Autonomous vehicle manufacturers, insurers, tech advocates and critics this week told the California Department of Motor Vehicles at a public hearing what they think about the latest round of rules for testing and operating driverless vehicles.

On Friday, state regulators posted written comments submitted by 80 company executives and others involved in the fast-developing industry.

Manufacturers are generally much more pleased with the latest set of proposed regulations than they were with the draft released last year. But they still want more changes in the areas of testing, liability and data.