Waymos are capable of seeing cats - I was in one looking at the route view the other day, and it highlighted a cat that was a decent distance away sitting in a front yard as it passed it. Then it went through a roundabout seemingly just to show it could do it.

(It then proceeded to drop me off in a weird back corner spot in Santana Row by a loading dock. Can't have everything.)

I assume once you're close enough or actually under it there's a blind spot. It doesn't seem very good at evading potholes either.