California allows, no training wheels
 

California's Gov Jerry Brown signed the legislation that they would allow autonomous vehicles without steering wheels, brake pedals or human drivers on some California test roadways. It would not be openly allowed to be on freeways, highways and streets...yet. AB1592 will allow driving equipment-less self-driving shuttles on special test roadways to test new sensors and autonomous systems. Currently any autonomous vehicles being tested on public roads must have a human in the driver's position as well as all required standard driving and safety equipment on standard vehicles.

http://www.mercurynews.com/2016/09/2...from-governor/