Stepper

How the driver works

1. One model

   Sensors to steering in a single network. No stack of hand-tuned modules arguing with each other about the same object.

2. Simulate first

   Every mile is replayed with the weather changed, the cut-in earlier, the trailer heavier. Failures surface before the truck leaves.

3. Then drive

   The stack ships to the tractor, runs the lane unattended, and returns every takeover to the simulator by morning.