[webaba]

I cited Lyapunov, more as the ABC of nonlinear controls. Much more can be done in an analytical fashion, the "end-to-end" system here does not "solve" anything. It is a trained steering command regressor, nothing fancy, it's likely to work in this guy's living room, under certain lighting conditions, there is no way of predicting its accuracy, sensibility or anything else. Engineers have been breaking down systems into sub systems for a reason -> tractability of testing and improvement. End-to-end systems like that have close to zero value if you need something reliable.