[olex]

That's exactly what Tesla is doing with their validation vehicles, the ones with Lidar towers on top. They establish the "ground truth" from Lidar and use that to train and/or test the vision model. Presumably more "test", since they've most often been seen in Robotaxi service expansion areas shortly before fleet deployment.

[bob_theslob646]

Is that exactly true though? Can you give a reference for that?

[olex]

I don't have a specific source, no. I think it was mentioned in one of their presentation a few years back, that they use various techniques for "ground truth" for vision training, among those was time series (depth change over time should be continuous etc) and iirc also "external" sources for depth data, like LiDAR. And their validation cars equipped with LiDAR towers are definitely being seen everywhere they are rolling out their Robotaxi services.