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> Slippery slopes are a logical fallacy

How is this a counter-argument? I often read this, as if there's some international trusted organization of logical thinkers that has approved inclusion of slippery slope to a list of logical fallacies that must never be invoked in a conversation.

Every single time five years later it turns out that the slope actually was slippery.


I don't think their comment was meant as a counter-argument.

I read it as a call to action: things only go down the slope if they're pushed that way, so now is the time to try and prevent said push.


That is what I meant, yes.

Why do people imagine that I said words I didn’t say, get mad at those words, then reply as if I had said them? This happens all the time.

Humans are stupid and I sincerely believe that we, as a species, will fail because we are so prone to this kind of behavior. We really are a garbage race.


Everyone who rants about slippery slopes being a fallacy also loves the boiling frog analogy (which technically might be a bit closer to what they're going for).


> Everyone who rants about slippery slopes being a fallacy also loves the boiling frog analogy

I didn’t. So why do you say “everyone”? Stop imagining people saying things that they didn’t actually say.

Every step we take down this “slope” is intentional and happens because there is more force pushing things down the slope than there is force resisting that push. There is no slippage, just people who refuse to act in their own best interests letting people who are acting in their own best interests do whatever they want.


If I had to guess, I think it’s marketing — just like adding weights to the insides to make them feel more “premium”.

I’d guess that the target audience would argue that real lossless music experience requires high-bandwidth wires, and is not possible over the air without degradation.


But that’s the thing, apparently it’s not using Bluetooth but actually uses their new wireless chips to transmit the data over radio (maybe it uses WiFi, maybe something else). So it’s not using Bluetooth, which doesn’t have enough bandwidth for lossless.

I don’t think “it’s just marketing” is the reason, Apple always positioned themselves as the premium option with these things. Being the only wireless lossless headphone would be right on Apple’s expected feature list.


Without reading anything further into it “data over radio” describes bluetooth, and wifi, and 2.4GHz proprietary protocols and… basically everything.

You could still be talking about bluetooth and it would still be “data over radio” technically.


I just meant to convey that I don’t know what protocol they’re using, what I do know is that it’s not regular Bluetooth.


Unless somebody from management AND engineering goes to jail, it's literally just cost of business.


I think the most feasible solution is to make companies liable for damages, not in a light way but rather that every person can sue (or in a class action) for hefty amounts, so that a breach could cost e.g. 100mil+

that should incentivize them to actually invest some money in security. right now its just tiny numbers which are easier to just pay off and forget about


You'd have to deal with all of the binding arbitration agreements first.

That said, class action lawsuits also are part of the cost of business. Nothing is ever going to change unless the boards of directors (not CEOs) can be held liable for the behavior of the companies that they direct.


As I understand, lidars don't work well in rain/snow/fog. So in the real world, where you have limited resources (research and production investment, people talent, AI training time and dataset breadth, power consumption) that you could redistribute between two systems (vision and lidar), but one of the systems would contradict the other in dangerous driving conditions — it's smarter to just max out vision and ignore lidar altogether.


> lidars don't work well in rain/snow/fog.

Neither do cameras, or eyeballs.


When it's not safe to drive, it's not safe to drive.

I've been in zero-road-speed whiteout conditions several times. The only move to make is to the side of the road without getting stuck, and turning on your flashers.

Low-light cameras would not have worked. Sonar would not have worked. Infrared would not have worked.


I think the weather where cameras/sensors start having problems is much better than zero-vis whiteout.

If we could make sensors that lets an autonomous vehicle drive reliably in any snow/rain where a human could drive (although carefully) then we're good. But we are a long way from that. Especially since a lot of sensor tech like cameras tend to fail in 2 ways, both through their performance being worse in adverse condition but also simply failing to function at all if they are covered in ice/snow/water.


Radar might still have worked



If you have multi-return lidar, you can see through certain occlusions. If the fog/rain isn't that bad, you can filter for the last return and get the hard surface behind the occlusion. The bigger problem with rain is that you get specular reflection and your laser light just flies off into space instead of coming back to you. Lidar not work good on shiney.


