Abstract: Embodiments of the present disclosure relate to behavior planning for autonomous vehicles. The technology described herein selects a preferred trajectory for an autonomous vehicle based on an evaluation of multiple hypothetical trajectories by different components within a planning system. The various components provide an optimization score for each trajectory according to the priorities of the component and scores from multiple components may form a final optimization score. This scoring system allows the competing priorities (e.g., comfort, minimal travel time, fuel economy) of different components to be considered together. In examples, the trajectory with the best combined score may be selected for implementation. As such, an iterative approach that evaluates various factors may be used to identify an optimal or preferred trajectory for an autonomous vehicle when navigating an environment.

Abstract: A commodity densification and storage assembly has a housing having an insert port for receiving a commodity, such as aluminum cans, glass bottles, and PET bottles. The assembly further includes a device for densifying the commodity oriented downstream of the insert port; a storage device for storing the densified commodity; and a pneumatic device for conveying the densified commodity to the storage device. The pneumatic device includes an inlet pipe for receiving the densified commodity from the densifying device. The inlet pipe is in communication with the storage device. The pneumatic device further has a blower for creating suction and an outlet pipe in communication with the storage device and the blower. The blower draws the densified commodity to the storage device through the inlet pipe via suction. Additionally, the pneumatic device includes an air filter system for preventing densified commodity from entering the blower.