Large-scale 3D scene reconstruction and novel view synthesis are vital for autonomous vehicles, especially utilizing temporally sparse LiDAR frames. However, conventional explicit representations remain a significant bottleneck towards representing the reconstructed and synthetic scenes at unlimited resolution. Although the recently developed neural radiance fields (NeRF) have shown compelling results in implicit representations, the problem of large-scale 3D scene reconstruction and novel view synthesis using sparse LiDAR frames remains unexplored. To bridge this gap, we propose a 3D scene reconstruction and novel view synthesis framework called parent-child neural radiance field (PC-NeRF). Based on its two modules, parent NeRF and child NeRF, the framework implements hierarchical spatial partitioning and multi-level scene representation, including scene, segment, and point levels. The multi-level scene representation enhances the efficient utilization of sparse LiDAR point cloud data and enables the rapid acquisition of an approximate volumetric scene representation. With extensive experiments, PC-NeRF is proven to achieve high-precision novel LiDAR view synthesis and 3D reconstruction in large-scale scenes. Moreover, PC-NeRF can effectively handle situations with sparse LiDAR frames and demonstrate high deployment efficiency with limited training epochs. Our approach implementation and the pre-trained models are available at https://github.com/biter0088/pc-nerf.

Network binarization is a promising hardware-aware direction for creating efficient deep models. Despite its memory and computational advantages, reducing the accuracy gap between such models and their real-valued counterparts remains an unsolved challenging research problem. To this end, we make the following 3 contributions: (a) To increase model capacity, we propose Expert Binary Convolution, which, for the first time, tailors conditional computing to binary networks by learning to select one data-specific expert binary filter at a time conditioned on input features. Overall, our method improves upon prior work, with no increase in computational cost by 6%, reaching a groundbreaking 71% on ImageNet classification. A promising, hardware-aware, direction for designing efficient deep learning models case is that of network binarization, in which filter and activation values are restricted to two states only: 1 [36; 11]. This comes with two important advantages: (a) it compresses the weights by a factor of 32 via bit-packing, and (b) it replaces the computationally expensive multiply-add with bit-wise xnor and popcount operations, offering in practice a speedup of 58 on a CPU [36]. Despite this, how to reduce the accuracy gap between a binary model and its real-valued counterpart remains an open problem and it is currently the major impediment for their wide scale adoption. In this work, we propose to approach this challenging problem from 3 key perspectives: 1. Model capacity: To increase model capacity, we firstly introduce the first application of Conditional Computing [3; 2; 47] to the case of a binary networks, which we call Expert Binary Convolution. For each convolutional layer, rather than learning a weight tensor that is expected to generalize well across the entire input space, we learn a set of N experts each of which is tuned to specialize to portions of it.

This paper presents the computational logic foundations of a model of agency called the KGP (Knowledge, Goals and Plan model. This model allows the specification of heterogeneous agents that can interact with each other, and can exhibit both proactive and reactive behaviour allowing them to function in dynamic environments by adjusting their goals and plans when changes happen in such environments. KGP provides a highly modular agent architecture that integrates a collection of reasoning and physical capabilities, synthesised within transitions that update the agents state in response to reasoning, sensing and acting. Transitions are orchestrated by cycle theories that specify the order in which transitions are executed while taking into account the dynamic context and agent preferences, as well as selection operators for providing inputs to transitions.

This paper presents the computational logic foundations of a model of agency called the KGP (Knowledge, Goals and Plan model. This model allows the specification of heterogeneous agents that can interact with each other, and can exhibit both proactive and reactive behaviour allowing them to function in dynamic environments by adjusting their goals and plans when changes happen in such environments. KGP provides a highly modular agent architecture that integrates a collection of reasoning and physical capabilities, synthesised within transitions that update the agent's state in response to reasoning, sensing and acting. Transitions are orchestrated by cycle theories that specify the order in which transitions are executed while taking into account the dynamic context and agent preferences, as well as selection operators for providing inputs to transitions.