Another obvious problem with having the neural network map from vision to steering is that you can&#x27;t make it take decisions based on what it hasn&#x27;t seen yet, but will see. E.g. changing lanes because to reach your destination you&#x27;ll have to make a right turn. The authors note that E2E learning makes for a better smaller system, on account of being free from human-imposed concepts. That&#x27;s fine if that&#x27;s your only goal. But I think it&#x27;s essential for autonomous cars to be able to reason in terms of those human concepts.