Elon Musk's Tesla enters the self-driving taxi game, an industry with big names like Waymo and Zoox in the U.S.

Tesla's long-promised venture into autonomous taxi service finally arrived over the weekend, as the streets of Austin, Texas, officially became a proving ground for the company's new Robotaxi ride-hailing service.

Here’s a look at which autonomous vehicles are in Austin and when you can expect to catch a robotaxi ride from them.