A typical jaguar Waymo usually carries up to 4 people (usually just one), weighs 2.1 tonnes and is 5.2m long.
So the double decker bus should be more environmentally efficient with maybe 5 passengers making independent journeys, though operational costs for paying a driver probably make the Waymo more financially efficient in that situation.
I suspect robotaxis will become very important in suburban areas with distributed jobs where buses don’t work well. In busy cities there simply isn’t the roadspace to replace buses with robotaxis (or any other form of car) for commuting.