Abstract: Provided are methods for graph forward search exploration, which can include detecting a plurality of obstacles along a first trajectory of a vehicle. Some methods described also include determining a plurality of valid combinations of a plurality of trajectories to handle the plurality of obstacles. Some methods described also include generating a reduced decision tree based at least on the valid combinations of the plurality of trajectories by at least excluding a second trajectory of the plurality of trajectories associated with an obstacle of a plurality of obstacles based on a position of the obstacle being outside of a corridor defined by a spatial range and/or a temporal range. Some methods described also include selecting an optimal trajectory of the vehicle from the plurality of trajectories of the reduced decision tree. Systems and computer program products are also provided.

Abstract: Provided are methods and systems for semantic behavior filtering for prediction improvement. A method for operating an autonomous vehicle is provided. The method includes obtaining, by at least one processor, semantic image data associated with an environment in which an autonomous vehicle is operating. The method includes determining, by the at least one processor, at least one agent in the environment. The method includes determining a predicted action for the at least one agent. The method includes determining an agent predicted path for the at least one agent. The method includes determining a vehicle path of the autonomous vehicle. The method includes determining a predicted collision of the at least one agent and the autonomous vehicle. The method includes simulating actions to avoid the predicted collision. The method includes categorizing the predicted collision as a primary predicted collision based on the simulating actions.

Abstract: Provided are methods and systems for semantic behavior filtering for prediction improvement. A method for operating an autonomous vehicle, is provided. The method includes obtaining, by at least one processor, semantic image data associated with an environment where an autonomous vehicle is operating. The method includes determining, by the at least one processor, a set of agents in the environment based on the semantic image data. The method includes determining a set of predicted actions for at least one agent of the set of agents. The method includes determining, from the set of predicted actions, a set of secondary predicted actions for the at least one primary agent using semantic data. The method includes determining, from the set of predicted actions, a set of primary predicted actions other than secondary predicted actions The method includes generating a path for the autonomous vehicle based on the set of primary predicted actions.

Abstract: Provided are methods and systems for semantic behavior filtering for prediction improvement. A method for operating an autonomous vehicle is provided. The method includes obtaining, by at least one processor, semantic image data associated with an environment in which an autonomous vehicle is operating. The method includes determining, by the at least one processor a set of agents in the environment based on the semantic image data. The method includes determining, by the at least one processor, a set of secondary agents from the set of agents based on a relative location of a respective secondary agent to a respective object and a set of object semantic behavior data associated with the respective object. The method includes determining, from the set of agents, a set of primary agents other than secondary agents. The method includes generating a path for the autonomous vehicle based on the set of primary agents.

Abstract: Provided are methods and systems for corridor/homotopy scoring and validation. A method for operating an autonomous vehicle, is provided. The method includes obtaining sensor data associated with an environment in which an autonomous vehicle is operating and determining, by the at least one processor, a set of agents in the environment based on the sensor data. The method includes determining, by the at least one processor, a plurality of sets of navigation options for the autonomous vehicle, wherein each set of navigation options includes a first navigation option and a second navigation option, and wherein at least one set of navigation options is associated with at least one agent of the set of agents. The method includes selecting a plurality of navigation options from the plurality of sets of navigation options and generating a corridor for the autonomous vehicle based on the plurality of selected navigation options.

Abstract: The subject matter described in this specification is generally directed control architectures for an autonomous vehicle. In one example, a reference trajectory, a set of lateral constraints, and a set of speed constraints are received using a control circuit. The control circuit determines a set of steering commands based at least in part on the reference trajectory and the set of lateral constraints and a set of speed commands based at least in part on the set of speed constraints. The vehicle is navigated, using the control circuit, according to the set of steering commands and the set of speed commands.

Abstract: The subject matter described in this specification is generally directed control architectures for an autonomous vehicle. In one example, a reference trajectory, a set of lateral constraints, and a set of speed constraints are received using a control circuit. The control circuit determines a set of steering commands based at least in part on the reference trajectory and the set of lateral constraints and a set of speed commands based at least in part on the set of speed constraints. The vehicle is navigated, using the control circuit, according to the set of steering commands and the set of speed commands.

Abstract: This disclosure describes an autonomous vehicle configured to obtain sensor data associated with objects proximate a projected route of the autonomous vehicle, determine static constraints that limit a trajectory of the autonomous vehicle along the projected route based on non-temporal risks associated with a first subset of the f objects, predict a position and speed of the autonomous vehicle as a function of time along the projected route based on the static constraints, identify temporal risks associated with a second subset of the objects based on the predicted position and speed of the autonomous vehicle, determine dynamic constraints that further limit the trajectory of the autonomous vehicle along the projected route to help the autonomous vehicle avoid the temporal risks associated with the second subset of the objects, and adjust the trajectory of the autonomous vehicle in accordance with the static constraints and the dynamic constraints.

