I did find the Waymos in SF disconcerting as they approached pedestrian crossings while I was waiting - with a human driver there's many different cues that they've seen you and noticed you - whether it be looking directly at you, or slowing down in preparation for you to cross.

I'm sure if I had just started walking across the crossing it would have reacted perfectly, but I wasn't willing - based on the lack of observable "I have noticed you" cues - to test that theory.

The lights up on top will show a walk sign when it's waiting for a pedestrian to cross before proceeding.