This is a preview from our weekly newsletter. Each week I go ‘Beyond the News’ and handcraft a special edition that includes my thoughts on the biggest stories, why it matters, and how it could impact the future.
Earlier this week, there was plenty of talk about the Revel taxi fleet in New York City, comprised of 50 Tesla Model Y all-electric crossovers that would contribute to the ride-sharing services that the Big Apple has long been accustomed to over the past century. As the automotive sector has transitioned to a more sustainable look and feel, taxi companies are also putting their hand in the cookie jar, adding sustainable vehicles to their fleets, and taking gas-powered machines off the road.
Revel is an independent company attempting to make this happen. The company has 50 Model Y taxis ready to take on the streets of Manhattan and the other boroughs of New York. However, reports circulated earlier this week that the New York City Taxi and Limousine Commission blocked this possibility overwhelmingly with a five-to-one vote.
New York City Taxi and Limousine Commission: A Giant Game of Telephone
While the reports from various media outlets, including our own, highlighted the spectacle, which seemed to be an incredible chance of corruption, there was actually a huge misunderstanding. New York City TLC’s Deputy Chief of Public Affairs, Allan Fromberg, took some time out of a busy Thursday to talk to me, clarifying the situation that has been misconstrued since its original report.
Tesla Model Y taxi fleet successfully blocked by NY commission
After getting in touch with Mr. Fromberg on Thursday, we talked about the initial reports. “The whole narrative that Revel would have to buy 50 gas cars to then convert to EVs is just a giant game of telephone. In fact, for Revel to bring on its 50 BEVs, they would have to replace 50 existing, already-licensed vehicles, and not new vehicles.”
Initial reports indicated that TLC Commissioner Aloysee Heredia Jarmoszuk stated that congestion was why Revel wasn’t granted licenses. In fact, this is true. Revel was never required to purchase 50 gas vehicles, which didn’t make much sense from the get-go. In my initial communication to Mr. Fromberg, I stated that the contradictory nature of the TLC’s implied decision to block Revel’s Model Y fleet because of congestion, but then suggest 50 additional gas-powered vehicles needed to be purchased didn’t make much sense.
Fromberg agreed and said that this misconception was due to the aggregation of media reports looking to push out this controversial angle of the story quickly.
Mr. Fromberg then explained what the vote on Tuesday evening entailed, straight from the TLC Commissioner’s mouth.
2018 Legislation: The Taxi Cab “Cap”
Ms. Jarmoszuk said:
“First and foremost, no one and no entity has been blocked. The public meeting/vote was neither about electric vehicles nor about any particular company nor about car models. Rather, the public meeting was about vehicle licenses, which are presently capped since the market is saturated and distressed, with low performance as a result of the pandemic and previous market stressors. Presently, there are nearly 100K vehicle licenses, which is too large a supply for current passenger demand. The public meeting was about ensuring mechanisms to properly manage applications for new/additional licenses against current ridership numbers/needs.”
This is actually in reference to series of five pieces of legislation that were passed in 2018. According to the New York City Office of the Mayo, on August 14th, 2018, Mayor Bill de Blasio signed the following pieces:
144-B: Requiring the TLC to stop issuing for-hire vehicle licenses for 12 months, to study congestion and various aspects of the industry, and after the study, allows the TLC to establish vehicle utilization standards and regulate the number of for-hire vehicle licenses;
634-B: Waiving licensing fees for accessible taxi-cabs and for-hire vehicles;
838-C: Pertaining to the licensing and regulation of high-volume for-hire vehicle services;
890-B: Directs the TLC to establish rules to provide minimum payments to high-volume for-hire vehicle drivers;
958-A: Reducing penalties for unauthorized street hails.
