Comment by bobtheborg

Great question! Yes, this works much like the doom player. Sensor data (LIDAR, velocity, etc.) becomes the state. You use the score primitive to operate the controls ("What level of braking should be applied" 0: None, 1: just slightly slowing down, 2: there's a suspicious cat on the side of the road you don't trust, ...

Full disclosure, I am not they :=)