This is an interesting question where I do not know the answer.

I will not pretend to be an expert. I would suggest that "human understanding convenience" is pretty important in safety domains. The famous Brian Kernighan quote comes to mind:

> Everyone knows that debugging is twice as hard as writing a program in the first place. So if you're as clever as you can be when you write it, how will you ever debug it?

When it comes to obscure corner cases, it seems to me that simpler is better. But Waymo does seem to have chosen a different path! They employ a lot of smart folk, and appear to be the state of the art for autonomous driving. I wouldn't bet against them.