I worry that a major underlying unsolved problem is latency or delay in decision making and control. This may be a root cause of a number of bad behaviors — moving into an intersection or roundabout with conflicting oncoming cross-traffic, missing certain turns, braking too late around people entering crosswalks, excessive timidity entering signed stops as it tries to hide or deal with the latency, etc. It may also contribute to jerky and sudden control changes as it makes up for lost time by making sudden sharp turns.
It’s unclear to me if they can find a fix for this without faster compute hardware.