In this work, we propose a disruptively frugal LiDAR perception dataflow that generates rather than senses parts of the environment that are either predictable based on the extensive training of the environment or have limited consequence to the overall prediction accuracy. Therefore, the proposed methodology trades off sensing energy with training data for low-power robotics and autonomous navigation to operate frugally with sensors, extending their lifetime on a single battery charge. Our proposed generative pre-training strategy for this purpose, called as radially masked autoencoding (R-MAE), can also be readily implemented in a typical LiDAR system by selectively activating and controlling the laser power for randomly generated angular regions during on-field operations. Our extensive evaluations show that pre-training with R-MAE enables focusing on the radial segments of the data, thereby capturing spatial relationships and distances between objects more effectively than conventional procedures. Therefore, the proposed methodology not only reduces sensing energy but also improves prediction accuracy. For example, our extensive evaluations on Waymo, nuScenes, and KITTI datasets show that the approach achieves over a 5% average precision improvement in detection tasks across datasets and over a 4% accuracy improvement in transferring domains from Waymo and nuScenes to KITTI. In 3D object detection, it enhances small object detection by up to 4.37% in AP at moderate difficulty levels in the KITTI dataset. Even with 90% radial masking, it surpasses baseline models by up to 5.59% in mAP/mAPH across all object classes in the Waymo dataset. Additionally, our method achieves up to 3.17% and 2.31% improvements in mAP and NDS, respectively, on the nuScenes dataset, demonstrating its effectiveness with both single and fused LiDAR-camera modalities. https://github.com/sinatayebati/Radial_MAE.

As countries look towards re-opening of economic activities amidst the ongoing COVID-19 pandemic, ensuring public health has been challenging. While contact tracing only aims to track past activities of infected users, one path to safe reopening is to develop reliable spatiotemporal risk scores to indicate the propensity of the disease. Existing works which aim to develop risk scores either rely on compartmental model-based reproduction numbers (which assume uniform population mixing) or develop coarse-grain spatial scores based on reproduction number (R0) and macro-level density-based mobility statistics. Instead, in this paper, we develop a Hawkes process-based technique to assign relatively fine-grain spatial and temporal risk scores by leveraging high-resolution mobility data based on cell-phone originated location signals. While COVID-19 risk scores also depend on a number of factors specific to an individual, including demography and existing medical conditions, the primary mode of disease transmission is via physical proximity and contact. Therefore, we focus on developing risk scores based on location density and mobility behaviour. We demonstrate the efficacy of the developed risk scores via simulation based on real-world mobility data. Our results show that fine-grain spatiotemporal risk scores based on high-resolution mobility data can provide useful insights and facilitate safe re-opening.