Really, 144-B, 634-B, 838-C, and 890-B are the four pieces that are relevant to this story. In 2018, 144-B halted the licensing of any additional “For-Hire” vehicles, meaning taxis or ride-hailing vehicles. Simply put, there was an incredible number of vehicles on the streets of New York, and congestion was becoming a real issue there. The “cap” limit on the number of vehicles was enforced in 2018 and was set to last one year. Mr. Fromberg informed me that this legislation has been extended and renewed several times and is still effective to this day. Therefore, the City still will not license any additional vehicles. When one fails or loses its license, a new vehicle takes its place.
There are several other reasons for this, including fair wages for drivers and affordability for taxi companies. But, unfortunately, drivers were suffering and still are due to the COVID-19 pandemic. While many of the economic negativities are finally beginning to subside, 2020 was an ugly year for the NYC taxi sector. Many drivers weren’t making enough money to afford loan payments on medallions. Unfortunately, some of these drivers took their own lives, and it is an absolute tragedy that this occurred.
With that being said, taxi drivers are hard-working, and they deserve to make enough money to feed their families. In the 2018 passing of these legislative pieces, De Blasio said, “We’re putting hardworking New Yorkers ahead of corporations. We are taking immediate action for the benefit of more than 100,000 hard-working New Yorkers who deserve a fair wage and halting the flood of new cars, grinding our streets to a halt.” The changes increased take-home pay for drivers by approximately 20 percent on average — more than $6,000 per year.
With all of that being said, New York City is operating with a substantial number of taxis, and the TLC has granted nearly 100,000 vehicle licenses. Before any more vehicles can obtain one of these licenses, some of the current vehicles must lose their licenses through expiration or vehicle removal in a company’s fleet. When 50 licenses open up, Revel will have the ability to obtain them, giving the company full rights to operate as a ride-sharing service, just as it aims to do.
To Mr. Fromberg’s knowledge, there would be no cost for Revel to go through the normal administrative procedure to obtain the licenses.
Revel’s Response: EV Taxis are a necessity to NYC
Revel CEO Frank Reig is under the impression that the TLC is operating under “shortsighted bureaucracy and entrenched interests,” according to a Tweet from Wednesday night.
After the Tuesday hearing, Reig said:
“At today’s hearing, the Taxi and Limousine Commission offered no evidence or analysis to support ending the EV exemption. The Commissioners sat through almost 3 hours of testimony on all sides yet asked zero questions and spent zero time deliberating before making a policy decision with profound consequences. The TLC never intended to consider what drivers and New Yorkers had to say, and only cared about jamming through this vote on Primary Day with as little scrutiny as possible. This decision doesn’t change the fact that New York City needs an alternative to the predatory leasing system that exploits drivers and pollutes our environment, and Revel is exploring ways to accomplish that.”
Revel told Teslarati earlier today that it is aware that the TLC is not recommending the purchase of 50 gas-powered cars. The company is also aware that the TLC has capped the number of licenses it would issue. In order to encourage the adoption of electric cars, Revel spokespeople said that additional licenses would be given to wheelchair-accessible vehicles and EVs. A few hundred EVs have been added to the NYC Taxi fleet in the past two years, but these cars only account for .5% of the total number of For-Hire vehicles on NYC’s streets.
Tesla Model 3 wins hearts as famed NYC Taxi, picks up where Nissan Leaf couldn’t
This rule is brought up every six months and was last addressed and subsequently renewed in February. That means that it was due for review in August. However, the TLC brought the issue to light early and revoked the rule. The TLC says that if Reval wants to operate a rideshare service with its fleet of 50 Model Ys, they will have to obtain the licenses from displaced and no-longer-active taxis in the city.
Revel states that it would take two to three additional vehicles off of the street because the company will hire TLC-licensed drivers, who will no longer lease gas-powered vehicles. In addition, revel owns the vehicles, and different drivers will use the same car through different shifts, which could become a long-term advantage for the TLC as fewer cars will be on the street.
This would also line up with the Legislature items 634-B and 890-B, which would alleviate short-term leases and provide drivers with guaranteed wages, benefits, and vacation time.
