Congratulations to the Waymo team! I was excited reading through the overview. What I'm monitoring in the self-driving space is Lidar and Radar integration. There are leaders like Elon with Tesla who insist that they're not necessary yet Waymo has devoted effort for them in their 6th generation. My personal perspective is that Lidar and Radar are a core requirement for self-driving because "These upgrades help the lidar penetrate weather and avoid point cloud distortion near highly reflective signs, expanding the Waymo Driver's ability to see through heavy roadspray on freeways and other complex edge cases."