Let's do a thought experiment: if Waymo could have seen 10 years ago how well FSD perception works today, would they have invested so heavily into LiDAR? Maybe the answer is still yes, because with the low volumes of vehicles they have they can afford to put it in, but it's not clear cut. If you could show FSD to ML/CV engineers 10 years ago their minds would have been completely blown. My mind is still blown by how well it actually works.