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Tesla's Improvements to Lane, Line, and Road Edge
Tesla says they've improved turn performance and dense unstructured city environments doing things like turning in front of parked cars avoiding turning into bus lanes. Tesla's also improved the ego's behavior near VR use using their kinematic data to estimate how likely it is that they would cross the vehicle's path. And then final bullet point Tesla says they have improved developer productivity with better code diagnostics and C++20 features by upgrading the compiler.