R2 w/ LiDAR, 19-inch wheels spied

[tivoboy]

Should have clarified. Current Cyber Cab, lease returned model 3. Bunch of videos showing this.

Sure, mostly Model Y AI4 “robotaxi” are running in a FEW cities, either in limited geofenced areas, OR with a safety monitor in the car. I think at least half the overall limited test vehicles still have safety monitor able to take over at any time. That’s not L4.

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[VSG]

why the press is focusing on the LiDAR and saying to not wait for it since doesnt have too much difference while the changes are not only LiDAR? is 4x computational power+ one more processor, it has new camera sensors with more resolution and quality which will delivery smother drive. I dont care about the LiDAR itself but I care about the cameras/sensors and the computer which are in a totally different level on Gen 3 and will provide more time of updates

The lidar version of the R2 has the same sensor package as the currently-shipping version of the R2, with the exception of the lidar of course.

And although the 2 RAP chips will provide 4x computational power, I suspect 1 of those chips will be dedicated to the lidar processing, so you're only really 2x the power overall for most tasks. Which is why they can't just install the lidar now and leave the RAP upgrade until later - there's not enough computing power to handle the lidar in the current system. Even then, as others have mentioned, the R2 already has more processing power than a Tesla, so it's not a limiting factor when *running* the models developed using the lidar.

Lidar will benefit all R2 owners, even the ones without lidar, and the new capabilities that *require* lidar aren't coming for about 2 more years, according to Rivian. You will just be collecting data for Rivian in the meantime.

So the trade-off is entirely up to you. If you're willing to wait something like a year to get a lidar model, then wait another year or two for the L4 capabilities (assuming they are not delayed, and are achievable with the hardware you received), then go ahead and wait. In the meantime, I will be enjoying my R2 for several years, and in the future if Rivian starts shipping something that is worth the money to me I will upgrade. By then the R3X will be out, and an R3X with lidar and L4 driving might just get me to trade in my R2... But we're talking 2.5-3 years for that, which is a long time to be driving your old car and waiting for the "latest" tech when you could be driving a new R2 with better-than-most tech right now.

 

[Zathras]

Hot take but the LiDAR in the photo in the thread IS ugly. I know I put far too much into a cars appearance because the cars I see most folks comparing to the R2 in this forum are all UGLY (BMW, Volvo, etc.) They all look like hatchback/mini van cross overs, super ugly to me. The R2 is a shining star amongst any EV's looks which is why I am getting it. The only one that LOOKS like an SUV. I know I am ridiculous and not practical, I will embrace that. But the LiDAR is ugly and I am probably the only one who can care less about LiDAR I want launch without it. I don't care about RAP1 either. The car as is does what I need for the next 5 years. In 5-6 years is when I expect the LiDAR to actually matter and by then I expect the sensors will be much better integrated.

How can you tell? It's only behind tiny slice of the window, and they are intentionally trying to make the module visible. Nobody 10 feet away is going to see it at all.

You're not talking about the older prototypes that stuck out as a bulge?

 

[shandering]

There will be when your insurance will not cover it. In no way do I see an insurance company covering it. Imagine the cost of your premium. Why do you think Tesal and Rivian are offering insurance now, its in preparation for the future. I see a future where the owner will need sperate insurance for self-driving and policy will explicitly state it does not cover this.

I enjoy driving and have no need for FSD.

Insurance is not an issue. Accident rates will be known. If they are lower than manual driving then the costs will be similarly low.

I don't think it is realistic for any car company to take on all liability for consumers, it's as realistic as someone selling a chainsaw or a gun. Wouldn't be in business long.

It's simple. FSD (unsupervised) will cost monthly. The monthly cost will include the cost of whatever it costs the car company to insure you. They will have to inspect your car regularly to make sure it is in good shape.

That's why I do not believe there will be more than 1 or 2 automakers with self driving. The cost will be too expensive withoutthe proper scale and infrastructure

Technically, they aren’t. https://www.notateslaapp.com/news/4409/exclusive-tesla-cybercab-includes-more-powerful-fsd-hardware

And that’s been known a while, I think since the last earnings call.

This is not true. If anything the cybercab and model Ys contain a HW4.5 computer which is also found in consumer cars being built today

 

[tivoboy]

This is not true. If anything the cybercab and model Ys contain a HW4.5 computer which is also found in consumer cars being built today

Can you point to anything that backs up that a model Y contains a HW 4.5 computer?

