Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For instance, sensor data identifying an object in an environment of the vehicle may be received. A grid including a plurality of cells may be projected around the object. For each given one of the plurality of cells, a likelihood that the object will enter the given one within a period of time into the future is predicted. A contour is generated based on the predicted likelihoods. The vehicle is then controlled in the autonomous driving mode in order to avoid an area within the contour.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle. In one aspect, a method comprises processing an input that characterizes a trajectory of the vehicle in an environment using an importance scoring model to generate an output that defines a respective importance score for each of a plurality of agents in the environment in the vicinity of the vehicle. The importance score for an agent characterizes an estimated impact of the agent on planning decisions generated by a planning system of the vehicle which plans a future trajectory of the vehicle. The high-priority agents are identified as a proper subset of the plurality of agents with the highest importance scores.

Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For instance, sensor data identifying an object in an environment of the vehicle may be received. A grid including a plurality of cells may be projected around the object. For each given one of the plurality of cells, a likelihood that the object will enter the given one within a period of time into the future is predicted. A contour is generated based on the predicted likelihoods. The vehicle is then controlled in the autonomous driving mode in order to avoid an area within the contour.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle and, for only those agents which are high priority agents, generating data characterizing the agents using a first prediction model. In a first aspect, a system identifies multiple agents in an environment in a vicinity of a vehicle. The system generates a respective importance score for each of the agents by processing a feature representation of each agent using an importance scoring model. The importance score for an agent characterizes an estimated impact of the agent on planning decisions generated by a planning system of the vehicle which plans a future trajectory of the vehicle. The system identifies, as high-priority agents, a proper subset of the plurality of agents with the highest importance scores.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle. In one aspect, a method comprises processing an input that characterizes a trajectory of the vehicle in an environment using an importance scoring model to generate an output that defines a respective importance score for each of a plurality of agents in the environment in the vicinity of the vehicle. The importance score for an agent characterizes an estimated impact of the agent on planning decisions generated by a planning system of the vehicle which plans a future trajectory of the vehicle. The high-priority agents are identified as a proper subset of the plurality of agents with the highest importance scores.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for training a neural network having a plurality of sub neural networks to assign respective confidence scores to one or more candidate future trajectories for an agent. Each confidence score indicates a predicted likelihood that the agent will move along the corresponding candidate future trajectory in the future. In one aspect, a method includes using the first sub neural network to generate a training intermediate representation; using the second sub neural network to generate respective training confidence scores; using a trajectory generation neural network to generate a training trajectory generation output; computing a first loss and a second loss; and determining an update to the current values of the parameters of the first and second sub neural networks.

Abstract: Aspects of the disclosure provide for controlling a vehicle in an autonomous driving mode. For instance, sensor data for an object as well as a plurality of predicted trajectories may be received. Each predicted trajectory may represent a plurality of possible future locations for the object. A grid including a plurality of cells, each being associated with a geographic area, may be generated. Probabilities that the object will enter the geographic area associated with each of the plurality of cells over a period of time into the future may be determined based on the sensor data in order to generate a heat map. One or more of the plurality of predicted trajectories may be compared to the heat map. The vehicle may be controlled in the autonomous driving mode based on the comparison.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining respective importance scores for a plurality of agents in a vicinity of an autonomous vehicle navigating through an environment. The respective importance scores characterize a relative impact of each agent on planned trajectories generated by a planning subsystem of the autonomous vehicle. In one aspect, a method comprises providing different states of an environment as input to the planning subsystem and obtaining as output from the planning subsystem corresponding planned trajectories. Importance scores for the one or more agents that are in one state but not in the other are determined based on a measure of difference between the planned trajectories.

Abstract: The present disclosure relates to the field of biological technologies, and discloses a method for expressing and preparing a polyvalent multi-specific antibody and an immune hybrid protein. By using the characteristics of protein Intein, a novel method for preparing a polyvalent specific antibody, a hybrid immune protein having an antibody fused to a cytokine, an immunotoxin having an antibody fused to a toxin, or an immune hybrid protein having an antibody fused to other active proteins is designed and developed. Each portion of a hybrid protein is respectively expressed in a suitable prokaryotic or eukaryotic cell system, separated and purified by high-performance affinity chromatography, and then spliced in vitro by trans-splicing mediated by the intein, to prepare a polyvalent specific antibody and an immune hybrid protein. The method has high production efficiency, and wide scope of application, and facilitates the separation and purification of the products.

