我们专注于拥挤环境中的机器人导航。预测机器人周围人群的运动的挑战使得难以确保人类的安全和舒适。最近的方法通常采用端到端技术来进行机器人控制或深层体系结构，以进行高保真的人类运动预测。尽管这些方法在模拟域中获得了重要的性能基准，但数据集限制和较高的样本复杂性倾向于阻止它们转移到现实世界中。我们的关键见解是，捕获人群动力学的关键特征的低维表示可能足以使机器人能够平稳地绕过人群。为此，我们使用拓扑不变性的概念将数学上的行为正式化了两种代理作为旋转的行为。基于这种形式主义，我们设计了一个成本功能，有利于机器人轨迹促进更高的传球进展，并惩罚人之间不同方面的切换。我们将此功能纳入模型预测控制器中，该模型使用了人类运动预测的简单恒定速度模型。这导致机器人运动在统计学上与最先进的基线相比，在统计学上，在统计学上取得了显着更高的清除，同时保持竞争性效率水平，跨越广泛的模拟以及在自动平衡机器人上的现实世界实验。
translated by 谷歌翻译
神经网络（NNS）对研究和行业进行了很大的影响。然而，随着NNS的准确性增加，它之后的大小是扩展，所需的计算操作数量和能量消耗。资源消费的增加导致NNS减少的采用率和现实世界部署不切实际。因此，需要压缩NNS以使它们可用于更广泛的受众，同时降低其运行时成本。在这项工作中，我们从因果推理的角度来处理这一挑战，我们提出了一个评分机制，以促进NNS的结构灌注。该方法基于在最大熵扰动下测量互信息，顺序地通过NN传播。我们展示了两种数据集和各种NNS尺寸的方法的表现，我们表明我们的方法在挑战条件下实现了竞争性能。
translated by 谷歌翻译
Robust detection and tracking of objects is crucial for the deployment of autonomous vehicle technology. Image based benchmark datasets have driven development in computer vision tasks such as object detection, tracking and segmentation of agents in the environment. Most autonomous vehicles, however, carry a combination of cameras and range sensors such as lidar and radar. As machine learning based methods for detection and tracking become more prevalent, there is a need to train and evaluate such methods on datasets containing range sensor data along with images. In this work we present nuTonomy scenes (nuScenes), the first dataset to carry the full autonomous vehicle sensor suite: 6 cameras, 5 radars and 1 lidar, all with full 360 degree field of view. nuScenes comprises 1000 scenes, each 20s long and fully annotated with 3D bounding boxes for 23 classes and 8 attributes. It has 7x as many annotations and 100x as many images as the pioneering KITTI dataset. We define novel 3D detection and tracking metrics. We also provide careful dataset analysis as well as baselines for lidar and image based detection and tracking. Data, development kit and more information are available online 1 .
translated by 谷歌翻译