Apple Inc.

Nitish Srivastava

Ruslan Salakhutdinov

Yichuan Tang

Hanlin Goh

Joshua M Susskind

Cuneyt Oncel Tuzel

Ricardo Da Silveira Cabral

Chen Huang

Miguel Angel Bautista Martin

Shreyas Saxena

Dimitrios Kottas

Walter A Talbott

Shuangfei Zhai

Terrance Devries

Wenda Wang

Guanhang Wu

Luciano Spinello

Rui Hu

Attention-free transformers are disclosed. Various implementations of attention-free transformers include a gating and pooling operation that allows the attention-free transformers to provide comparable or better results to those of a standard attention-based transformer, with improved efficiency and reduced computational complexity with respect to space and time.

Attention free transformer

Implementations of the subject technology relate to generative scene networks (GSNs) that are able to generate realistic scenes that can be rendered from a free moving camera at any location and orientation. A GSN may be implemented using a global generator and a locally conditioned radiance field. GSNs may employ a spatial latent representation as conditioning for a grid of locally conditioned radiance fields, and may be trained using an adversarial learning framework. Inverting a GSN may allow free navigation of a generated scene conditioned on one or more observations.

Generative scene networks

A method includes defining a geometric capsule that is interpretable by a capsule neural network, wherein the geometric capsule includes a feature representation and a pose. The method also includes determining multiple viewpoints relative to the geometric capsule and determining a first appearance representation of the geometric capsule for each of the multiple viewpoints. The method also includes determining a transform for each of the multiple viewpoints that moves each of the multiple viewpoints to a respective transformed viewpoint and determining second appearance representations that each correspond to one of the transformed viewpoints. The method also includes combining the second appearance representations to define an agreed appearance representation. The method also includes updating the feature representation for the geometric capsule based on the agreed appearance representation.

Encoding three-dimensional data for processing by capsule neural networks

A method includes obtaining a two-dimensional image, obtaining a two-dimensional image annotation that indicates presence of an object in the two-dimensional image, obtaining three-dimensional sensor information, generating a top-down representation of the three-dimensional sensor information, and obtaining a top-down annotation that indicates presence of the object in the top-down representation. The method also includes determining a bottom surface of a three-dimensional cuboid based on map information, determining a position, a length, a width, and a yaw rotation of the three-dimensional cuboid based on the top-down annotation, and determining a height of the three-dimensional cuboid based on a two-dimensional image annotation, and the position, the length, the width, and the yaw rotation of the three-dimensional cuboid.

Three-dimensional object estimation using two-dimensional annotations

At a centralized model trainer, one or more neural network based models are trained using an input data set. At least a first set of parameters of a model is transmitted to a model deployment destination. Using a second input data set, one or more adaptive parameters for the model are determined at the model deployment destination. Using the adaptive parameters, one or more inferences are generated at the model deployment destination.

Adaptive training of neural network models at model deployment destinations

Sensor data captured by one or more sensors may be received at an analysis system. A neural network may be used to detect an object in the sensor data. A plurality of polygons surrounding the object may be generated in one or more subsets of the sensor data. A prediction of a future position of the object may be generated based at least in part on the polygons. One or more commands may be provided to a control system based on the prediction of the future position.

Analysis of objects of interest in sensor data using deep neural networks

A method includes obtaining a two-dimensional image, obtaining a two-dimensional image annotation that indicates presence of an object in the two-dimensional image, determining a location proposal based on the two-dimensional image annotation, determining a classification for the object, determining an estimated size for the object based on the classification for the object, and defining a three-dimensional cuboid for the object based on the location proposal and the estimated size.

A method includes obtaining training samples that include images that depict objects and annotations of annotated key point locations for the objects. The method also includes training a machine learning model to determine estimated key point locations for the objects and key point uncertainty values for the estimated key point locations by minimizing a loss function that is based in part on a key point localization loss value that represents a difference between the annotated key point locations and the estimated key point locations values and is weighted by the key point uncertainty values.

Key point recognition with uncertainty measurement

A system employs an inspection neural network (INN) to inspect data generated during an inference process of a primary neural network (PNN) to generate an indication of reliability for an output generated by the PNN. The system includes a sensor configured to capture sensor data. Sensor data captured by the sensor is provided to a data analyzer to generate an output using the PNN. An analyzer inspector is configured to capture inspection data associated with the generation of the output by the data analyzer, and use the INN to generate an indication of reliability for the PNN's output based on the inspection data. The INN is trained using a set of training data that is distinct from the training data used to train the PNN.

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San Francisco, CA, United States of America

Nitish Srivastava