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Waymo's have cameras inside the car to make sure the vehicles are clean: https://support.google.com/waymo/answer/9190819

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Yeah they probably pipe that video to an algorithm that does background subtraction so they're able to assert that the vehicle is clear of foreign objects, but those cameras don't detect smell. If someone defecates and wipes it somewhere the camera doesn't see, then what?

The rider reports an issue and Waymo sends a new car while they send the dirty one back to the depot back to be cleaned? Offending previous rider is charged a fee and then banned for life.

Hard for me to imagine this being a widespread problem. Probably about as much problem as there is with something similar happening in the elevator of a private building.

"the algorithm has decided that the subject has likely defecated with 63% probability and will be ejected in t-5 minutes.

Subject has no recourse to appeal and is banned from life including his ancestors and spawns"

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