Patent Publication Number: US-2022215035-A1

Title: Transforming model data

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This is a non-provisional application for patent entitled to a filing date and claiming the benefit of earlier-filed U.S. Provisional Patent Application No. 63/134,804, filed Jan. 7, 2021, herein incorporated by reference in its entirety. 
    
    
     BACKGROUND 
     Field of the Invention 
     The field of the invention is data processing, or, more specifically, methods, apparatus, autonomous vehicles, and products for transforming model data. 
     Description of Related Art 
     Autonomous driving systems use machine learning models such as neural networks to facilitate autonomous driving operations. Such machine learning models are susceptible to reverse engineering, and may be distributed to unauthorized systems. 
     SUMMARY 
     Transforming model data may include applying a transformation to data generated by a machine learning model; and providing the transformed data to a consumer of the transformed data, wherein the consumer is configured to: reverse the transformation applied to the transformed data; and perform one or more operations based on the data. 
     The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular descriptions of exemplary embodiments of the invention as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts of exemplary embodiments of the invention. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  shows example views of an autonomous vehicle for transforming model data. 
         FIG. 2  is block diagram of an autonomous computing system for transforming model data. 
         FIG. 3  is a block diagram of a redundant power fabric for transforming model data. 
         FIG. 4  is a block diagram of a redundant data fabric for transforming model data. 
         FIG. 5  is an example view of process allocation across CPU packages for transforming model data. 
         FIG. 6  is an example view of an execution environment for transforming model data. 
         FIG. 7  is a flowchart of an example method for transforming model data. 
         FIG. 8  is a flowchart of an example method for transforming model data. 
         FIG. 9  is a flowchart of an example method for transforming model data. 
     
    
    
