Search Patents
  • VIDEO RECOMMENDATION WITH MULTI-GATE MIXTURE OF EXPERTS SOFT ACTOR CRITIC
    Publication number: 20220019878
    Abstract: Described herein are embodiments of a reinforcement learning based large-scale multi-objective ranking system. Embodiments of the system may be used for optimizing short-video recommendation on a video sharing platform. Multiple competing ranking objective and implicit selection bias in user feedback are the main challenges in real-world platform. In order to address those challenges, multi-gate mixture of experts (MMoE) and soft actor critic (SAC) are integrated together into a MMoE_SAC system. Experiment results demonstrate that embodiments of the MMoE_SAC system may greatly reduce a loss function compared to systems only based on single strategies.
    Type: Application
    Filed: July 15, 2020
    Publication date: January 20, 2022
    Applicants: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Dingcheng LI, Xu LI, Jun WANG, Ping LI
  • Navigation route planning method for autonomous vehicles
    Patent number: 11945463
    Abstract: A starting point, a set of one or more way points, and a destination point of a route along which the ADV is to be driven are determined. All lane segments near the starting point, the set of way points, and the destination point within a predetermined threshold distance are determined respectively. A set of route candidates are determined with an A-star (A*) searching algorithm based on a set of nodes representing all the lane segments near the starting point, the set of way points, and the destination point respectively. The route is selected from the set of route candidates based on respective costs of the set of route candidates. The ADV is being controlled to drive along the selected route autonomously.
    Type: Grant
    Filed: March 26, 2020
    Date of Patent: April 2, 2024
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Ning Yu, Fan Zhu
  • Speed control command auto-calibration system for autonomous vehicles
    Patent number: 11214251
    Abstract: According to some embodiments, a system receives a first control command and a speed measurement of the ADV. The system determines an expected acceleration of the ADV based on the speed measurement and the first control command. The system receives an acceleration measurement of the ADV. The system determines a feedback error based on the acceleration measurement and the expected acceleration. The system updates a portion of the calibration table based on the determined feedback error. The system generates a second control command to control the ADV based on the calibration table having the updated portion to control the ADV autonomously according to the second control command.
    Type: Grant
    Filed: July 9, 2018
    Date of Patent: January 4, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Fan Zhu, Qi Kong, Lin Ma, Hui Jiang, Jiaming Tao, Liangliang Zhang
  • Systems and methods for multispectral image demosaicking using deep panchromatic image guided residual interpolation
    Patent number: 11410273
    Abstract: Described herein are systems and embodiments for multispectral image demosaicking using deep panchromatic image guided residual interpolation. Embodiments of a ResNet-based deep learning model are disclosed to reconstruct the full-resolution panchromatic image from multispectral filter array (MSFA) mosaic image. In one or more embodiments, the reconstructed deep panchromatic image (DPI) is deployed as the guide to recover the full-resolution multispectral image using a two-pass guided residual interpolation methodology. Experiment results demonstrate that the disclosed method embodiments outperform some state-of-the-art conventional and deep learning demosaicking methods both qualitatively and quantitatively.
    Type: Grant
    Filed: July 5, 2019
    Date of Patent: August 9, 2022
    Assignees: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Zhihong Pan, Baopu Li, Yingze Bao, Hsuchun Cheng
  • Method and apparatus for aligning paragraph and video
    Patent number: 11758088
    Abstract: Embodiments of the present disclosure provide a method and apparatus for aligning a paragraph and a video. The method may include: acquiring a commentary and a candidate material resource set corresponding to the commentary, a candidate material resource being a video or an image; acquiring a matching degree between each paragraph in the commentary and each candidate material resource in the candidate material resource set; and determining a candidate material resource sequence corresponding to the each paragraph in the commentary based on the matching degrees between the paragraphs in the commentary and the candidate material resources, playing durations of the candidate material resources and text lengths of the paragraphs in the commentary, an image playing duration being a preset image playing duration.