The Bottom Line
The issue is this: Congestion is a real issue in the city. And while EVs only making up .5% of the total taxi fleet in the Big Apple, there is evidently no room for more vehicles, of any kind, in the City. Over time, the concentration of EV Taxis in the City that Never Sleeps will surely rise, but the existing vehicles need to be removed from the licensing pool before Revel can unleash its 50 all-electric Model Y taxis.
To summarize it easily, Fromberg said: “The TLC is fully committed to a 100% electrified future, just not at the cost of additional congestion.”
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Elon Musk
Tesla Optimus V3 hand and arm details revealed in new patents
Two new patents, which were coincidentally filed on the same day as the “We, Robot” event back in October 2024, protect Tesla’s mechanically actuated, tendon-driven architecture.
Tesla is planning to soon reveal its latest and greatest version of the Optimus humanoid robot, and a series of new patents for the hands and arms, with the former being, admittedly, one of the most challenging parts of developing the project.
Two new patents, which were coincidentally filed on the same day as the “We, Robot” event back in October 2024, protect Tesla’s mechanically actuated, tendon-driven architecture.
The designs relocate heavy actuators to the forearm, route cables through a sophisticated wrist design, and employ innovative joint assemblies to achieve human-like dexterity while enabling lightweight construction and high-volume manufacturing.
Core Tendon-Driven Hand Architecture
The primary patent, which is titled “Mechanically Actuated Robotic Hand,” details a cable/tendon-driven system.
Actuators are positioned in the forearm rather than the hand. Each finger features four degrees of freedom (DoF), while the wrist adds two more.
Tesla’s Optimus V3 robot hand looks to have been revealed in a new international patent published today.
The patent describes a tendon/cable-driven hand:
• Actuators in the forearm
• Each finger has 4 degrees of freedom
• The wrist has 2 degrees of freedom
• Tendon-driven… pic.twitter.com/eE8xLEYSrx— Sawyer Merritt (@SawyerMerritt) April 16, 2026
Three thin, flexible control cables (tendons) per finger extend from the forearm actuators, pass through the wrist, and connect to the finger segments. Integrated channels within the finger phalanges guide these cables selectively—routing behind some joints and forward of others—to enable independent bending without unintended motion.
Patent diagrams illustrate thick cable bundles emerging from the wrist into the palm and fingers, with labeled pivots and routing guides. This setup closely mirrors human forearm-muscle and tendon anatomy, where most hand control originates proximally.
Advanced Wrist Routing Innovation
One of the standout features is the wrist’s cable transition mechanism. Cables shift from a lateral stack on the forearm side to a vertical stack on the hand side through a specialized transition zone.
Boom! @Tesla_Optimus 의 3세대 구조로 추정되는, 로봇 팔 및 관절에 대한 특허가 공개되었습니다.
아티클 작업에 들어가겠습니다.
1년 넘게 기다려 온, 정말 귀한 특허인데, 조회수 100만대로 터져줬으면 좋겠네요. 😉@herbertong @SawyerMerritt@GoingBallistic5 @TheHumanoidHub pic.twitter.com/CCEiIlMFSX
— SETI Park (@seti_park) April 16, 2026
This geometry significantly reduces cable stretch, torque, friction, and crosstalk during combined yaw and pitch wrist movements — common failure points in simpler tendon systems that cause imprecise or jerky motion.
By minimizing these issues, the design supports smoother, more reliable multi-axis wrist operation, essential for complex real-world tasks.
Companion Patents on Appendage and Joint Design
Two supporting patents provide additional depth. “Robotic Appendage” covers the overall forearm-to-palm-to-finger assembly, with a palm body movably coupled to the forearm and finger phalanges linked by tensile cables returning to forearm actuators. Tensioning these cables repositions the phalanges precisely.
“Joint Assembly for Robotic Appendage” describes curved contact surfaces on mating structures paired with a composite flexible member. This allows smooth pivoting while maintaining consistent tension, enhancing durability, and simplifying assembly for mass production.
