公开(公告)号：US20230008777A1

公开(公告)日：2023-01-12

申请号：US17371486

申请日：2021-07-09

Applicant: Waymo LLC

Inventor： David Seetapun

IPC: G06N3/04

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for performing an accelerated convolution on sparse inputs. In one aspect, a method comprises receiving sensor data input comprising input features for input spatial locations; and processing the sensor data input using a convolutional neural network having a first convolutional layer with a filter having multiple filter spatial locations to generate a network output comprising output features for output spatial locations, wherein processing the sensor data input comprises: obtaining a rule book tensor that identifies for each filter spatial location (i) a subset of the input features, and (ii) for each input feature in the subset, a respective output feature; for each particular filter spatial location: generating input tile, filter tile, and output tile sets in accordance with the rule book tensor; and generating the output features in the output tile set based on the tile sets.