to that desired angle. f_steerangle(img_t) -> steerangle_t This turns out not to work, it couldn’t even drive straight on highways. It would drive for maybe 10 seconds, but then error would ac...