Abstract: Methods and systems for training an autonomous vehicle (AV) motion planning model are disclosed. The system receives a log of data representing objects detected by an AV over time. The system identifies a group of sample times in the log. Each sample time represents a time at which the AV made a choice in response to a state of an object. For each of the sample times, the system will generate candidate trajectories for the AV, and it will output the candidate trajectories on a display. The system will receive a label with a rating for each candidate trajectory. The system will then save, to a data set, each of the candidate trajectories in association with its label and the data from the log for its corresponding sample time. The system may then apply the data set to an AV motion planning model to train the model.

Abstract: A computing device determines an SVDD to identify an outlier in a dataset. First and second sets of observation vectors of a predefined sample size are randomly selected from a training dataset. First and second optimal values are computed using the first and second observation vectors to define a first set of support vectors and a second set of support vectors. A third optimal value is computed using the first set of support vectors updated to include the second set of support vectors to define a third set of support vectors. Whether or not a stop condition is satisfied is determined by comparing a computed value to a stop criterion. When the stop condition is not satisfied, the first set of support vectors is defined as the third set of support vectors, and operations are repeated until the stop condition is satisfied. The third set of support vectors is output.

Abstract: A computing device determines an SVDD to identify an outlier in a dataset. First and second sets of observation vectors of a predefined sample size are randomly selected from a training dataset. First and second optimal values are computed using the first and second observation vectors to define a first set of support vectors and a second set of support vectors. A third optimal value is computed using the first set of support vectors updated to include the second set of support vectors to define a third set of support vectors. Whether or not a stop condition is satisfied is determined by comparing a computed value to a stop criterion. When the stop condition is not satisfied, the first set of support vectors is defined as the third set of support vectors, and operations are repeated until the stop condition is satisfied. The third set of support vectors is output.

Abstract: A computer-readable medium is configured to determine a support vector data description (SVDD). For each of a plurality of values for a kernel parameter, an optimal value of an objective function defined for an SVDD model using a kernel function, a read plurality of data points, and a respective value for the kernel parameter is computed to define a plurality of sets of support vectors. A plurality of first derivative values are computed for the objective function as a difference between the computed optimal values associated with successive values for the kernel parameter. A plurality of second derivative values are computed for the objective function as a difference between the computed plurality of first derivative values associated with successive values for the kernel parameter. A kernel parameter value is selected where the computed plurality of second derivative values first exceeds zero.