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FSD Beta version 9 is the culmination of several architectural redesigns Tesla had to do to push Tesla’s autopilot beyond the stagnating improvements of the past few years. Elon Musk in the past has said FSD beta is not an iterative improvement on autopilot software but a complete architectural rewrite. One of the changes Tesla implemented was labeling in the video, or as Musk likes to say “4D”, which are the 3 dimensions of space plus time. “Now, with our new labeling tools, we label entire video segments. So you basically get a surround video of the thing to label Surround video with time. It is now taking all cameras simultaneously and looking at how the images change over time.” said Musk speaking at the company’s Battery Day event back in 2020.

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