By the end of WMR our hybrid could pretty reliably cross 1 - 3, though it still requires a bit of tweaking. The first line is essentially a guarantee, and the second line is also very likely. Depending upon if we hit a robot or not we can also generally hit the third line now, and we almost got across the fourth line, which we could certainly do if conditions were right. If the obstacle avoidance system works as well as it does in testing it should become even more effective at getting those lines.
But as always our programmers will tweak it, tweak it, and tweak it some more. He hope for great things.