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There is a mix of a "neural net planner" and a "explicit planning and control" in traditional code[1]. The explicit planner has the last word, and uses input from both the "vector space" and the neural net planner.

Karpathy has commented about the neural nets gradually replacing the traditional code. See his presentation[2] around 18:45.

[1] https://saneryee-studio.medium.com/deep-understanding-tesla-...

[2] https://youtu.be/hx7BXih7zx8

#1 is a very good set of articles. thanks you!

they flipped a switch (this one, under "clear to go" subheading https://youtu.be/ToDMceo0aDs?t=20). tesla planning still mostly is done by C/C++ code.

It was a toggle so one assume the code has a branch in it. If flag flipped and no people and no cars, min speed is 5, else 0.

I liked this feature, damnit.