According to one aspect, a vehicle includes hardware systems configured to support the autonomous or semi-autonomous operation of the vehicle. Hardware systems may include a main compute, a brain stem computer (BSC), and an aggregator/compute arrangement or redundant autonomy compute. Such hardware systems may cooperate to allow the vehicle to operate autonomously, and typically provide capabilities, e.g., redundant and/or backup capabilities, configured to enable the vehicle to continue to operate in the event that a primary system is not functioning as expected. The aggregator/compute arrangement may further be comprised of two substantially identical modules or computing assemblies, each configured to process sensor data and perform backup autonomy functionalities and/or teleoperations functionalities.