    Type: Grant
    Filed: December 4, 2019
    Date of Patent: September 12, 2023
    Assignees: Baidu.com Times Technology (Beijing) Co., Ltd., Baidu USA LLC
    Inventors: Hao Tian, Xi Chen, Jeff ChienYu Wang, Daming Lu
  • STEREO CAMERA DEPTH DETERMINATION USING HARDWARE ACCELERATOR
    Publication number: 20200013176
    Abstract: Described herein are systems and methods that allow for dense depth map estimation given input images. In one or more embodiments, a neural network model was developed that significantly differs from prior approaches. Embodiments of the deep neural network model comprises more computationally efficient structures and fewer layers but still produces good quality results. Also, in one or more embodiments, the deep neural network model may be specially configured and trained to operate using a hardware accelerator component or components that can speed computation and produce good results, even if lower precision bit representations are used during computation at the hardware accelerator component.
    Type: Application
    Filed: December 8, 2017
    Publication date: January 9, 2020
    Applicants: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Le KANG, Yupeng LI, Wei QI, Yingze BAO
  • Method and apparatus for generating video
    Patent number: 10885344
    Abstract: Embodiments of the present disclosure provide a method and apparatus for generating a video. The method may include: determining a commentary of a target news cluster, each piece of news in the target news cluster being specific to a given news event; generating a voice corresponding to each paragraph in the commentary using a speech synthesis technology; determining a candidate material resource set corresponding to the commentary based on a video and an image included in the target news cluster, the candidate material resource being a video or image; determining a candidate material resource sequence corresponding to the each paragraph in the commentary; and generating a video corresponding to the commentary based on the voice corresponding to the each paragraph in the commentary and the candidate material resource sequence.
    Type: Grant
    Filed: December 4, 2019
    Date of Patent: January 5, 2021
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Hao Tian, Darning Lu, Xi Chen, Jeff ChienYu Wang
  • Deep residual network for color filter array image denoising
    Patent number: 11676248
    Abstract: Described herein are embodiments of a deep residual network dedicated to color filter array mosaic patterns. A mosaic stride convolution layer is introduced to match the mosaic pattern of a multispectral filter arrays (MSFA) or a color filter array raw image. Embodiments of a data augmentation using MSFA shifting and dynamic noise are applied to make the model robust to different noise levels. Embodiments of network optimization criteria may be created by using the noise standard deviation to normalize the L1 loss function. Comprehensive experiments demonstrate that embodiments of the disclosed deep residual network outperform the state-of-the-art denoising algorithms in MSFA field.
    Type: Grant
    Filed: January 23, 2020
    Date of Patent: June 13, 2023
    Assignees: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Zhihong Pan, Baopu Li, Hsuchun Cheng, Yingze Bao
  • ROBOTIC PROCESS AUTOMATION (RPA)-BASED DATA LABELLING
    Publication number: 20230229119
    Abstract: One application of deep learning methods and labelled data is for industrial production or work applications. For such applications implemented with machine learning applications, massive amounts of data are required to train, validate, and/or tune models for better fitting the requirements. However, obtaining such data has typically be costly and difficult. Embodiments provide adaptable processes that provide data labelling methods for work settings. Embodiments take advantage of the work or production processes to label and collect data, which save time and money and improves accuracy. Embodiments prevent or reduce the need for worker training costs and human mistake-triggered data labelling problems. Embodiments also improve data labelling quality and speed-up of the development cycle.
    Type: Application
    Filed: February 10, 2021
    Publication date: July 20, 2023
    Applicants: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Huimeng ZHENG, Haofeng KOU
  • Method for optimizing three-point turn of autonomous driving vehicles
    Patent number: 11242057
    Abstract: In one embodiment, it is determined that a speed of an autonomous driving vehicle (ADV) is below a predetermined speed threshold during a current turn section of a three-point turn, where the three-point turn includes at least three turn sections. In response, detecting an obstacle within a predetermined proximity of the ADV, determining a type of obstacle. An amount of time during which the speed of the ADV remains below the predetermined speed threshold is determined. It is determined whether the amount of time is greater than a time threshold corresponding to the type of the obstacle. If the amount of time is greater than the time threshold, the current turn section is ended and a next turn section is started.
