公开(公告)号：US20240367685A1

公开(公告)日：2024-11-07

申请号：US18142429

申请日：2023-05-02

Applicant: Waymo LLC

Inventor： Wilson Zhao ,  Chiyu Jiang

IPC: B60W60/00 ,  G06N3/08 ,  G06V10/764 ,  G06V10/82 ,  G06V20/58

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for performing rare example mining in driving log data. In one aspect, a method includes obtaining a sensor input; processing the sensor input using an encoder neural network to generate one or more feature vectors for the sensor input; processing each of the one or more feature vectors using a density estimation model to generate a density score for the feature vector; and generating a rareness score for each of the one or more feature vectors from the density score. For example, the rareness score can represent a degree to which a classification of an object depicted in the sensor input is rare relative to other objects. As another example, the rareness score can represent a degree to which a predicted behavior of an agent depicted in the sensor input is rare relative to other objects.

公开(公告)号：US20240370695A1

公开(公告)日：2024-11-07

申请号：US18142437

申请日：2023-05-02

Applicant: Waymo LLC

Inventor： Wilson Zhao ,  Chiyu Jiang

IPC: G06N3/042 ,  G07C5/08

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for performing rare example mining in driving log data. In one aspect, a method includes maintaining a plurality of density estimation models that each correspond to a different rareness type with respect to historical sensor inputs in a driving log generated by sensors on-board a vehicle; receiving a query that references a sensor input; generating, from the sensor input, a corresponding density estimation model input for each of the plurality of density estimation models; processing, using each of the plurality of density estimation models, the corresponding density estimation model input to generate a corresponding density score; generating, for the sensor input, and from the density scores, a rareness score associated with each different rareness type; and providing the rareness scores in response to receiving the query.