Haq's Musings

Riaz Haq writes this data-driven blog to provide information, express his opinions and make comments on many topics. Subjects include personal activities, education, South Asia, South Asian community, regional and international affairs and US politics to financial markets. For investors interested in South Asia, Riaz has another blog called South Asia Investor at http://www.southasiainvestor.com and a YouTube video channel https://www.youtube.com/channel/UCkrIDyFbC9N9evXYb9cA_gQ

Showing posts with label Waymo. Show all posts

Monday, August 24, 2026

AI on Wheels: My Experience With Tesla Full Self Drive (FSD)

Recently, I saw a news story suggesting that “more and more seniors are using Tesla FSD (full self drive)”. This prompted me to share my own experience with my readers.

Tesla FSD Warning

My wife and I have been regularly using Tesla Full Self Drive (Supervised FSD) software for several months now. It is a subscription costing us $108.16, including tax, per vehicle. Our experience has generally been positive. We set our destination in the navigation system and let FSD drive us. It pulls out of our driveway, takes us wherever we want to go, and parks on the street, in a parking lot, or in a garage. On occasion, though, we have had to take control when we felt it was necessary, often in response to Tesla warning to “take over immediately”.

Tesla Sensors. Source: Car and Driver Magazine

Both of our Tesla Model Y vehicles use hardware version 3 (HW3). In addition to a computer, HW3 includes 7 cameras and four ultrasonic sensors. We get frequent Tesla software updates, downloaded over the air. As of today, we're on software version 2026.21.6, including FSD v14.3.7. The latest hardware version on new Tesla vehicles is HW4. Tesla recently outlined details on Full Self-Driving (FSD) v15, describing it as a major "step-change" in capability featuring a 10-billion parameter neural network. Tesla confirmed that current Hardware 4 (AI4) computers will natively support v15 and unsupervised features, targeting a late 2026 to early 2027 rollout window.

Tesla FSD Speed Modes. Source: Jowua

Tesla FSD allows you to choose a driving mode. The choices include Sloth (least aggressive), Chill, Standard, Hurry and Mad Max (most aggressive). Here are more detail on each speed mode:

Sloth: The most cautious setting. It stays strictly at or slightly below the speed limit, favors slow right lanes on highways, and avoids proactive passing.

Chill: A relaxed, smooth profile. It generally targets the exact speed limit and makes fewer or less urgent lane changes.

Standard: The balanced, default setup. It typically drives roughly 5 to 7 mph over the speed limit (traffic permitting) and maintains an average commuting pace.

Hurry: A faster profile designed for quicker travel times. It allows higher offsets above the speed limit and executes more assertive lane changes to pass slower vehicles.

Mad Max: The most assertive profile, built for heavy gridlock or aggressive urban environments (like dense city traffic). It proactively navigates gaps, moves swiftly around traffic flow, and executes maneuvers with higher urgency.

We drive mostly in Standard or Hurry modes. The best part my wife likes is how smoothly it changes lanes even in high traffic conditions. One particular place where it has eliminated her stress is on Oakland Maze, where her route requires 5 quick lane changes to go from one freeway to another.

Waymo Robotaxi With LiDAR mounted on top

There have been several instances where we have had to intervene to take control of the vehicle. These include loss of control when the front camera is blinded by direct sun at certain times of the day. This problem would probably not occur if Tesla vehicles were equipped with a LiDAR scanner that uses laser light pulses to measure distances and create accurate, 3D digital models of objects and environments. Robotaxis like Google's Waymo and Amazon's Zoox use LiDAR devices to achieve fully autonomous driving. However, like the rest of Tesla's vehicle lineup and Full Self-Driving stack, the recently announced Cybercab robotaxi also relies entirely on a vision-based camera system and onboard AI to interpret its surroundings.

