[bchasknga]

> self-driving cars use RL

Some part of it, but I would argue with a lot of guardrail in place and not as common as you think. I don't think the majority of the planner/control stack out there in SDC is based. I also don't think any production SDCs are RL-based.

[rangestransform]

Based on the zoox iccv talk, it sounds like their main planner is RL.