    Type: Grant
    Filed: November 22, 2019
    Date of Patent: February 8, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Ning Yu, Fan Zhu, Xin Xu
  • Latency compensation in inertial navigation system
    Patent number: 11609342
    Abstract: In one embodiment, a method for calculating a location of an autonomous driving vehicle includes receiving new global navigation satellite system (GNSS) data. The method further includes identifying a first previously estimated location from a plurality of previously estimated locations with a timestamp that is closest to the timestamp of the new GNSS data and identifying a second previously estimated location from the plurality of previously estimated locations with a most recent timestamp. The method further includes calculating a difference between the first previously estimated location and the second previously estimated location, adjusting the new GNSS data based on the difference; and calculating a current estimated location of the ADV based on the adjusted GNSS data.
    Type: Grant
    Filed: March 5, 2020
    Date of Patent: March 21, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Yan Cui, Quanwei Liu, Yao Zhuo
  • RGB point clouds based map generation system for autonomous vehicles
    Patent number: 11227398
    Abstract: In one embodiment, a system receives a number of point clouds captured by one or more LIDAR sensors of an ADV and corresponding poses. The system receives a number of RGB images from one or more image capturing sensors of the ADV. The system synchronizes the RGB images with the point clouds to obtain RGB point clouds. The system extracts features from the RGB point clouds, the features including contextual and spatial information of the RGB point clouds. The system registers the RGB point clouds based on the extracted features and generates a point cloud map based on the registration of the RGB point clouds.
    Type: Grant
    Filed: January 30, 2019
    Date of Patent: January 18, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Yong Xiao, Runxin He, Pengfei Yuan, Li Yu, Shiyu Song
  • Video recommendation with multi-gate mixture of experts soft actor critic
    Patent number: 11922287
    Abstract: Described herein are embodiments of a reinforcement learning based large-scale multi-objective ranking system. Embodiments of the system may be used for optimizing short-video recommendation on a video sharing platform. Multiple competing ranking objective and implicit selection bias in user feedback are the main challenges in real-world platform. In order to address those challenges, multi-gate mixture of experts (MMoE) and soft actor critic (SAC) are integrated together into a MMoE_SAC system. Experiment results demonstrate that embodiments of the MMoE_SAC system may greatly reduce a loss function compared to systems only based on single strategies.
    Type: Grant
    Filed: July 15, 2020
    Date of Patent: March 5, 2024
    Assignees: Baidu USA, LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Dingcheng Li, Xu Li, Jun Wang, Ping Li
  • METHOD AND SYSTEM FOR MANAGING MEMORY OF DATA PROCESSING ACCELERATORS
    Publication number: 20210173934
    Abstract: According to one embodiment, a system performs a secure boot using a security module such as a trusted platform module (TPM) of a host system. The system establishes a trusted execution environment (TEE) associated with one or more processors of the host system. The system launches a memory manager within the TEE, where the memory manager is configured to manage memory resources of a data processing (DP) accelerator coupled to the host system over a bus, including maintaining memory usage information of global memory of the DP accelerator. In response to a request received from an application running within the TEE for accessing a memory location of the DP accelerator, the system allows or denies the request based on the memory usage information.
    Type: Application
    Filed: January 4, 2019
    Publication date: June 10, 2021
    Applicants: Baidu.com Times Technology (Beijing) Co., Ltd., Baidu USA LLC
    Inventors: Yong LIU, Yueqiang CHENG, Jian OUYANG, Tao WEI
  • Tunnel-based planning system for autonomous driving vehicles
    Patent number: 11561546
    Abstract: According to one embodiment, a system receives a captured image perceiving an environment of an autonomous driving vehicle (ADV) from an image capturing device of the ADV capturing a plurality of obstacles near the ADV. The system generates a first tunnel based on a width of a road lane for the ADV, where the first tunnel represents a passable lane for the ADV to travel through. The system generates one or more additional tunnels based on locations of the obstacles, where the one or more additional tunnels modify a width of the passable lane according to a level of invasiveness of the obstacles. The system generates a trajectory of the ADV based on the first and the additional tunnels to control the ADV according to the trajectory to navigate around the obstacles without collision.
