Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating rare pose data. One of the methods includes obtaining a three-dimensional model of a dynamic object, wherein the dynamic object has multiple movable elements that define a plurality of poses of the dynamic object. A plurality of template poses of the dynamic object are used to generate additional poses for the dynamic object including varying angles of one or more key joints of the dynamic object according to the three-dimensional model. Point cloud data is generated for the additional poses generated for the dynamic object.

Abstract: Systems, methods, devices, and techniques for generating object-heading estimations. In one example, methods include actions of receiving sensor data representing measurements of an object that was detected within a proximity of a vehicle; processing the sensor data with one or more preliminary heading estimation subsystems to respectively generate one or more preliminary heading estimations for the object; processing two or more inputs with a second heading estimation subsystem to generate a refined heading estimation for the object, the two or more inputs including the one or more preliminary heading estimations for the object; and providing the refined heading estimation for the object to an external processing system.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating rare pose data. One of the methods includes obtaining a three-dimensional model of a dynamic object, wherein the dynamic object has multiple movable elements that define a plurality of poses of the dynamic object. A plurality of template poses of the dynamic object are used to generate additional poses for the dynamic object including varying angles of one or more key joints of the dynamic object according to the three-dimensional model. Point cloud data is generated for the additional poses generated for the dynamic object.

Abstract: Systems, methods, devices, and techniques for generating object-heading estimations. In one example, methods include actions of receiving sensor data representing measurements of an object that was detected within a proximity of a vehicle; processing the sensor data with one or more preliminary heading estimation subsystems to respectively generate one or more preliminary heading estimations for the object; processing two or more inputs with a second heading estimation subsystem to generate a refined heading estimation for the object, the two or more inputs including the one or more preliminary heading estimations for the object; and providing the refined heading estimation for the object to an external processing system.