Tesla doesn't have the permits to run an autonomous vehicle taxi in California, but probably nothing stops a driver-assist based taxi.

Tesla is launching an even-more-limited version of its early robotaxi service in San Francisco this weekend, according to Business Insider, after an initial rollout began last month in Austin, Texas. The company plans to send invites to Tesla owners to test the service, according to the report.

The company said its timeline for Robotaxi launch had been moved up and the service could launch as soon as Friday.