Very concerned with this direction of training “counterfactual events such as whether the Waymo Driver could have safely driven more confidently instead of yielding in a particular situation.” Seems dicey. This could lead in the direction to a less safe Waymo. Since the counterfactual will be generated, I suspect that that the generations will be biased towards survivor situations where most video footage in its training data will be from environments where people reacted well not those that ended in tragedy. Emboldening Waymo on generated best case data. THIS IS DANGEROUS!!!