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As this article (https://www.technologyreview.com/2022/05/27/1052826/ai-reinforcement-learning-self-driving-cars-autonomous-vehicles-wayve-waabi-cruise/) describes, first generation self-driving companies like Waymo and Cruise have (seemingly) doubled down on having the interface between perception, planning, and control be modular and are continuing to use HD maps combined with LIDAR for driving.
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