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Tesla FSD Beta 10.69 release notes highlight better left turns, smoother driving
Tesla released FSD Beta 10.69 to the first round of testers over the weekend. Read v.10.69’s release notes below to check out the latest improvements.
Stay in your Lanes
- Added a new “deep lane guidance” module to the Vector Lanes neural network which fuses features extracted from the video streams with coarse map data, i.e. lane counts and lane connectivites. This architecture achieves a 44% lower error rate on lane topology compared to the previous model, enabling smoother control before lanes and their connectivities becomes visually apparent. This provides a way to make every Autopilot drive as good as someone driving their own commute, yet in a sufficiently general way that adapts for road changes.
Nothing Like Smooth Driving
- Improved overall driving smoothness, without sacrificing latency, through better modeling of system and actuation latency in trajectory planning. Trajectory planner now independently accounts for latency from steering commands to actual steering actuation, as well as acceleration and brake commands to actuation. This results in a trajectory that is a more accurate model of how the vehicle would drive. This allows better downstream controller tracking and smoothness while also allowing a more accurate response during harsh manevuers.
- Increased smoothness for protected right turns by improving the association of traffic lights with slip lanes vs yield signs with slip lanes. This reduces false slowdowns when there are no relevant objects present and also improves yielding position when they are present.
- Reduced false slowdowns near crosswalks. This was done with improved understanding of pedestrian and bicyclist intent based on their motion.
- Enabled creeping for visibility at any intersection where objects might cross ego’s path, regardless of presence of traffic controls.
- Improved accuracy of stopping position in critical scenarios with crossing objects, by allowing dynamic resolution in trajectory optimization to focus more on areas where finer control is essential.
- Reduced latency when starting from a stop by accounting for lead vehicle jerk.
Chuck’s Left Turn
- Improved unprotected left turns with more appropriate speed profile when approaching and exiting median crossover regions, in the presence of high speed cross traffic (“Chuck Cook style” unprotected left turns). This was done by allowing optimizable initial jerk, to mimic the harsh pedal press by a human, when required to go in front of high speed objects. Also improved lateral profile approaching such safety regions to allow for better pose that aligns well for exiting the region. Finally, improved interaction with objects that are entering or waiting inside the median crossover region with better modeling of their future intent.
Safety is Number 1
- Added control for arbitrary low-speed moving volumes from Occupancy Network. This also enables finer control for more precise object shapes that cannot be easily represented by a cuboid primitive. This required predicting velocity at every 3D voxel. We may now control for slow-moving UFOs.
- Made speed profile more comfortable when creeping for visibility, to allow for smoother stops when protecting for potentially occluded objects.
- Improved speed when entering highway by better handling of upcoming map speed changes, which increases the confidence of merging onto the highway.
- Enabled faster identification of red light runners by evaluating their current kinematic state against their expected braking profile.
Tesla FSD “Brain” Improvements
- Upgraded Occupancy Network to use video instead of images from single time step. This temporal context allows the network to be robust to temporary occlusions and enables prediction of occupancy flow. Also, improved ground truth with semantics-driven outlier rejection, hard example mining, and increasing the dataset size by 2.4x.
- Upgraded to a new two-stage architecture to produce object kinematics (e.g. velocity, acceleration, yaw rate) where network compute is allocated O(objects) instead of O(space). This improved velocity estimates for far away crossing vehicles by 20%, while using one tenth of the compute.
- Improved geometry error of ego-relevant lanes by 34% and crossing lanes by 21% with a full Vector Lanes neural network update. Information bottlenecks in the network architecture were eliminated by increasing the size of the per-camera feature extractors, video modules, internals of the autoregressive decoder, and by adding a hard attention mechanism which greatly improved the fine position of lanes.
- Improved recall of animals by 34% by doubling the size of the auto-labeled training set.
- Increased recall of forking lanes by 36% by having topological tokens participate in the attention operations of the autoregressive decoder and by increasing the loss applied to fork tokens during training.
- Improved velocity error for pedestrians and bicyclists by 17%, especially when ego is making a turn, by improving the onboard trajectory estimation used as input to the neural network.
- Improved recall of object detection, eliminating 26% of missing detections for far away crossing vehicles by tuning the loss function used during training and improving label quality.
- Improved object future path prediction in scenarios with high yaw rate by incorporating yaw rate and lateral motion into the likelihood estimation. This helps with objects turning into or away from ego’s lane, especially in intersections or cut-in scenarios.
Tesla is rolling out FSD Beta v.10.69 in phases, starting with ~1,000 testers over the weekend. Once the update is rolled out for wide release, the price of FSD Beta will increase.
The Teslarati team would appreciate hearing from you. If you have any tips, contact me at maria@teslarati.com or via Twitter @Writer_01001101.
Elon Musk
Elon Musk reiterates Tesla Optimus’ most sci-fi potential yet
Musk shared his comments in a series of posts on social media platform X.
Elon Musk recently reiterated one of the most ambitious forecasts for Tesla’s humanoid robot, Optimus, stating it could become the first real-world example of a Von Neumann machine. He also noted once more that Optimus would be Tesla’s biggest product.
Musk shared his comments in a series of posts on social media platform X.
