From one piece Waymo Co-CEO Dmitri Dolgov: The Demo Is Only 1% Of The Work 2 beliefs, in the piece's order there
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So, a deployment of your agent uh in the real world generates data. That data then grounds the simulator and makes it more realistic. The simulator generates harder edge cases for the critic to score and for the agent to learn from.
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Given the high cost of errors, you need to have a very high level of safety and a very high level of confidence on day one before you deploy your first robot, before you drive your your first autonomous mile.