Tesla Autopilot is now enabling the car to perceive the space around it thanks to the development of its Occupancy Networks. Tesla’s Autopilot Software Director, Ashok Elluswamy, shared a detailed thread on Twitter about a recent workshop the Autopilot team held. He also shared the workshop on Twitter.
Presented some of the recent work from the Tesla Autopilot team at CVPR this year, especially about "Occupancy Networks" – our approach to solve general obstacle detection and using it to enable sophisticated collision avoidance. Full talk here: https://t.co/wpGXlNHaWl (1/12)
— Ashok Elluswamy (@aelluswamy) August 21, 2022
In the video and Twitter Thread, Ashok explained how Tesla developed Occupancy Networks to literally give the car a sense of its surroundings. Humans have the ability to understand the objects around them at any given time. Is that car down the road moving at a slow speed or a fast speed? Do I, a pedestrian, have enough time to get across the street before being hit? What is that in the middle of the road? What is that falling from the sky? I should move out the way.
These reactions to scenarios and split-second decisions come naturally to humans. Tesla’s Autopilot Team is working to program the vehicles to do the same thing and this will save lives. Imagine the car being able to correctly detect its surroundings while the driver isn’t even paying attention. An example is sudden unintended accelerations (SUA). Ashok pointed out that Autopilot prevents around 40 of these types of accidents daily.
The workshop was held in June at this year’s Conference on Computer Vision and Pattern Recognition (CVPR.) in New Orleans. Ashok explained that the team developed Occupancy Networks which enable the car to predict the volumetric occupancy of everything around it.
Ashok explained that the typical approaches such as image-space segmentation of free space or pixel-wise depth have many issues. The solution to those issues is Occupancy Networks.
In other words, Occupancy Networks enable the car to perceive the space around it and determine whether or not it can drive in that space. For example, if a UFO were to suddenly crash in front of you while you’re driving, you would react quickly in the safest way possible. This is what the Autopilot Team is training the software to do.
Ashok shared details of how Occupancy Networks used Neural Radience Fields (NeRFs). “The occupancy representation of these networks allows for differentiable rendering of images (based on the Neural Radiance Fields work). However, unlike typical NeRFs, which are per scene, these occupancy nets generalize across scenes.”
These predictions are already used to prevent a lot of collisions. For e.g., Autopilot prevents ~40 crashes / day where human drivers mistakenly press the accelerator at 100% instead of the brakes. In the video Autopilot automatically brakes, saving this person's legs (7/12) pic.twitter.com/XtMssPT9cM
— Ashok Elluswamy (@aelluswamy) August 21, 2022
You can read Ashok’s full Twitter thread here and you can watch his presentation here. We are a little over a month before Tesla’s AI Day and I’m sure Tesla will share more about the life-saving technology it is working on as well as the Optimus Bot.
Dr. Know It All recently published a video about the new 10.69 update and shared his thought about Occupancy Network.
In a message on Twitter, he told me, “The beauty of Occupancy Networks is that the car doesn’t have to know what the objects it sees are, it just has to know that they are there in order to avoid them!”
Note: Johnna is a Tesla shareholder and supports its mission.
Your feedback is important. If you have any comments, concerns, or see a typo, you can email me at johnna@teslarati.com. You can also reach me on Twitter @JohnnaCrider1
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Tesla Robotaxi fleet reaches new milestone that should expel common complaint
There have been many complaints in the eight months that the Robotaxi program has been active about ride availability, with many stating that they have been confronted with excessive wait times for a ride, as the fleet was very small at the beginning of its operation.
Tesla Robotaxi is active in both the Bay Area of California and Austin, Texas, and the fleet has reached a new milestone that should expel a common complaint: lack of availability.
It has now been confirmed by Robotaxi Tracker that the fleet of Tesla’s ride-sharing vehicles has reached 200, with 158 of those being available in the Bay Area and 42 more in Austin. Despite the program first launching in Texas, the company has more vehicles available in California.
The California area of operation is much larger than it is in Texas, and the vehicle fleet is larger because Tesla operates it differently; Safety Monitors sit in the driver’s seat in California while FSD navigates. In Texas, Safety Monitors sit in the passenger’s seat, but will switch seats when routing takes them on the highway.
Tesla has also started testing rides without any Safety Monitors internally.
Tesla Robotaxi goes driverless as Musk confirms Safety Monitor removal testing
This new milestone confronts a common complaint of Robotaxi riders in Austin and the Bay, which is vehicle availability.
There have been many complaints in the eight months that the Robotaxi program has been active about ride availability, with many stating that they have been confronted with excessive wait times for a ride, as the fleet was very small at the beginning of its operation.
I attempted to take a @robotaxi ride today from multiple different locations and time of day (from 9:00 AM to about 3:00 PM in Austin but never could do so.
I always got a “High Service Demand” message … I really hope @Tesla is about to go unsupervised and greatly plus up the… pic.twitter.com/IOUQlaqPU2
— Joe Tegtmeyer 🚀 🤠🛸😎 (@JoeTegtmeyer) November 26, 2025
With that being said, there have been some who have said wait times have improved significantly, especially in the Bay, where the fleet is much larger.
