Comment by pyaamb

Elon may have been technically correct about 'if humans can do it with vision only then theres no reason why vision-only cannot work' but turned out to be the wrong strategy for learning how to get there. lidar gives you a constant stream of data to check your vision yourself against and interatively learn. Once trained you turn it off. whereas teslas strategy ended up having to rely on human drivers for error feedback which made the learning loop way longer.