公开(公告)号：US20240232647A9

公开(公告)日：2024-07-11

申请号：US18492646

申请日：2023-10-23

Applicant: Waymo LLC

Inventor： Zhaoqi Leng ,  Guowang Li ,  Chenxi Liu ,  Pei Sun ,  Tong He ,  Dragomir Anguelov ,  Mingxing Tan

IPC: G06N3/0985

CPC classification number: G06N3/0985

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for training a machine learning model on training data. In one aspect, one of the methods include: obtaining a training data set comprising a plurality of training inputs; obtaining data defining an original search space of a plurality of candidate data augmentation policies; generating, from the original search space, a compact search space that has one or more global hyperparameters; and training the machine learning model on the training data using one or more final data augmentation policies generated from the compact search space.

公开(公告)号：US20240135195A1

公开(公告)日：2024-04-25

申请号：US18492646

申请日：2023-10-22

Applicant: Waymo LLC

Inventor： Zhaoqi Leng ,  Guowang Li ,  Chenxi Liu ,  Pei Sun ,  Tong He ,  Dragomir Anguelov ,  Mingxing Tan

IPC: G06N3/0985

CPC classification number: G06N3/0985

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for training a machine learning model on training data. In one aspect, one of the methods include: obtaining a training data set comprising a plurality of training inputs; obtaining data defining an original search space of a plurality of candidate data augmentation policies; generating, from the original search space, a compact search space that has one or more global hyperparameters; and training the machine learning model on the training data using one or more final data augmentation policies generated from the compact search space.

公开(公告)号：US20240161398A1

公开(公告)日：2024-05-16

申请号：US18511566

申请日：2023-11-16

Applicant: Waymo LLC

Inventor： Tong He ,  Pei Sun ,  Zhaoqi Leng ,  Chenxi Liu ,  Mingxing Tan

IPC: G06T17/00 ,  G01S17/89 ,  G06T7/194 ,  G06T7/20 ,  G06V10/44 ,  G06V10/82

CPC classification number: G06T17/00 ,  G01S17/89 ,  G06T7/194 ,  G06T7/20 ,  G06V10/44 ,  G06V10/82 ,  G06T2207/30241 ,  G06V2201/07

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating an output that characterizes a scene at a current time step. In one aspect, one of the systems include: a voxel neural network that generates a current early-stage feature representation of the current point cloud, a fusion subsystem that generates a current fused feature representation at the current time step; a backbone neural network that generates a current late-stage feature representation at the current time step, and an output neural network that generate an output that characterizes a scene at the current time step.