[D] RL algorithm used in Tesla FSD v12.0

There was a lot of hype around the FSD v12.0 from Tesla in that it uses end-to-end neural networks for driving and that it is using imitation learning from good drivers to achieve that. Does someone know more about the specifics around how they are actually implementing this? I cannot find a lot about recent imitation learning/offline learning algorithms. So is this some old algorithm that they are using with a lot of data or just something new?

algorithm driving fsd good imitation learning machinelearning networks neural networks tesla tesla fsd