Executive Insights on Hand Development Challenges
Tesla executives have consistently described the hand as the most difficult component of Optimus.
Elon Musk has called it “the majority of the engineering difficulty of the entire robot,” emphasizing that human hands possess roughly 27–28 DoF with an intricate tendon network powered largely by forearm muscles. He has likened the challenge to something “harder than Cybertruck or Model X… somewhere between Model X and Starship.”
In mid-2025, Musk acknowledged that Tesla was “struggling” to finalize the hand and forearm design. By early 2026, he stated that the company had overcome the “hardest” problems, including human-level manual dexterity, real-world AI integration, and volume production scalability.
He estimated the electromechanical hand represents about 60 percent of the overall Optimus challenge, compounded by the lack of an existing supply chain for such precision components.
These patents directly tackle the acknowledged pain points: relocating actuators reduces hand mass and inertia for better speed and efficiency; advanced wrist routing and joint geometry address friction and crosstalk; and simplified, stackable parts visible in the diagrams indicate readiness for high-volume manufacturing.
Implications for Optimus Production and Leadership
Collectively, the patents portray the Optimus v3 hand not as a mere prototype, but as a production-oriented system engineered from first principles.
The 22-DoF architecture, forearm-driven tendons, and crosstalk-minimizing wrist deliver a clear competitive edge in dexterity. They align with Musk’s view that high-volume manufacturing is one of the three critical elements missing from most other humanoid projects.
For Optimus to become the most capable humanoid robot, its hand needed to replicate the useful and applicable design of the human counterpart.
These filings demonstrate that Tesla has transformed years of engineering challenges into patented, elegant solutions — positioning the company strongly in the race toward general-purpose robotics.
News
Tesla intertwines FSD with in-house Insurance for attractive incentive
Every mile logged under FSD now carries a documented financial value—lower risk, lower cost—based on Tesla’s internal driving data rather than external crash statistics alone.
Tesla intertwined its Full Self-Driving (Supervised) suite with its in-house Insurance initiative in an effort to offer an attractive incentive to drivers.
Tesla announced that its new Safety Score 3.0 will automatically have a perfect score of 100 with every mile driven with Full Self-Driving (Supervised) enabled.
The change is designed to boost customers’ average safety scores and deliver noticeably lower monthly premiums.
The move marks the clearest link yet between Tesla’s autonomous driving technology and its proprietary insurance product. Tesla Insurance already relies on real-time vehicle data—such as acceleration, braking, following distance, and speed—to calculate a Safety Score between 0 and 100. Higher scores have long translated into cheaper rates.
Under the previous system, however, even brief manual interventions could drag down the average, frustrating owners who rely heavily on FSD. Version 3.0 eliminates that penalty for supervised autonomous miles, effectively treating FSD-driven segments as the safest possible driving behavior.
The incentive is immediate and financial. Drivers who keep FSD engaged for the majority of their trips will see their overall score rise, potentially shaving hundreds of dollars off annual premiums.
Tesla framed the update as a direct response to customer feedback, many of whom had complained that the old scoring model punished the very behavior it was meant to encourage.
For now, the program applies only to new policies in six states: Indiana, Tennessee, Texas, Arizona, Virginia, and Illinois.
Existing policyholders are not yet included, a point that drew swift questions from the Tesla community. Many owners in other states, including California and Georgia, expressed hope that the benefit would expand nationwide soon.
The announcement arrives as Tesla continues to roll out FSD Supervised updates and push for regulatory approval of more advanced autonomy. By tying insurance savings directly to FSD usage, the company is putting its own actuarial weight behind the technology’s safety claims.
Every mile logged under FSD now carries a documented financial value—lower risk, lower cost—based on Tesla’s internal driving data rather than external crash statistics alone.
Tesla has not disclosed exact premium reductions or the full rollout timeline beyond the six launch states.
