Abstract: Methods, systems, and apparatus for generation and use of surfel maps to plan for occlusions. One of the methods includes receiving a previously-generated surfel map depicting an area in which a vehicle is located, the surfel map comprising a plurality of surfels, each surfel corresponding to a respective different location in the area in which a vehicle is located; receiving, from one or more sensors, sensor data representing the area in which the vehicle is located; determining, based on the sensor data, that the area in which a vehicle is located includes a dynamic object having a changed shape relative to its representation in the surfel map; and generating an updated path for the vehicle to travel that avoids an occlusion by the changed shape of the dynamic object of a line of sight of one or more sensors to an area of interest.

Abstract: Methods, systems, and apparatus for generation and use of surfel maps to plan for occlusions. One of the methods includes receiving a previously-generated surfel map depicting an area in which a vehicle is located, the surfel map comprising a plurality of surfels, each surfel corresponding to a respective different location in the area in which a vehicle is located; receiving, from one or more sensors, sensor data representing the area in which the vehicle is located; determining, based on the sensor data, that the area in which a vehicle is located includes a dynamic object having a changed shape relative to its representation in the surfel map; and generating an updated path for the vehicle to travel that avoids an occlusion by the changed shape of the dynamic object of a line of sight of one or more sensors to an area of interest.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing based on word comparisons are described. In one aspect, a method includes the actions of obtaining a transcription of an utterance. The actions further include determining, as a first value, a quantity of text samples in a collection of text samples that (i) include terms that match the transcription, and (ii) do not include any additional terms. The actions further include determining, as a second value, a quantity of text samples in the collection of text samples that (i) include terms that match the transcription, and (ii) include one or more additional terms. The actions further include classifying the utterance as a likely incomplete utterance or not a likely incomplete utterance based at least on comparing the first value and the second value.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for receiving audio data including an utterance, obtaining context data that indicates one or more expected speech recognition results, determining an expected speech recognition result based on the context data, receiving an intermediate speech recognition result generated by a speech recognition engine, comparing the intermediate speech recognition result to the expected speech recognition result for the audio data based on the context data, determining whether the intermediate speech recognition result corresponds to the expected speech recognition result for the audio data based on the context data, and setting an end of speech condition and providing a final speech recognition result in response to determining the intermediate speech recognition result matches the expected speech recognition result, the final speech recognition result including the one or more expected speech recognition results indicated b

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing based on word comparisons are described. In one aspect, a method includes the actions of obtaining a transcription of an utterance. The actions further include determining, as a first value, a quantity of text samples in a collection of text samples that (i) include terms that match the transcription, and (ii) do not include any additional terms. The actions further include determining, as a second value, a quantity of text samples in the collection of text samples that (i) include terms that match the transcription, and (ii) include one or more additional terms. The actions further include classifying the utterance as a likely incomplete utterance or not a likely incomplete utterance based at least on comparing the first value and the second value.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing are described. In one aspect, a method includes the action of accessing voice query log data that includes voice queries spoken by a particular user. The actions further include based on the voice query log data that includes voice queries spoken by a particular user, determining a pause threshold from the voice query log data that includes voice queries spoken by the particular user. The actions further include receiving, from the particular user, an utterance. The actions further include determining that the particular user has stopped speaking for at least a period of time equal to the pause threshold. The actions further include based on determining that the particular user has stopped speaking for at least a period of time equal to the pause threshold, processing the utterance as a voice query.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing based on word comparisons are described. In one aspect, a method includes the actions of obtaining a transcription of an utterance. The actions further include determining, as a first value, a quantity of text samples in a collection of text samples that (i) include terms that match the transcription, and (ii) do not include any additional terms. The actions further include determining, as a second value, a quantity of text samples in the collection of text samples that (i) include terms that match the transcription, and (ii) include one or more additional terms. The actions further include classifying the utterance as a likely incomplete utterance or not a likely incomplete utterance based at least on comparing the first value and the second value.

