Tesla deployed a small group of self-driving taxis picking up paying passengers on Sunday in Austin, Texas, with CEO Elon Musk announcing the "robotaxi launch" and social-media influencers posting videos of their first rides.

The company debuted its autonomous ride-hailing service Sunday. The limited program is invite-only and uses around 20 cars—signs that Tesla has a long way to go to catch up to its robotaxi rivals.

In ramping up robotaxi service, Tesla is hoping to slingshot past Waymo, another autonomous car service that operates in Phoenix, San Francisco, Los Angeles and Austin, according to its website. Last week, Waymo applied for a permit to test its vehicles in New York City.