Tesla Inc.’s Dojo supercomputer project lead Ganesh Venkataramanan has left the company, according to people familiar with the matter, a setback to the automaker’s self-driving technology efforts.

Venkataramanan, who has led the Dojo project for the last five years, departed the EV maker last month, the people said, asking not to be identified discussing confidential information. Peter Bannon, a former Apple Inc. executive and director at Tesla for the last seven years, is now leading the project.