Optimus as a von Neumann machine
In response to a post on X that pondered on sci-fi timelines becoming real, Musk wrote that “Optimus will be the first Von Neumann machine, capable of building civilization by itself on any viable planet.” In a separate post, Musk wrote that Optimus will be Tesla’s “biggest product ever,” a phrase he has used in the past to describe the humanoid robot’s importance to the electric vehicle maker.
A Von Neumann machine is a class of theoretical self-replicating systems originally proposed in the mid-20th century by the mathematician John von Neumann. In his concept, von Neumann described machines that could travel to other worlds, use local materials to create copies of themselves, and carry out large-scale tasks without outside intervention.
Elon Musk’s broader plans
Considering Musk’s comments, it appears that Optimus would eventually be capable of performing complex work autonomously in environments beyond Earth. If Optimus could achieve such a feat, it could very well unlock humanity’s capability to explore locations beyond Earth. The idea of space exploration becomes more than feasible.
Elon Musk has discussed space-based AI compute, large-scale robotic production, and the role of SpaceX’s Starship in transporting hardware and materials to other planets. While Musk did not detail how Optimus would fit with SpaceX’s exploration activities, his Von Neumann machine comments suggest he is looking at Tesla’s robotics as part of a potential interplanetary ecosystem.
News
Tesla China January wholesale sales rise 9% year-on-year
Tesla reported January wholesale sales of 69,129 China-made vehicles, as per data released by the China Passenger Car Association.
Tesla China reported January wholesale sales of 69,129 Giga Shanghai-made vehicles, as per data released by the China Passenger Car Association (CPCA). The figure includes both domestic sales and exports from Gigafactory Shanghai.
The total represented a 9.32% increase from January last year but a 28.86% decline from December’s 97,171 units.
China EV market trends
The CPCA estimated that China’s passenger new energy vehicle wholesale volume reached about 900,000 units in January, up 1% year-on-year but down 42% from December. Demand has been pressured by the start-of-year slow season, a 5% additional purchase tax cost, and uncertainty around the transition of vehicle trade-in subsidies, as noted in a report from CNEV Post.
Market leader BYD sold 210,051 NEVs in January, down 30.11% year-on-year and 50.04% month-on-month, as per data released on February 1. Tesla China’s year-over-year growth then is quite interesting, as the company’s vehicles seem to be selling very well despite headwinds in the market.
Tesla China’s strategies
To counter weaker seasonal demand, Tesla China launched a low-interest financing program on January 6, offering up to seven-year terms on select produced vehicles. The move marked the first time an automaker offered financing of that length in the Chinese market.
Several rivals, including Xiaomi, Li Auto, XPeng, and NIO, later introduced similar incentives. Tesla China then further increased promotions on January 26 by reinstating insurance subsidies for the Model 3 sedan. The CPCA is expected to release Tesla’s China retail sales and export breakdown later this month.
News
Tesla’s Apple CarPlay ambitions are not dead, they’re still in the works
For what it’s worth, as a Tesla owner, I don’t particularly see the need for CarPlay, as I have found the in-car system that the company has developed to be superior. However, many people are in love with CarPlay simply because, when it’s in a car that is capable, it is really great.
Tesla’s Apple CarPlay ambitions appeared to be dead in the water after a large amount of speculation late last year that the company would add the user interface seemed to cool down after several weeks of reports.
However, it appears that CarPlay might make its way to Tesla vehicles after all, as a recent report seems to indicate that it is still being worked on by software teams for the company.
The real question is whether it is truly needed or if it is just a want by so many owners that Tesla is listening and deciding to proceed with its development.
Back in November, Bloomberg reported that Tesla was in the process of testing Apple CarPlay within its vehicles, which was a major development considering the company had resisted adopting UIs outside of its own for many years.
Nearly one-third of car buyers considered the lack of CarPlay as a deal-breaker when buying their cars, a study from McKinsey & Co. outlined. This could be a driving decision in Tesla’s inability to abandon the development of CarPlay in its vehicles, especially as it lost a major advantage that appealed to consumers last year: the $7,500 EV tax credit.
Tesla owners propose interesting theory about Apple CarPlay and EV tax credit
Although we saw little to no movement on it since the November speculation, Tesla is now reportedly in the process of still developing the user interface. Mark Gurman, a Bloomberg writer with a weekly newsletter, stated that CarPlay is “still in the works” at Tesla and that more concrete information will be available “soon” regarding its development.
While Tesla already has a very capable and widely accepted user interface, CarPlay would still be an advantage, considering many people have used it in their vehicles for years. Just like smartphones, many people get comfortable with an operating system or style and are resistant to using a new one. This could be a big reason for Tesla attempting to get it in their own cars.
Tesla gets updated “Apple CarPlay” hack that can work on new models
For what it’s worth, as a Tesla owner, I don’t particularly see the need for CarPlay, as I have found the in-car system that the company has developed to be superior. However, many people are in love with CarPlay simply because, when it’s in a car that is capable, it is really great.
It holds one distinct advantage over Tesla’s UI in my opinion, and that’s the ability to read and respond to text messages, which is something that is available within a Tesla, but is not as user-friendly.
With that being said, I would still give CarPlay a shot in my Tesla. I didn’t particularly enjoy it in my Bronco Sport, but that was because Ford’s software was a bit laggy with it. If it were as smooth as Tesla’s UI, which I think it would be, it could be a really great addition to the vehicle.
Elon Musk reiterates Tesla Optimus’ most sci-fi potential yet
Tesla China January wholesale sales rise 9% year-on-year
