公开(公告)号：US20210284184A1

公开(公告)日：2021-09-16

申请号：US17194072

申请日：2021-03-05

Applicant: Waymo LLC

Inventor： Yang Song ,  Shuyang Cheng ,  Zijian Guo ,  Congcong Li ,  Chunyan Bai

IPC: B60W50/06 ,  G06N3/04 ,  G06N3/08 ,  B60W60/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining a point cloud augmentation policy and training a machine learning model using the point cloud augmentation policy to perform a perception task such as object detection or classification task by processing point cloud data. In general, training a machine learning model using the determined point cloud augmentation policy enables the model to more effectively perform the perception task, i.e., by generating higher quality perception outputs. When deployed within an on-board system of a vehicle, the machine learning model can further enable the on-board system to generate better-informed planning decisions which in turn result in a safer journey, even when the vehicle is navigating through unconventional environments or inclement weathers such as rain or snow.

公开(公告)号：US20220156585A1

公开(公告)日：2022-05-19

申请号：US17526731

申请日：2021-11-15

Applicant: Waymo LLC

Inventor： Zhaoqi Leng ,  Shuyang Cheng ,  Weiyue Wang ,  Xiao Zhang ,  Dragomir Anguelov

IPC: G06N3/08 ,  G06K9/62

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for performing training of a neural network that is configured to process a network input comprising a point cloud to generate a network output for a point cloud processing task. The system obtains a set of labeled training examples and a set of unlabeled point clouds, generates a respective pseudo-label for each unlabeled point cloud, generates a plurality of pseudo-elements based on the respective pseudo-label for the unlabeled point cloud, generates augmented training data by augmenting the labeled training examples using the pseudo-elements generated for the unlabeled point clouds, and performing training of the neural network on the augmented training data.

公开(公告)号：US20210334651A1

公开(公告)日：2021-10-28

申请号：US17194115

申请日：2021-03-05

Applicant: Waymo LLC

Inventor： Zhaoqi Leng ,  Ekin Dogus Cubuk ,  Barret Zoph ,  Jiquan Ngiam ,  Congcong Li ,  Jonathon Shlens ,  Shuyang Cheng

IPC: G06N3/08 ,  G06F17/18 ,  G06K9/62 ,  G01S17/894

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for training a machine learning model to perform a machine learning task by processing input data to the model. For example, the input data can include image, video, or point cloud data, and the task can be a perception task such as classification or detection task. In one aspect, the method includes receiving training data including a plurality of training inputs; receiving a plurality of data augmentation policy parameters that define different transformation operations for transforming training inputs before the training inputs are used to train the machine learning model; maintaining a plurality of candidate machine learning models; for each of the plurality of candidate machine learning models: repeatedly determining an augmented batch of training data; training the candidate machine learning model using the augmented batch of the training data; and updating the maintained data.