The founder and CEO of self-driving car company Cruise has finally done it: His company’s robo-taxis are picking up passengers in San Francisco. It’s been almost a decade since he founded his company with the audacious vision to take on Google and create autonomous driving vehicles. He and cofounder Dan Kan pursued that vision–one small step at a time. He spoke with host Christine Lagorio-Chafkin about his lifelong passion for robotics, the “leap of faith” he took when deciding to sell Cruise to GM, and leading a company of more than 1,000 people–plus, how the driverless taxi experiment is going in San Francisco.