Haoyue Zhu

Lukas Platinsky, Tayyab Naseer, Hui Chen et al.

With the Autonomous Vehicle (AV) industry shifting towards machine-learned approaches for motion planning, the performance of self-driving systems is starting to rely heavily on large quantities of expert driving demonstrations. However, collecting this demonstration data typically involves expensive HD sensor suites (LiDAR + RADAR + cameras), which quickly becomes financially infeasible at the scales required. This motivates the use of commodity sensors like cameras for data collection, which are an order of magnitude cheaper than HD sensor suites, but offer lower fidelity. Leveraging these sensors for training an AV motion planner opens a financially viable path to observe the `long tail' of driving events. As our main contribution we show it is possible to train a high-performance motion planner using commodity vision data which outperforms planners trained on HD-sensor data for a fraction of the cost. To the best of our knowledge, we are the first to demonstrate this using real-world data. We compare the performance of the autonomy system on these two different sensor configurations, and show that we can compensate for the lower sensor fidelity by means of increased quantity: a planner trained on 100h of commodity vision data outperforms the one with 25h of expensive HD data. We also share the engineering challenges we had to tackle to make this work.

Jenna Reps, Zhaoyang Guo, Haoyue Zhu et al.

Big longitudinal observational databases present the opportunity to extract new knowledge in a cost effective manner. Unfortunately, the ability of these databases to be used for causal inference is limited due to the passive way in which the data are collected resulting in various forms of bias. In this paper we investigate a method that can overcome these limitations and determine causal contrast set rules efficiently from big data. In particular, we present a new methodology for the purpose of identifying risk factors that increase a patients likelihood of experiencing the known rare side effect of renal failure after ingesting aminosalicylates. The results show that the methodology was able to identify previously researched risk factors such as being prescribed diuretics and highlighted that patients with a higher than average risk of renal failure may be even more susceptible to experiencing it as a side effect after ingesting aminosalicylates.