In other instances, our Tesla car ran a stop sign that was blocked by a parked truck. It failed to read "STOP" painted on the road surface. At a local Safeway supermarket, it attempted to park in a shopping cart corral. A couple of times after pulling out of our driveway, it took a wrong turn but found its way back to the correct route after taking a detour.

Rapid development and deployment of AI applications like Tesla full self drive and various robotaxi services, including Waymo and Zoox, have broad social and economic implications. It is likely to make transportation safer, but it also threatens the livelihoods of tens of millions of taxi and truck drivers around the world. There have already been protests by drivers' unions in many major cities like London and New York.

Monday, April 27, 2026

A Personal Story: When My Heart Stopped in San Francisco

On the morning of April 13, 2026, a surgeon named Cain, stopped my heart at a San Francisco hospital to graft two bypass veins to restore full blood supply to my heart. It's a procedure called CABG (coronary artery bypass graft pronounced like the vegetable), that seems to have become fairly routine in modern times. Dr. Brian Scott Cain was assisted by Dr. Danielle Holland, a cardiovascular anesthesiologist. Prior to the procedure, Dr. Cain told me he had done nearly 4,000 such operations in his 20 years as a cardiovascular surgeon. In terms of risk, he said, there was a 1% chance of death and 2% chance of stroke during surgery. But the upside after successful surgery is a significant improvement in quality of life.

In a Chair on 4th Day in Hospital, With Chest Scar Clearly Visible

By the time I woke up in an intensive care unit (ICU) a few hours later, I was told it all went smoothly.There were no surprises. Dr. Cain informed me that my heart is in good shape. I was kept in the ICU for less than 24 hours. In these 24 hours, I sat up in a chair and had breakfast, then walked with the assistance of a walker before being transferred to a regular hospital room.

The reason I ended up getting CABG surgery has to do with the fact that I started experiencing shortness of breath during long walks and strenuous exercise. When I told my cardiologist Dr. Lucas Christianson about it, he ordered a perfusion stress test, also known as nuclear stress test. The results were abnormal, indicating two blocked coronary arteries.

I received good care from doctors, nurses and other staff in the regular hospital room. They made sure I was cared for and fed well. In addition to daily visits by Dr. Cain and other doctors, there were multiple daily visits by respiratory therapists (RT) and physiotherapists (PT) designed to ensure full restoration of my lung function and ability to walk on my own. Vital signs (temperature, blood pressure and blood oxygen saturation level) checks every 3 hours and regular blood draws meant I could not sleep much. Pretty soon I was asking to be discharged so I could go home and catch up on my sleep. My doctors assured me it was their goal too but they wanted to make sure that the red blood cells and electrolytic balance were restored and my edema (excess water retention) reduced to nearly pre-surgery levels. In addition to visual checks of my feet, I was weighed everyday to ensure I was losing retained water from surgery.

I was discharged from the hospital on April 19, exactly 6 days after surgery. I was told that this is fairly normal. There was another CABG patient of Indian origin in the room next door. He was there for 10 days and stayed there when I was discharged. Apparently, the surgeon discovered he had deep vein thrombosis (DVT) during surgery that complicated his situation.

Dr Cain somehow learned that I am a Pakistani-American. He told me he mentioned it to a fellow cardiovascular surgeon named Dr. Ahmad Sheikh who confirmed to him my national origin. I personally do not know Dr. Sheikh but I am acquainted with his family. In fact, my wife and I were invited to attend his sister's wedding in Fremont, California.

Looking through the hospital window, the one thing that struck me was how many Waymo robotaxis were ferrying passengers through the streets of San Francisco. Waymo is owned by Google. Its cars are made by Jaguar. They are fitted with LIDARs (Light detection and ranging) which constantly scan the vehicle's surroundings to create 3D scanned images of all objects around it. In addition, there are multiple radars and cameras which provide inputs to a computer that operates the vehicle. My wife drove to the hospital but both of my daughters used Waymo robotaxis. They both felt comfortable riding in the back seat of a vehicle with no human driver.