Tesla 2026.21.6 FSD v14.3.7 (AI4) · 14.1 Lite (AI3) Update Release Notes

Full Self-Driving (Supervised) v14.3.7 includes:

• Upgraded the Reinforcement Learning (RL) stage of training the FSD neural network, resulting in improvements in a wide variety of driving scenarios.
• Upgraded the neural network vision encoder, improving understanding in rare and low-visibility scenarios, strengthening 3D geometry understanding, and expanding traffic sign understanding.
• Rewrote the AI compiler and runtime from the ground up with MLIR, resulting in 20% faster reaction time and improving model iteration speed.
• Mitigated unnecessary lane biasing and minor tailgating behaviors.
• Increased decisiveness of parking spot selection and maneuvering.
• Improved parking location pin prediction, now shown on a map with a P icon.
• Enhanced response to emergency vehicles, school buses, right-of-way violators, and other rare vehicles.
• Improved handling of small animals by focusing RL training on harder examples and adding rewards for better proactive safety.
• Improved traffic light handling at complex intersections with compound lights, curved roads, and yellow light stopping — driven by training on hard RL examples sourced from the Tesla fleet.
• Improved handling for rare and unusual objects extending, hanging, or leaning into the vehicle path by sourcing infrequent events from the fleet.
• Improved handling of temporary system degradations by maintaining control and automatically recovering without driver intervention, reducing unnecessary disengagements.
• Improved driver monitoring system sensitivity with better eye gaze tracking, eye wear handling, and higher accuracy in variable lighting conditions.
• Unified the model between Actually Smart Summon, FSD, and Robotaxi for more capable and reliable behavior.
• Help Tesla improve Self-Driving by selecting an intervention reason on the main screen after taking over.
• You can now see distance traveled in FSD (Supervised) without an intervention. The Self-Driving App will also show your longest intervention-free streak.
• Parking options now display on the map when arriving at your destination.

Upcoming Improvements:

• Expand reasoning to all behaviors beyond destination handling.
• Add pothole avoidance.

FSD (Supervised) v14.1 Lite includes:

• Distilled the intelligence from HW4 V14 into HW3. This allows HW3 to directly learn how to handle scenarios using HW4 V14 as a guide. This process unlocks the improvements that have been made to HW4 including Reinforcement Learning (RL) and offline models for HW3.
• Improved both proactive and reactive responsiveness across a wide variety of categories including navigation handling, merges and forks, pedestrian interactions, traffic lights, and vehicle cut-in scenarios.
• Improved general comfort in nominal scenarios through fewer false slowdowns, smoother steering and more consistent lane centering.
• Introduced parking, unparking, and reversing capabilities.
• Added Arrival Options for you to select where FSD should pull over or park: in a Parking Lot, on the Street, in a Driveway.
• Speed Profiles are now available at all times, to further customize driving style preference.

• You can now select an arrival option such as Parking Lot, Street, Driveway, and Pull Over for Robotaxi-style drop offs.
• Your preferences for arrival options and preferred parking positions are persisted for each destination.

FSD (Supervised) will now determine the appropriate speed based on a mix of driver profile, speed limit, and surrounding traffic.

• Introduced new Speed Profile SLOTH, which comes with lower speeds & more conservative lane selection than CHILL.
• Driver profile now has a stronger impact on behavior. The more assertive the profile, the higher the max speed.
• Right scroll-wheel up/down now adjusts Speed Profile setting rather than your precise max speed offset selection in mph/kph.

Adjust settings like the Speed Profile and Arrival Options directly from the Self-Driving visualization on the center display.

A button will appear on the screen when driver requirements are met. Driver requirements include (but are not limited to):

• Driver is seated in driver's seat
• Driver is buckled
• Cabin Camera is unobstructed

Brake Confirm requires the driver to press and release the brake pedal before FSD (Supervised) can be activated. When Brake Confirm is disabled, pressing the button will allow Self-Driving to apply the brakes and engage FSD (Supervised). If driver detection requirements are not met or if FSD (Supervised) does not detect a driver, you will be required to press and release the brake pedal to confirm. You can enable Brake Confirm in Self-Driving > Brake Confirm.

This feature does not make your vehicle autonomous and you must remain attentive and be ready to take over at any time. Only a licensed driver authorized to operate the vehicle should be allowed access to the driver's seat position any time the vehicle is not in Theater or Arcade modes.