No, it isn't "smarter." Camera-only driving is the product of a stubborn dogmatic boss who can't admit a fundamental error. "Just make it work" is a terrible approach to engineering.


Can hatred of Musk not derail this entire thread please? I have a camera-only ADAS that I think works quite well, but having both would be better.


Criticism of Musk isn't hate of Musk. The point is completely valid and the results of this management style infuses all of his businesses albeit with differing results.

It's significant that a truly hard problem like autonomous driving doesn't respond to a "brute force" management style. Rockets aren't in this category because the required knowledge and theory is fairly complete, whereas real autonomous driving is completely novel.


Shoe, meet foot.


I don't know what that means



Oh, that's silly. I don't own a Tesla. I just wanna talk about LIDAR without people ragebaiting about Elon.


> without people ragebaiting about Elon

Hmm. Is it ragebaiting to respond to a tired and wrong statement by saying that it's tired and wrong and that the situation is merely the product of piss poor management decisions? People get understandably frustrated seeing the same wrong talking point that people with domain knowledge in computer vision and robotics have repeatedly explained is wrong in extremely fundamental ways.

> I don't own a Tesla.

n.b. The shoe/foot comment was not about you. It was about Musk. It wouldn't make any idiomatic sense for the expression to be about you given what you said and what you were responding to. If they'd said "pot, meet kettle", then it would have been about you. In that context, saying that you don't own a Tesla feels like a weird thing for you to insert in your comment. It potentially comes across as suspiciously defensive.


suspiciously defensive??? you got me. Or maybe I just didn't understand their comment.


I'm just trying to help you out here, friend.


Why does this matter? You have to slow down in rain/snow/fog anyway, so only having cameras available doesn't hurt you all that much. But then in clear weather lidar can only help.


If your vision is good enough to drive in rain/snow/fog, you don't need lidar in clear conditions. If you planned to spend $10B on vision and $10B on lidar — you would be better off spending $20B on better vision.


We have actual proof this isn’t true. Waymo is light years ahead of Tesla despite spending less.

Tesla is spending upwards of $6B/year to Waymo’s $1.5B. Only one of these companies makes an autonomous robotaxi that’s actually autonomous.


Yes, but how much of that is due to the lidar vs camera choice?


It still infuriates me that Tesla went so long being able to call their feature “auto pilot.“ Then they had the audacity to call it user error when people thought the car would automatically pilot itself.


> If yo[u can] drive in rain/snow/fog, you don't need lidar in clear conditions

Of course you do, you're driving at much higher speeds and so is the surrounding traffic. You can't just guess what you might be looking at, you have to make clear decisions promptly. Lidar is excellent in that case.


Evidence clearly shows otherwise.

Also, military sensor use shows the best answer is to have as many different types of sensors as possible and then do sensor fusion. So machine vision, lidar, radar, etc.

That way you pick up things that are missed by one or more sensor types, catches problems and errors from any of them, and end up with the most accurate ‘view’ of the world - even better than a normal human would.

It’s what Waymo is doing, and they also unsurprisingly, have the best self driving right now.


Nothing works perfectly in all conditions and scenarios. Sensor fusion has been the most logical approach now, and into the foreseeable future.

Computer vision does not work exactly like human vision, closely equating the two has tended to work out poorly in extreme circumstances.

High performance fully automated driving that relies solely on vision is a losing bet.


Limited resources? Billions per year are being thrown at the base technology. We have the capital deployed to exhaust every path ten times over.


Even if so, it doesn't mean that capital deployment efficiency and expected payoff make equal sense in all directions.

Then again, it's good that we have self-driving companies with lidar and without — we will find out which approach wins.


We have already found out, Waymo is SAE Level 4, Tesla is SAE Level 2


Why does that strategy absolutely require the lidar to be absent from the car? When was less technology the solution to a software problem?