 

[shandering]

I think at least half the overall limited test vehicles still have safety monitor able to take over at any time. That’s not L4.

Are you going to spit nonsense again?

Tesla has almost no safety monitor in any city and none of the rides in houston, dallas, or miami ever had a safety monitor. They only do a handful of safety monitor rides in austin to go on the freeway.

Can you point to anything that backs up that a model Y contains a HW 4.5 computer?

It's all over X. HW4.5 is what the new cars have (it is labeled on the computer) and it is rumored that HW4.5 is a 3 chip variant of the FSD computer. This requires the least redesign as it is basically a 50% more expensive HW4 computer. HW4 computer only costs $650

Tesla removed the HW4.5 name from their parts catalog and claimed the computers in the cars are "mislabled"

During an earnings call elon mentioned they would build a HW4+ computer with more memory and that they haven't done it

The only difference between model Y and consumer cars is starlink and camera cleaning. If that's the case, no one without starlink is going to have unsupervised driving. That's a big problem.

Even waymo had dangerous issues on July 4th due to cell service problems.

 

[Dark-Fx]

The only difference between model Y and consumer cars is starlink and camera cleaning. If that's the case, no one without starlink is going to have unsupervised driving. That's a big problem.

Even waymo had dangerous issues on July 4th due to cell service problems.

Connectivity only really matters for fleet/operational reasons if they are doing all of the compute locally. A Waymo losing connectivity means their remote operator system can't function, and it's a requirement in some of their markets, thus the vehicles have to stop safely. A Rivian that's only dependent on the local model shouldn't have any issues at all.

 

[shandering]

Connectivity only really matters for fleet/operational reasons if they are doing all of the compute locally. A Waymo losing connectivity means their remote operator system can't function, and it's a requirement in some of their markets, thus the vehicles have to stop safely. A Rivian that's only dependent on the local model shouldn't have any issues at all.

For unsupervised this is a problem. You can't have no camera cleaning and poor connectivity

This is also required for level 4 because your car will never internally handle ever scenario

 

[shandering]

Also as mentioned many times, and people seem ignorant about is they only look at TOPS.


Tesla HW4 FSD computer has almost double the memory bandwidth of the RAP1 computer and the new AI4.5 computer would theoretically have 50% more than that while also having 48gb of memory. RAP1 only has 36gb because memory is likely expensive.

And the more sensors you have, the higher the resolution/framerate of the cameras, the more memory bandwidth you need.

 

[tivoboy]

Are you going to spit nonsense again?

Tesla has almost no safety monitor in any city and none of the rides in houston, dallas, or miami ever had a safety monitor. They only do a handful of safety monitor rides in austin to go on the freeway.



It's all over X. HW4.5 is what the new cars have (it is labeled on the computer) and it is rumored that HW4.5 is a 3 chip variant of the FSD computer. This requires the least redesign as it is basically a 50% more expensive HW4 computer. HW4 computer only costs $650

Tesla removed the HW4.5 name from their parts catalog and claimed the computers in the cars are "mislabled"

During an earnings call elon mentioned they would build a HW4+ computer with more memory and that they haven't done it

The only difference between model Y and consumer cars is starlink and camera cleaning. If that's the case, no one without starlink is going to have unsupervised driving. That's a big problem.

Even waymo had dangerous issues on July 4th due to cell service problems.

Soo, you're saying this is a conspiracy?
GROK:
Quick Summary

• In late December 2025 and January 2026, some owners of new Fremont-built Model Ys (especially Performance and Long Range models) reported seeing "AP4.5", "AP45", or "Hardware 4.5" labels on the Autopilot computer (visible under the glovebox or on the B-pillar).
  
  teslarati.com
• This matched a part number (e.g., 2261336-02-A) that briefly appeared in Tesla's parts catalog.
• It led to articles and videos speculating about a minor upgrade (possibly a 3-SoC design for more compute/RAM headroom before AI5).

Tesla's official response: It was a labeling/parts catalog mistake. The cars actually have the standard HW4 (also called AI4). Tesla updated the catalog and stopped using the 4.5 label.

yeslak.com
Current Status (as of mid-2026)

• All current production Model Ys use HW4, not a distinct HW4.5.
  
  en.wikipedia.org
• You can check your vehicle's hardware in the car: Controls > Software > Additional Vehicle Information → Look for "Autopilot computer" (it should say something like Hardware 4 / AI4).
• No major functional differences were confirmed beyond the mislabeling. Cameras and overall capabilities remain the same as recent HW4 Model Ys.

