https://blog.wongcw.com/2019/12/14/waymo%e6%94%b6%e8%b3%bc%e4%ba%ba%e5%b7%a5%e6%99%ba%e8%83%bd%e5%85%ac%e5%8f%b8latent-logic-%e9%80%b2%e8%bb%8d%e8%8b%b1%e5%9c%8b/