People who don't understand that sensor fusion is an entire field of study with tons of existing work and lots of expertise have been fooled by a fake argument of "If the camera and lidar disagree, what do you do?"

It's frustrating to still see it repeated over a decade later. It was always bullshit. It was always a lie.


The Swiss cheese model would like to disagree.


When you have sensor ambiguity sounds like the perfect time to fail safely and slow to a halt unless the human takes over.


This is silly. Cameras are cheap. Have both. Sensors that sense differently in different conditions is not an exotic new problem. The kalman filter has existed for about a billion years and machine learning filters do an even better job.


Cameras are cheap, but, as I understand:

1) it's not cheap to produce lidars at a stable predictable quality in millions;

2) car driving training data sets for lidars are much scarcer (and will always be much scarcer due to cameras' higher prevalence) and at a much lower quality;

3) combined camera+lidar data sets are even scarcer.


Doesn’t that make it a sensible long term play to equip your car with $200 LIDAR and start gathering that data as a competitive advantage?


Yeah, this is all about Musk not wanting to admit he was wrong.


> 1) it's not cheap to produce lidars at a stable predictable quality in millions;

It wasn't cheap to produce accelerometers at a stable predictable quality in millions before smart phones either. Mass production shakes things up somewhat. See the headline for reference.


1. Automotive LiDAR is down to $350 in China already. BYD is starting to put LiDAR in even entry level cars. (It's been in their mid and high end cars for a while).

2+3. BYD collects extensive training data from customers, much like Tesla does. They will have no trouble with training.


Do cameras work well in those conditions? Nope. Also cameras don't work well with certain answer of glare, so as a consumer I'd rather have something over-engineered for my safety to cover all edge cases...


> Countries rise to power because they are in the right place at the right time, even if monarchs and nationalists will always attribute it to God preference

Isn’t it literally the God’s preference of a country for this place and time, from both secular and religious points of view?


The traditional way of looking to by "God will" means that something is right and moral.

I agree that nowadays it is also used as just a substitute to "luck" or "random event" without the moral connotations.


I would guess that you just remember at which file offsets you need to insert what, and which offset ranges you need to delete from the original file — and on file save you just do a single linear sweep to update the file contents on disk.


Sir, your top three comments in the comment section are about how not important the compensation package is for you


No, that's not what they say.


But they really are?


I wonder if there is an example of a country that doesn’t have resources, so “powerful countries” cannot “take” them?

Or every country has resources, and weak countries are those that prefer to sell them for cheap rather than work on making use of them?


England, Japan, Singapore, South Korea, Switzerland, and Taiwan, etc. None of them have vast natural resources.


England had coal at the start of the Industrial Revolution.


England adopted free markets which started the IR.


As far as I understand, bad faith actors already have wide possibilities for disruption and abuse. This system allows for better good-faith coordination for mutual benefit.


From what I see, the code is incorrect in reading “messages” from TCP socket stream, and will be failing randomly in production with messages longer than 1500 bytes, and also sometimes when even shorter.

Instead, the TCP socket must be treated as a stream of bytes, and use either some delimiter as message boundary (like \n, while escaping any newlines inside JSON), or write message size before the message bytes itself, so that the code knows how many bytes to read until full message is read.

Edit: to clarify, TCP protocol does not guarantee that if you write some bytes in one go, they will be read in one go as well. Instead, they may be split into multiple “reads”, or glued together with the preceding chunk, or both. It’s a “stream of bytes” protocol, it only guarantees that written bytes come one after another in the same order.

So the “naive” message separation used in code above (read a chunk and assume it’s the entire message that was written) will work in manual tests, and likely even in local automated tests, but will randomly break when exposed to real network conditions.


Good write up, thanks for taking the time to go into detail. I may try to implement your feedback at some point.


Thanks - I had a quick scan through the code and noticed the 4096 byte buffers and wondered how larger messages were handled and couldn't see anything but wondered if I was missing something!


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