This was mostly a short-lived rumor cycle in early 2026. If you're buying a new Model Y now, expect standard HW4. Let me know if you want tips on checking it yourself or comparing to older hardware!

 

[shandering]

Soo, you're saying this is a conspiracy?
GROK:
Quick Summary

• In late December 2025 and January 2026, some owners of new Fremont-built Model Ys (especially Performance and Long Range models) reported seeing "AP4.5", "AP45", or "Hardware 4.5" labels on the Autopilot computer (visible under the glovebox or on the B-pillar).
  
  teslarati.com
• This matched a part number (e.g., 2261336-02-A) that briefly appeared in Tesla's parts catalog.
• It led to articles and videos speculating about a minor upgrade (possibly a 3-SoC design for more compute/RAM headroom before AI5).

Tesla's official response: It was a labeling/parts catalog mistake. The cars actually have the standard HW4 (also called AI4). Tesla updated the catalog and stopped using the 4.5 label.

yeslak.com
Current Status (as of mid-2026)

• All current production Model Ys use HW4, not a distinct HW4.5.
  
  en.wikipedia.org
• You can check your vehicle's hardware in the car: Controls > Software > Additional Vehicle Information → Look for "Autopilot computer" (it should say something like Hardware 4 / AI4).
• No major functional differences were confirmed beyond the mislabeling. Cameras and overall capabilities remain the same as recent HW4 Model Ys.

This was mostly a short-lived rumor cycle in early 2026. If you're buying a new Model Y now, expect standard HW4. Let me know if you want tips on checking it yourself or comparing to older hardware!

Keep in mind tesla produces model Y robotaxi variants also in fremont

What is actually different about robotaxi (compared to consumer FSD) is it appears tesla reboots the computer every single drive. This fixes some errors that FSD sometimes has

We know this because someone mounted a camera in a tesla robotaxi and filmed what happens between drives

 

[tivoboy]

Keep in mind tesla produces model Y robotaxi variants also in fremont

What is actually different about robotaxi (compared to consumer FSD) is it appears tesla reboots the computer every single drive. This fixes some errors that FSD sometimes has

We know this because someone mounted a camera in a tesla robotaxi and filmed what happens between drives

That sounds like a cache or DRAM clearing function, not a CPU/GPU competency bottleneck or limitation.

 

[sparked]

Hot take but the LiDAR in the photo in the thread IS ugly. I know I put far too much into a cars appearance because the cars I see most folks comparing to the R2 in this forum are all UGLY (BMW, Volvo, etc.) They all look like hatchback/mini van cross overs, super ugly to me. The R2 is a shining star amongst any EV's looks which is why I am getting it. The only one that LOOKS like an SUV. I know I am ridiculous and not practical, I will embrace that. But the LiDAR is ugly and I am probably the only one who can care less about LiDAR I want launch without it. I don't care about RAP1 either. The car as is does what I need for the next 5 years. In 5-6 years is when I expect the LiDAR to actually matter and by then I expect the sensors will be much better integrated.

The funny part is that R2 is actually a decently inconspicuous application for LiDAR on a car. The usual implementation is some sort of bump on the top. Seems ok to me, but I will wait to see a few more pictures from different angles.

 

[mic-chris]

The funny part is that R2 is actually a decently inconspicuous application for LiDAR on a car. The usual implementation is some sort of bump on the top. Seems ok to me, but I will wait to see a few more pictures from different angles.

Hey I agree they did a good job hiding it. Still is an eye sore to me. But like I said I’m particular. People complain about the “notch” on the iPhone it’s a similar thing here. Just goes against the architecture of the design in my opinion. Looks like a 99 civic brake light notch in the rear window.

 

[shandering]

That sounds like a cache or DRAM clearing function, not a CPU/GPU competency bottleneck or limitation.

It's both because Hw4.5 has 50% more CPU and 50% more ram. This is used for something. And besides, if memory bandwidth is a limitation, this will have safety implications on latency and what framerate of video you can process

The problem with rivian building self driving from scratch is they have no idea what hardware is needed or what issues you will have.

The guy who is the head of AI comes from waymo where they have ridiculous amounts of hardware that can never go in any consumer car

There was a waymo engineer who posted on reddit a few years ago that tesla would never have self driving because the computer they were using did not have enough memory and processing power.

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