The game-theoretic aspect of this is interesting to me. A lawful robot will never make progress in Manhattan because the people will just walk across its path continuously, forever. To be an effective driver in Manhattan you have to intimate that you're willing to hit people, without ever hitting them. If humans believe that the Waymo will categorically never hit them, then the Waymo will never get a turn.

its interesting. at beginning in SF the waymos would just stop cold anytime they saw a person or a bicyclist. now they're acting a lot more like a person. if I'm in the crosswalk they've started playing chicken just like a normal driver would, starting to go into the turn while watching to see if you're going to stop and give them the right of way. if you keep going, they will stop.