    Type: Grant
    Filed: September 28, 2018
    Date of Patent: January 24, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Fan Zhu, Lin Ma, Weicheng Zhu
  • SYSTEMS AND METHODS FOR MULTISPECTRAL IMAGE DEMOSAICKING USING DEEP PANCHROMATIC IMAGE GUIDED RESIDUAL INTERPOLATION
    Publication number: 20210241421
    Abstract: Described herein are systems and embodiments for multispectral image demosaicking using deep panchromatic image guided residual interpolation. Embodiments of a ResNet-based deep learning model are disclosed to reconstruct the full-resolution panchromatic image from multispectral filter array (MSFA) mosaic image. In one or more embodiments, the reconstructed deep panchromatic image (DPI) is deployed as the guide to recover the full-resolution multispectral image using a two-pass guided residual interpolation methodology. Experiment results demonstrate that the disclosed method embodiments outperform some state-of-the-art conventional and deep learning demosaicking methods both qualitatively and quantitatively.
    Type: Application
    Filed: July 5, 2019
    Publication date: August 5, 2021
    Applicants: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Zhihong PAN, Baopu LI, Yingze BAO, Hsuchun CHENG
  • Method and apparatus for generating information
    Patent number: 10878247
    Abstract: Embodiments of the present disclosure provide a method and apparatus for generating information. The method may include: determining at least one video segment obtained by semantically segmenting videos included in a target news cluster as a target video set, where respective pieces of news in the target news cluster directs to a given news event; determining a commentary for the target news cluster; determining, based on the target video set and a target image set, a candidate material resource set corresponding to the commentary, where the target image set is composed of respective images included in the target news cluster; and for each paragraph in the commentary, determining degrees of matching between the paragraph and candidate material resources in the candidate material resource set.
    Type: Grant
    Filed: December 4, 2019
    Date of Patent: December 29, 2020
    Assignees: Baidu.com Times Technology (Beijing) Co., Ltd., Baidu USA LLC
    Inventors: Hao Tian, Xi Chen, Jeff ChienYu Wang, Daming Lu
  • Synchronizing sensors of autonomous driving vehicles
    Patent number: 11807265
    Abstract: In some implementations, a method is provided. The method includes determining a first set of data acquisition characteristics of a first sensor of an autonomous driving vehicle. The method also includes determining a second set of data acquisition characteristics of a second sensor of the autonomous driving vehicle. The method further includes synchronizing a first data acquisition time of the first sensor and a second data acquisition time of the second sensor, based on the first set of data acquisition characteristics and the second set of data acquisition characteristics. The first sensor obtains first sensor data at the first data acquisition time. The second sensor obtains second sensor data at the second data acquisition time.
    Type: Grant
    Filed: August 30, 2019
    Date of Patent: November 7, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Shuai Wang, Manjiang Zhang, Yaoming Shen, Lingchang Li, Shuangcheng Guo
  • Dynamic model with actuation latency
    Patent number: 11738771
    Abstract: A simulation of an autonomous driving vehicle (ADV) includes capturing first data that includes a control command output by an autonomous vehicle controller of the ADV, and capturing second data that includes the control command being implemented at a control unit of the ADV. The control command, for example, a steering command, a braking command, or a throttle command, is implemented by the ADV to affect movement of the ADV. A latency model is determined based on comparing the first data with the second data, where the latency model defines time delay and/or amplitude difference between the first data and the second data. The latency model is applied in a virtual driving environment.
    Type: Grant
    Filed: December 20, 2019
    Date of Patent: August 29, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Shu Jiang, Qi Luo, Jinghao Miao, Jiangtao Hu, Yu Wang, Jiaxuan Xu, Jinyun Zhou, Kuang Hu, Chao Ma
  • Partial point cloud-based pedestrians' velocity estimation method
    Patent number: 11703599
    Abstract: A method, apparatus, and system for estimating a moving speed of a detected pedestrian at an autonomous driving vehicle (ADV) is disclosed. A pedestrian is detected in a plurality of frames of point clouds generated by a LIDAR device installed at an autonomous driving vehicle (ADV). In each of at least two of the plurality of frames of point clouds, a minimum bounding box enclosing points corresponding to the pedestrian excluding points corresponding to limbs of the pedestrian is generated. A moving speed of the pedestrian is estimated based at least in part on the minimum bounding boxes across the at least two of the plurality of frames of point clouds. A trajectory for the ADV is planned based at least on the moving speed of the pedestrian. Thereafter, control signals are generated to drive the ADV based on the planned trajectory.
    Type: Grant
    Filed: May 15, 2020
    Date of Patent: July 18, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD
    Inventors: Xiang Liu, Bin Gao, Fan Zhu
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