Abstract: Compounds and compositions are provided that can inhibit microsomal prostaglandin E synthase-1 (mPGES-1). The compounds and compositions can reduce inflammation in a subject, such as inflammation caused by an inflammation disorder or symptoms thereof. Pharmaceutical compositions comprising the compound are also provided. Furthermore, methods are provided for reducing inflammation and/or inhibiting mPGES-1. The methods can comprise administering an effective amount of the composition to a subject.

Abstract: An online system aggregates content item from third party systems for presentation to users of the online system. To do so, the online system accesses the web pages of third party systems to trigger tracking pixels that have been previously placed by the third party systems. A triggered tracking pixel sends a server call to the online system that includes tracking pixel data such as information about the content item that was available on the web page. Based on the information gathered through various tracking pixels, the online system generates a catalog of the content item that can then be presented to a user of the online system such that the user can browse content items of the third party system while accessing the online system.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle and, for only those agents which are high priority agents, generating data characterizing the agents using a first prediction model. In a first aspect, a system identifies multiple agents in an environment in a vicinity of a vehicle. The system generates a respective importance score for each of the agents by processing a feature representation of each agent using an importance scoring model. The importance score for an agent characterizes an estimated impact of the agent on planning decisions generated by a planning system of the vehicle which plans a future trajectory of the vehicle. The system identifies, as high-priority agents, a proper subset of the plurality of agents with the highest importance scores.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle. In one aspect, a method comprises processing an input that characterizes a trajectory of the vehicle in an environment using an importance scoring model to generate an output that defines a respective importance score for each of a plurality of agents in the environment in the vicinity of the vehicle. The importance score for an agent characterizes an estimated impact of the agent on planning decisions generated by a planning system of the vehicle which plans a future trajectory of the vehicle. The high-priority agents are identified as a proper subset of the plurality of agents with the highest importance scores.

Abstract: Aspects of the disclosure provide for controlling a vehicle in an autonomous driving mode. For instance, sensor data for an object as well as a plurality of predicted trajectories may be received. Each predicted trajectory may represent a plurality of possible future locations for the object. A grid including a plurality of cells, each being associated with a geographic area, may be generated. Probabilities that the object will enter the geographic area associated with each of the plurality of cells over a period of time into the future may be determined based on the sensor data in order to generate a heat map. One or more of the plurality of predicted trajectories may be compared to the heat map. The vehicle may be controlled in the autonomous driving mode based on the comparison.

Abstract: One or more embodiments of the disclosure include a digital merchant content system that creates one or more custom merchant content interfaces. In particular, in one or more embodiments, the digital merchant content system generates custom merchant content interfaces based on a custom merchant content template. The digital merchant content system can generate custom merchant content templates comprising unpopulated product display layouts. Moreover, in one or more embodiments, the digital merchant content system receives a product feed and generates a custom merchant content interface by populating the unpopulated product display layouts based on the custom merchant content template and the product feed.

Abstract: One or more embodiments of the disclosure include a digital merchant content system that creates one or more custom merchant content interfaces. In particular, in one or more embodiments, the digital merchant content system generates custom merchant content interfaces based on a custom merchant content template. The digital merchant content system can generate custom merchant content templates comprising unpopulated product display layouts. Moreover, in one or more embodiments, the digital merchant content system receives a product feed and generates a custom merchant content interface by populating the unpopulated product display layouts based on the custom merchant content template and the product feed.

Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For instance, sensor data identifying an object in an environment of the vehicle may be received. A grid including a plurality of cells may be projected around the object. For each given one of the plurality of cells, a likelihood that the object will enter the given one within a period of time into the future is predicted. A contour is generated based on the predicted likelihoods. The vehicle is then controlled in the autonomous driving mode in order to avoid an area within the contour.

Abstract: The present disclosure relates to the field of biological technologies, and discloses a method for expressing and preparing a bivalent bispecific antibody. In the present disclosure, each portion of a bivalent bispecific antibody and an immune hybrid protein thereof is respectively expressed in a suitable prokaryotic or eukaryotic cell system, separated and purified by high-performance affinity chromatography, and then spliced in vitro by trans-splicing reaction mediated by an intein, to prepare the bivalent specific antibody and an immune hybrid protein thereof. The method has high production efficiency and wide scope of application, and facilitates the separation and purification of the products. The product prepared through the present method has bivalent bispecific immune affinity and cytotoxic bioactivity. Therefore, the present disclosure provides a novel method for preparing biological drugs for directionally attacking cancers or other diseases.