By Michael Elkins

Tesla (NASDAQ) began Thursday’s push for its FSD Beta software upgrade. This latest update, which is based upon 250,000 videos of training, promises several improvements.

Autopilot’s decision-making framework has been updated to allow left turns after modeling the responses of surrounding objects. This Autopilot uses a better lane geometry, as well as an occlusion detection at a higher resolution.

Also, maneuvering around static obstacles was improved. Static obstacle networks have been updated with more data in order to increase visibility as well geometric accuracy. It will be easier to maneuver around vehicles with open doors, and out of tight spaces.

Tesla is regularly updating the FSD Beta Program with new software and adding owners. With around 100,000 drivers in the program, the company is expected to have more data to train the vehicles’ neural nets and improve the all-around functionality of the Full Self-Driving features.