Abstract: The subject matter described in this specification is generally directed to a system and techniques for controlling an autonomous vehicle. In one example, a first set of navigational inputs associated with a first time period is selected, where the first time period begins after a reference time. A second set of navigational inputs associated with a second time period is also selected, where the second time period begins after the first time period, and where the first time period and the second time period are different lengths of time. The autonomous vehicle is then navigated based at least in part on the first set of navigational inputs and the second set of navigational inputs.

Abstract: Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. The control circuit operates the vehicle based on the modified steering angle.

Abstract: The subject matter described in this specification is generally directed control architectures for an autonomous vehicle. In one example, a reference trajectory, a set of lateral constraints, and a set of speed constraints are received using a control circuit. The control circuit determines a set of steering commands based at least in part on the reference trajectory and the set of lateral constraints and a set of speed commands based at least in part on the set of speed constraints. The vehicle is navigated, using the control circuit, according to the set of steering commands and the set of speed commands.

Abstract: Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. The control circuit operates the vehicle based on the modified steering angle.

Abstract: Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. The control circuit operates the vehicle based on the modified steering angle.

Abstract: Device for unloading a powder from standardized bulk containers equipped with an inner liner, the device comprising a collection unit suitable for being tightly fixed on the container and suitable for being in fluid communication with the interior of the liner; a shearing unit, in fluid communication with the collection unit, comprising shearing means for shearing the powder; and a separate delivering unit, in down stream fluid communication with the shearing unit, the delivering unit comprising an output suitable for connecting pneumatic unloading means.

Abstract: Device for unloading a powder from standardized bulk containers equipped with an inner liner, the device comprising a collection unit suitable for being tightly fixed on the container and suitable for being in fluid communication with the interior of the liner; a shearing unit, in fluid communication with the collection unit, comprising shearing means for shearing the powder; and a separate delivering unit, in down stream fluid communication with the shearing unit, the delivering unit comprising an output suitable for connecting pneumatic unloading means.

Abstract: A URL monitoring system may use a user's browsing history to generate a score for the user. The score may be used to permit or deny access to a URL. The score may be used to represent the user's intent when browsing, and based on that intent, the user may be allowed access to a URL with conflicting classifications. The score may be also be used as a trustworthiness score so that a user who browses responsibly may have their score increased over time, and a user who browses irresponsibly or inappropriately may have their score decreased. The scores may be calculated and maintained on a user's client device, edge device, or other device within a network.

Abstract: A URL monitoring system may use a user's browsing history to generate a score for the user. The score may be used to permit or deny access to a URL. The score may be used to represent the user's intent when browsing, and based on that intent, the user may be allowed access to a URL with conflicting classifications. The score may be also be used as a trustworthiness score so that a user who browses responsibly may have their score increased over time, and a user who browses irresponsibly or inappropriately may have their score decreased. The scores may be calculated and maintained on a user's client device, edge device, or other device within a network.

Abstract: Architecture for providing communications resources of a network for client intercommunications. A client that desires to communicate makes a request to an arbitrary communications server node by the announcing of identifying information. The web service “parks” the request until the identifying information is ready. A second client can ultimately interact with the first client by sending identifying information and following the same lookup path to find the location at which the first client request is “parked”. A continuous hash is employed that enables a client to negotiate services of a resource and via which resource multiple clients can rendezvous for communications. The continuous hash minimizes the disruption to clients already accessing network resources. A resource is brought online or taken offline without dramatically impacting ongoing use of currently operational resources. In the event a hosting resource fails, the clients repeat the lookup process and re-converge on a new server.

Abstract: Architecture that provides real-time opportunistic access to data that is relevant and/or related user activities. Ways are disclosed to use information of a single workspace to structure automatic searches into a number of data stores in order to opportunistically extract relevant information therefrom. An email client can use workspace content to train a filter for identifying new messages deemed relevant or related to the content and topics of the workspace, a system can be provided to use the content of a single web site as contextual data for providing auto-generated links to other sites within the corporate enterprise, a collaborative application can natively understand the content being shared and then look for specific terms in the content which can be employed for generating a search query and returning relevant and/or related data, and combinations thereof are provided for automatically generating and searching data stores for relevant and related information.