This should be really simple. An SFPD officer should stop the damn thing and give it a ticket. If the operator gets too many tickets it's license should be revoked. There should be personal liability for anyone that programs a machine to break the law. Government must protect society from this menace.
Edit: To be clear, the point of this SFPD Waymo traffic stop example is to highlight the absurdity of permitting robot cars that intentionally break laws to operate on the road.