Companies testing self-driving cars on California streets gave a peek into the inner workings of their real-world test drives on Wednesday. The big takeaway? Many are still a long way from letting drivers take their hands off the wheel.

Most manufacturers are still developing self-driving technology in secret, using private test facilities and virtual simulations, so there is little data publicly available to track their progress. The California Department of Motor Vehicles' annual disengagement report released Wednesday, though not comprehensive, provides a snapshot into how far along these companies may be.