Ideally you want to farm this problem off to third parties, eg. to drive on a public road, the car must be running a licensed algorithm, and licensed basically means that an insurer signed off on being willing to pay if an accident happens This kind of architecture is in fact necessary, if we want to have incentives favoring the "verifiable" part of "open source and verifiable" - a good proxy for what we want out of verifiability is, is there enough information that an insurer can come in and be convinced that it's ok for them to offer insurance?