Abstract: Methods, systems, and apparatus for generation and use of surfel maps to plan for occlusions. One of the methods includes receiving a previously-generated surfel map depicting an area in which a vehicle is located, the surfel map comprising a plurality of surfels, each surfel corresponding to a respective different location in the area in which a vehicle is located; receiving, from one or more sensors, sensor data representing the area in which the vehicle is located; determining, based on the sensor data, that the area in which a vehicle is located includes a dynamic object having a changed shape relative to its representation in the surfel map; and generating an updated path for the vehicle to travel that avoids an occlusion by the changed shape of the dynamic object of a line of sight of one or more sensors to an area of interest.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing are described. In one aspect, a method includes the action of accessing voice query log data that includes voice queries spoken by a particular user. The actions further include based on the voice query log data that includes voice queries spoken by a particular user, determining a pause threshold from the voice query log data that includes voice queries spoken by the particular user. The actions further include receiving, from the particular user, an utterance. The actions further include determining that the particular user has stopped speaking for at least a period of time equal to the pause threshold. The actions further include based on determining that the particular user has stopped speaking for at least a period of time equal to the pause threshold, processing the utterance as a voice query.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing based on word comparisons are described. In one aspect, a method includes the actions of obtaining a transcription of an utterance. The actions further include determining, as a first value, a quantity of text samples in a collection of text samples that (i) include terms that match the transcription, and (ii) do not include any additional terms. The actions further include determining, as a second value, a quantity of text samples in the collection of text samples that (i) include terms that match the transcription, and (ii) include one or more additional terms. The actions further include classifying the utterance as a likely incomplete utterance or not a likely incomplete utterance based at least on comparing the first value and the second value.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing are described. In one aspect, a method includes the action of accessing voice query log data that includes voice queries spoken by a particular user. The actions further include based on the voice query log data that includes voice queries spoken by a particular user, determining a pause threshold from the voice query log data that includes voice queries spoken by the particular user. The actions further include receiving, from the particular user, an utterance. The actions further include determining that the particular user has stopped speaking for at least a period of time equal to the pause threshold. The actions further include based on determining that the particular user has stopped speaking for at least a period of time equal to the pause threshold, processing the utterance as a voice query.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing based on word comparisons are described. In one aspect, a method includes the actions of obtaining a transcription of an utterance. The actions further include determining, as a first value, a quantity of text samples in a collection of text samples that (i) include terms that match the transcription, and (ii) do not include any additional terms. The actions further include determining, as a second value, a quantity of text samples in the collection of text samples that (i) include terms that match the transcription, and (ii) include one or more additional terms. The actions further include classifying the utterance as a likely incomplete utterance or not a likely incomplete utterance based at least on comparing the first value and the second value.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for receiving audio data including an utterance, obtaining context data that indicates one or more expected speech recognition results, determining an expected speech recognition result based on the context data, receiving an intermediate speech recognition result generated by a speech recognition engine, comparing the intermediate speech recognition result to the expected speech recognition result for the audio data based on the context data, determining whether the intermediate speech recognition result corresponds to the expected speech recognition result for the audio data based on the context data, and setting an end of speech condition and providing a final speech recognition result in response to determining the intermediate speech recognition result matches the expected speech recognition result, the final speech recognition result including the one or more expected speech recognition results indicated b

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for receiving audio data including an utterance, obtaining context data that indicates one or more expected speech recognition results, determining an expected speech recognition result based on the context data, receiving an intermediate speech recognition result generated by a speech recognition engine, comparing the intermediate speech recognition result to the expected speech recognition result for the audio data based on the context data, determining whether the intermediate speech recognition result corresponds to the expected speech recognition result for the audio data based on the context data, and setting an end of speech condition and providing a final speech recognition result in response to determining the intermediate speech recognition result matches the expected speech recognition result, the final speech recognition result including the one or more expected speech recognition results indicated b

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing based on word comparisons are described. In one aspect, a method includes the actions of obtaining a transcription of an utterance. The actions further include determining, as a first value, a quantity of text samples in a collection of text samples that (i) include terms that match the transcription, and (ii) do not include any additional terms. The actions further include determining, as a second value, a quantity of text samples in the collection of text samples that (i) include terms that match the transcription, and (ii) include one or more additional terms. The actions further include classifying the utterance as a likely incomplete utterance or not a likely incomplete utterance based at least on comparing the first value and the second value.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing based on word comparisons are described. In one aspect, a method includes the actions of obtaining a transcription of an utterance. The actions further include determining, as a first value, a quantity of text samples in a collection of text samples that (i) include terms that match the transcription, and (ii) do not include any additional terms. The actions further include determining, as a second value, a quantity of text samples in the collection of text samples that (i) include terms that match the transcription, and (ii) include one or more additional terms. The actions further include classifying the utterance as a likely incomplete utterance or not a likely incomplete utterance based at least on comparing the first value and the second value.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing are described. In one aspect, a method includes the action of accessing voice query log data that includes voice queries spoken by a particular user. The actions further include based on the voice query log data that includes voice queries spoken by a particular user, determining a pause threshold from the voice query log data that includes voice queries spoken by the particular user. The actions further include receiving, from the particular user, an utterance. The actions further include determining that the particular user has stopped speaking for at least a period of time equal to the pause threshold. The actions further include based on determining that the particular user has stopped speaking for at least a period of time equal to the pause threshold, processing the utterance as a voice query.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for receiving audio data including an utterance, obtaining context data that indicates one or more expected speech recognition results, determining an expected speech recognition result based on the context data, receiving an intermediate speech recognition result generated by a speech recognition engine, comparing the intermediate speech recognition result to the expected speech recognition result for the audio data based on the context data, determining whether the intermediate speech recognition result corresponds to the expected speech recognition result for the audio data based on the context data, and setting an end of speech condition and providing a final speech recognition result in response to determining the intermediate speech recognition result matches the expected speech recognition result, the final speech recognition result including the one or more expected speech recognition results indicated b

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing are described. In one aspect, a method includes the action of accessing voice query log data that includes voice queries spoken by a particular user. The actions further include based on the voice query log data that includes voice queries spoken by a particular user, determining a pause threshold from the voice query log data that includes voice queries spoken by the particular user. The actions further include receiving, from the particular user, an utterance. The actions further include determining that the particular user has stopped speaking for at least a period of time equal to the pause threshold. The actions further include based on determining that the particular user has stopped speaking for at least a period of time equal to the pause threshold, processing the utterance as a voice query.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for speech endpointing based on word comparisons are described. In one aspect, a method includes the actions of obtaining a transcription of an utterance. The actions further include determining, as a first value, a quantity of text samples in a collection of text samples that (i) include terms that match the transcription, and (ii) do not include any additional terms. The actions further include determining, as a second value, a quantity of text samples in the collection of text samples that (i) include terms that match the transcription, and (ii) include one or more additional terms. The actions further include classifying the utterance as a likely incomplete utterance or not a likely incomplete utterance based at least on comparing the first value and the second value.