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To my understanding, your question focused on how much improvement has Autoware.AI achieved since the last time you had involved with Autoware in 2017. Building on this understanding, as far as user application is concerned, Autoware provides: 1) Autoware.AI and 2) Autoware.Auto.
Autoware.AI provides functional modules (such as localization, detection, tracking, planning and control), built in ROS1; whereas Autoware.Auto provides functional modules that are aimed for commercial deployment with safety compliance, built in ROS2. Therefore, there have been various improvements since few years ago.
As for the performance of Autoware.AI (ROS1), you may refer to the field test in https://github.com/Autoware-AI/autoware.ai/wiki/Field-Test
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