Yang Li

Hongyang Li, Yang Li, Huijie Wang et al.

With the continuous maturation and application of autonomous driving technology, a systematic examination of open-source autonomous driving datasets becomes instrumental in fostering the robust evolution of the industry ecosystem. Current autonomous driving datasets can broadly be categorized into two generations. The first-generation autonomous driving datasets are characterized by relatively simpler sensor modalities, smaller data scale, and is limited to perception-level tasks. KITTI, introduced in 2012, serves as a prominent representative of this initial wave. In contrast, the second-generation datasets exhibit heightened complexity in sensor modalities, greater data scale and diversity, and an expansion of tasks from perception to encompass prediction and control. Leading examples of the second generation include nuScenes and Waymo, introduced around 2019. This comprehensive review, conducted in collaboration with esteemed colleagues from both academia and industry, systematically assesses over seventy open-source autonomous driving datasets from domestic and international sources. It offers insights into various aspects, such as the principles underlying the creation of high-quality datasets, the pivotal role of data engine systems, and the utilization of generative foundation models to facilitate scalable data generation. Furthermore, this review undertakes an exhaustive analysis and discourse regarding the characteristics and data scales that future third-generation autonomous driving datasets should possess. It also delves into the scientific and technical challenges that warrant resolution. These endeavors are pivotal in advancing autonomous innovation and fostering technological enhancement in critical domains. For further details, please refer to https://github.com/OpenDriveLab/DriveAGI.

Yuanbo Tang, Zhiyuan Peng, Yang Li

Trajectory representation learning on a network enhances our understanding of vehicular traffic patterns and benefits numerous downstream applications. Existing approaches using classic machine learning or deep learning embed trajectories as dense vectors, which lack interpretability and are inefficient to store and analyze in downstream tasks. In this paper, an explainable trajectory representation learning framework through dictionary learning is proposed. Given a collection of trajectories on a network, it extracts a compact dictionary of commonly used subpaths called "pathlets", which optimally reconstruct each trajectory by simple concatenations. The resulting representation is naturally sparse and encodes strong spatial semantics. Theoretical analysis of our proposed algorithm is conducted to provide a probabilistic bound on the estimation error of the optimal dictionary. A hierarchical dictionary learning scheme is also proposed to ensure the algorithm's scalability on large networks, leading to a multi-scale trajectory representation. Our framework is evaluated on two large-scale real-world taxi datasets. Compared to previous work, the dictionary learned by our method is more compact and has better reconstruction rate for new trajectories. We also demonstrate the promising performance of this method in downstream tasks including trip time prediction task and data compression.

Yang Li, Jinqiao Duan

With the rapid increase of valuable observational, experimental and simulating data for complex systems, great efforts are being devoted to discovering governing laws underlying the evolution of these systems. However, the existing techniques are limited to extract governing laws from data as either deterministic differential equations or stochastic differential equations with Gaussian noise. In the present work, we develop a new data-driven approach to extract stochastic dynamical systems with non-Gaussian symmetric Lévy noise, as well as Gaussian noise. First, we establish a feasible theoretical framework, by expressing the drift coefficient, diffusion coefficient and jump measure (i.e., anomalous diffusion) for the underlying stochastic dynamical system in terms of sample paths data. We then design a numerical algorithm to compute the drift, diffusion coefficient and jump measure, and thus extract a governing stochastic differential equation with Gaussian and non-Gaussian noise. Finally, we demonstrate the efficacy and accuracy of our approach by applying to several prototypical one-, two- and three-dimensional systems. This new approach will become a tool in discovering governing dynamical laws from noisy data sets, from observing or simulating complex phenomena, such as rare events triggered by random fluctuations with heavy as well as light tail statistical features.