Federal safety regulators have reached out to Tesla a day after the automaker began providing rides in its branded robotaxis in Austin.

By Chris Kirkham, Norihiko Shirouzu, Rachael Levy and Abhirup Roy (Reuters) -Tesla tiptoed into its long-awaited robotaxi service in Austin, Texas on Sunday with about 10 of its Model Y SUVs that will operate within strict limits.

The company has begun a test run of the driverless cabs, years after CEO Elon Musk vowed they would be on the road.

The electric-car maker launches a long-promised autonomous-taxi service in Austin to a select group of invitees.

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