[seanmcdirmid]

I thought Waymo was much more ML than logical rules based subsumption? I’m not sure it’s possible to do more than simple robotics without jumping into ML, I guess maybe if you had high level rules prioritized via subsumption but manipulating complex ML-trained sensors and actuators.

[lisper]

Yes, that's right. The ostensible idea behind subsumption is dead (because it was wrong). But what subsumption did was open up the possibility of putting the AI into the run-time feedback loop rather than the deliberative planning, and that is what all robotic control architectures do today.