Still, the message is clear: the more drivers trust FSD Supervised, the more Tesla Insurance will reward them. In an era when legacy insurers remain cautious about autonomous tech, Tesla is betting that its own data will prove the safest miles are the ones driven hands-free.
Elon Musk
Tesla finalizes AI5 chip design, Elon Musk makes bold claim on capability
The Tesla CEO’s words mark a strategic shift. Tesla has long emphasized software-hardware co-design, squeezing maximum performance from every transistor. Musk previously described AI5 as optimized for edge inference in both Robotaxi and Optimus.
Tesla has finalized its chip design for AI5, as Elon Musk confirmed today that the new chip has reached the tape-out stage, the final step before mass production.
But in a brief reply on X, Musk clarified Tesla’s AI hardware roadmap, essentially confirming that the new chip will not be utilized for being “enough to achieve much better than human safety for FSD.”
He said that AI4 is enough to do that.
Instead, the AI5 chip will be focused on Tesla’s big-time projects for the future: Optimus and supercomputer clusters.
Musk thanked TSMC and Samsung for production support, noting that AI5 could become “one of the most produced AI chips ever.” Yet, the key pivot came in his direct answer: vehicles no longer need the bleeding-edge silicon.
And thank you to @TaiwanSemi_TSC and @Samsung for your support in bringing this chip to production! It will be one of most produced AI chips ever.
— Elon Musk (@elonmusk) April 15, 2026
Existing AI4 hardware, which is already deployed in hundreds of thousands of HW4-equipped Teslas, delivers safety metrics superior to human drivers for Full Self-Driving. AI5 will instead accelerate Optimus robot development and massive Dojo-style training clusters.
The Tesla CEO’s words mark a strategic shift. Tesla has long emphasized software-hardware co-design, squeezing maximum performance from every transistor. Musk previously described AI5 as optimized for edge inference in both Robotaxi and Optimus.
Now, with AI4 proving sufficient, the company avoids costly retrofits across its fleet while redirecting next-generation compute toward higher-value applications: dexterous robots and exponential training scale.
But is it reasonable to assume AI4 enables unsupervised self-driving? Yes, but with important caveats.
On the hardware side, the claim is credible. Tesla’s FSD stack runs end-to-end neural networks trained on billions of miles of real-world data. Internal safety data reportedly shows AI4-equipped vehicles already outperforming average human drivers by a significant margin in controlled metrics (collision avoidance, reaction time, edge-case handling).
Dual-redundant AI4 chips provide ample headroom for the driving task, leaving bandwidth for future model improvements without new silicon. Musk’s assertion aligns with Tesla’s pattern of over-provisioning compute early, then optimizing ruthlessly, exactly as HW3 once sufficed before HW4 scaled further.
Optimus and our supercomputer clusters.
AI4 is enough to achieve much better than human safety for FSD.
— Elon Musk (@elonmusk) April 15, 2026
Unsupervised autonomy, meaning Level 4 or higher, is not solely a compute problem. Regulatory approval remains the primary gate.
Even if AI4 achieves “much better than human” safety statistically, agencies like the NHTSA demand exhaustive validation, liability frameworks, and public trust.
Tesla’s supervised FSD has shown rapid gains in recent versions, yet real-world edge cases, like construction zones, emergency vehicles, and adverse weather, still require driver intervention in many jurisdictions. Competitors like Waymo operate limited unsupervised fleets, but only in geofenced areas with extensive mapping. Tesla’s vision-only, fleet-scale approach is more ambitious—and harder to certify globally.
In short, Musk’s post is both pragmatic and bullish. AI4 is likely capable of unsupervised FSD from a technical standpoint. Whether regulators and consumers agree, and how quickly, will determine if Tesla’s bet pays off.
The company’s capital-efficient path keeps existing cars relevant while pouring future compute into robots. If the safety data holds, unsupervised autonomy could arrive sooner than many expect.
Tesla Optimus V3 hand and arm details revealed in new patents
Tesla intertwines FSD with in-house Insurance for attractive incentive
