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Despite being one of the largest manufacturing giants currently in existence, Toyota is trailing in the autonomous technology war currently raging among carmakers. But it would unfair to say that the Japanese brand is losing. While General Motors appears to lead the rest of the established automotive firms, it’s not perfectly clear how big a gap it made for itself. Meanwhile, Toyota spent the last few years taking a more cautious approach, without ever ignoring the possibility of an autonomous future.

In 2015, the automaker decided to get serious, saying it would invest billions of dollars into the Toyota Research Institute. The goal? To advance robotics and artificial intelligence to a level where it could test an autonomous vehicle by 2020. But Toyota remains skeptical of the rest of the industry’s progress on self-driving cars.

“I need to make it perfectly clear, it’s a wonderful, wonderful goal,” Gill Pratt, the CEO of the Toyota Research Institute said at CES 2017. “But none of us in the automobile or IT industries are close to achieving true Level 5 autonomy, we are not even close.”