公开(公告)号：US20220268939A1

公开(公告)日：2022-08-25

申请号：US17185414

申请日：2021-02-25

Applicant: X Development LLC

Inventor： Sarah Najmark ,  Sean Kirmani

IPC: G01S17/89 ,  G01S17/93 ,  G06K9/62 ,  H04L29/08

Abstract: A method includes receiving first sensor data captured by a first sensor. The method further includes receiving a plurality of labels or predictions corresponding to the first sensor data. The method also includes receiving second sensor data captured by a second sensor. The method further includes determining time-synchronized sensor data comprising a subset of the first sensor data and a subset of the second sensor data. The method additionally includes determining, based on the plurality of labels or predictions and the time-synchronized sensor data, a plurality of pseudo-labels corresponding to the second sensor data. The method also includes generating a training data set comprising at least the subset of the second sensor data and one or more pseudo-labels from the plurality of pseudo-labels.