Robotaxi wait times here in Silicon Valley used to be around 15 minutes for me.
Over the past few days, they’ve been consistently under five minutes, and with scaling through the end of this year, they should drop to under two minutes. pic.twitter.com/Kbskt6lUiR
— Alternate Jones (@AlternateJones) January 6, 2026
Tesla’s approach to the Robotaxi fleet has been to prioritize safety while also gathering its footing as a ride-hailing platform.
Of course, there have been and still will be growing pains, but overall, things have gone smoothly, as there have been no major incidents that would derail the company’s ability to continue developing an effective mode of transportation for people in various cities in the U.S.
Tesla plans to expand Robotaxi to more cities this year, including Miami, Las Vegas, and Houston, among several others.
Elon Musk
Tesla announces closure date on widely controversial Full Self-Driving program
Tesla has said that it will officially bring closure to its free Full Self-Driving transfer program on March 31, 2026, giving owners until the end of the quarter to move their driving suite to another vehicle with no additional cost.
Tesla has officially announced a closure date for a widely controversial Full Self-Driving program, which has been among the most discussed pieces of the driving suite for years.
The move comes just after the company confirmed it would no longer offer the option to purchase the suite outright, instead opting for a subscription-based platform that will be available in mid-February.
Tesla has said that it will officially bring closure to its free Full Self-Driving transfer program on March 31, 2026, giving owners until the end of the quarter to move their driving suite to another vehicle with no additional cost.
NEWS: Tesla has started to inform customers in the U.S. that free FSD transfer will end on March 31, 2026.
Tesla has previously said free FSD transfers would end “that quarter,” but this is the first time in many quarters they’ve communicated a specific end date. Time will tell… pic.twitter.com/iCKDvGuBds
— Sawyer Merritt (@SawyerMerritt) January 18, 2026
After that date, Tesla owners who purchased the FSD suite outright will have to adopt the exclusive subscription-only program, which will be the only option available after February 14.
CEO Elon Musk announced earlier this month that Tesla would be ending the option to purchase Full Self-Driving outright, but the reasoning for this decision is unknown.
However, there has been a lot of speculation that Tesla could offer a new tiered program, which would potentially lower the price of the suite and increase the take rate.
Tesla is shifting FSD to a subscription-only model, confirms Elon Musk
Others have mentioned something like a pay-per-mile platform that would charge drivers based on usage, which seems to be advantageous for those who still love to drive their cars but enjoy using FSD for longer trips, as it can take the stress out of driving.
Moving forward, Tesla seems to be taking any strategy it can to increase the number of owners who utilize FSD, especially as it is explicitly mentioned in Musk’s new compensation package, which was approved last year.
Musk is responsible for getting at least 10 million active Full Self-Driving subscriptions in one tranche, while another would require the company to deliver 20 million vehicles cumulatively.
The current FSD take rate is somewhere around 12 percent, as the company revealed during the Q3 2025 Earnings Call. Tesla needs to bump this up considerably, and the move to rid itself of the outright purchase option seems to be a move to get things going in the right direction.
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Tesla Model Y leads South Korea’s EV growth in 2025
Data from the Korea Automobile and Mobility Industry Association showed that the Tesla Model Y emerged as one of the segment’s single biggest growth drivers.
South Korea’s electric vehicle market saw a notable rise in 2025, with registrations rising more than 50% and EV penetration surpassing 10% for the first time.
Data from the Korea Automobile and Mobility Industry Association showed that the Tesla Model Y, which is imported from Gigafactory Shanghai, emerged as one of the segment’s single biggest growth drivers, as noted in a report from IT Home News.
As per the Korea Automobile and Mobility Industry Association’s (KAMA) 2025 Korea Domestic Electric Vehicle Market Settlement report, South Korea registered 220,177 new electric vehicles in 2025, a 50.1% year-over-year increase. EV penetration also reached 13.1% in the country, entering double digits for the first time.
The Tesla Model Y played a central role in the market’s growth. The Model Y alone sold 50,397 units during the year, capturing 26.6% of South Korea’s pure electric passenger vehicle market. Sales of the Giga Shanghai-built Model Y increased 169.2% compared with 2024, driven largely by strong demand for the all-electric crossover’s revamped version.
Manufacturer performance reflected a tightly contested market. Kia led with 60,609 EV sales, followed closely by Tesla at 59,893 units and Hyundai at 55,461 units. Together, the three brands accounted for nearly 80% of the country’s total EV sales, forming what KAMA described as a three-way competitive market.
Imported EVs gained ground in South Korea in 2025, reaching a market share of 42.8%, while the share of domestically produced EVs declined from 75% in 2022 to 57.2% last year. Sales of China-made EVs more than doubled year over year to 74,728 units, supported in no small part by Tesla and its Model Y.
Elon Musk, for his part, has praised South Korean customers and their embrace of the electric vehicler maker. In a reply on X to a user who noted that South Koreans are fond of FSD, Musk stated that, “Koreans are often a step ahead in appreciating new technology.”
Tesla Robotaxi fleet reaches new milestone that should expel common complaint
Tesla announces closure date on widely controversial Full Self-Driving program
