Zoox is starting to open its robotaxis to the public in San Francisco as the Amazon-owned company creeps towards a commercial service and direct competition with Waymo.

Zoox robotaxis — custom-built vehicles that lack a steering wheel or pedals — have been rolling around San Francisco streets for nearly a year . But until now, only employees and their friends and family have been able to hail a ride.

This is not a large-scale public launch, nor a commercial one. Instead, the company will invite some of the people who signed up for the waitlist to join its early rider initiative known as Zoox Explorer. Under that program, those select few will get access to the service and, for now, it’s free.

Riders will slowly be moved off the waitlist as Zoox adds more robotaxis to its fleet and its

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