     DETAILED DESCRIPTION 
     Transforming model data may be implemented in an autonomous vehicle. Accordingly,  FIG. 1  shows multiple views of an autonomous vehicle  100  configured for transforming model data according to embodiments of the present invention. Right side view  101   a  shows a right side of the autonomous vehicle  100 . Shown in the right side view  101   a  are cameras  102  and  103 , configured to capture image data, video data, and/or audio data of the environmental state of the autonomous vehicle  100  from the perspective of the right side of the car. Front view  101   b  shows a front side of the autonomous vehicle  100 . Shown in the front view  101   b  are cameras  104  and  106 , configured to capture image data, video data, and/or audio data of the environmental state of the autonomous vehicle  100  from the perspective of the front of the car. Rear view  101   c  shows a rear side of the autonomous vehicle  100 . Shown in the rear view  101   c  are cameras  108  and  110 , configured to capture image data, video data, and/or audio data of the environmental state of the autonomous vehicle  100  from the perspective of the rear of the car. Top view  101   d  shows a rear side of the autonomous vehicle  100 . Shown in the top view  101   d  are cameras  102 - 110 . Also shown are cameras  112  and  114 , configured to capture image data, video data, and/or audio data of the environmental state of the autonomous vehicle  100  from the perspective of the left side of the car. 
     Further shown in the top view  101   d  is an automation computing system  116 . The automation computing system  116  comprises one or more computing devices configured to control one or more autonomous operations (e.g., autonomous driving operations) of the autonomous vehicle  100 . For example, the automation computing system  116  may be configured to process sensor data (e.g., data from the cameras  102 - 114  and potentially other sensors), operational data (e.g., a speed, acceleration, gear, orientation, turning direction), and other data to determine a operational state and/or operational history of the autonomous vehicle. The automation computing system  116  may then determine one or more operational commands for the autonomous vehicle (e.g., a change in speed or acceleration, a change in brake application, a change in gear, a change in turning or orientation, etc.). The automation computing system  116  may also capture and store sensor data. Operational data of the autonomous vehicle may also be stored in association with corresponding sensor data, thereby indicating the operational data of the autonomous vehicle  100  at the time the sensor data was captured. 
     Although the autonomous vehicle  100  if  FIG. 1  is shown as car, it is understood that autonomous vehicles  100  configured for transforming model data may also include other vehicles, including motorcycles, planes, helicopters, unmanned aerial vehicles (UAVs, e.g., drones), or other vehicles as can be appreciated. Moreover, it is understood that additional cameras or other external sensors may also be included in the autonomous vehicle  100 . 
     Transforming model data in accordance with the present invention is generally implemented with computers, that is, with automated computing machinery. For further explanation, therefore,  FIG. 2  sets forth a block diagram of automated computing machinery comprising an exemplary automation computing system  116  configured for transforming model data according to embodiments of the present invention. The automation computing system  116  of  FIG. 2  includes at least one computer Central Processing Unit (CPU) package  204  as well as random access memory  206  (RAM′) which is connected through a high speed memory bus  208  and bus adapter  210  to CPU packages  204  via a front side bus  211  and to other components of the automation computing system  116 . 
     A CPU package  204  may comprise a plurality of processing units. For example, each CPU package  204  may comprise a logical or physical grouping of a plurality of processing units. Each processing unit may be allocated a particular process for execution. Moreover, each CPU package  204  may comprise one or more redundant processing units. A redundant processing unit is a processing unit not allocated a particular process for execution unless a failure occurs in another processing unit. For example, when a given processing unit allocated a particular process fails, a redundant processing unit may be selected and allocated the given process. A process may be allocated to a plurality of processing units within the same CPU package  204  or different CPU packages  204 . For example, a given process may be allocated to a primary processing unit in a CPU package  204 . The results or output of the given process may be output from the primary processing unit to a receiving process or service. The given process may also be executed in parallel on a secondary processing unit. The secondary processing unit may be included within the same CPU package  204  or a different CPU package  204 . The secondary processing unit may not provide its output or results of the process until the primary processing unit fails. The receiving process or service will then receive data from the secondary processing unit. A redundant processing unit may then be selected and have allocated the given process to ensure that two or more processing units are allocated the given process for redundancy and increased reliability. 
     The CPU packages  204  are communicatively coupled to one or more sensors  212 . The sensors  212  are configured to capture sensor data describing the operational and environmental conditions of an autonomous vehicle. For example, the sensors  212  may include cameras (e.g., the cameras  102 - 114  of  FIG. 1 ), accelerometers, Global Positioning System (GPS) radios, Lidar sensors, or other sensors as can be appreciated. As described herein, cameras may include a stolid state sensor  212  with a solid state shutter capable of measuring photons or a time of flight of photons. For example, a camera may be configured to capture or measure photons captured via the shutter for encoding as images and/or video data. As another example, a camera may emit photons and measure the time of flight of the emitted photons. Cameras may also include event cameras configured to measure changes in light and/or motion of light. 
     Although the sensors  212  are shown as being external to the automation computing system  116 , it is understood that one or more of the sensors  212  may reside as a component of the automation computing system  116  (e.g., on the same board, within the same housing or chassis). The sensors  212  may be communicatively coupled with the CPU packages  204  via a switched fabric  213 . The switched fabric  213  comprises a communications topology through which the CPU packages  204  and sensors  212  are coupled via a plurality of switching mechanisms (e.g., latches, switches, crossbar switches, field programmable gate arrays (FPGAs), etc.). For example, the switched fabric  213  may implement a mesh connection connecting the CPU packages  204  and sensors  212  as endpoints, with the switching mechanisms serving as intermediary nodes of the mesh connection. The CPU packages  204  and sensors  212  may be in communication via a plurality of switched fabrics  213 . For example, each of the switched fabrics  213  may include the CPU packages  204  and sensors  212 , or a subset of the CPU packages  204  and sensors  212 , as endpoints. Each switched fabric  213  may also comprise a respective plurality of switching components. The switching components of a given switched fabric  213  may be independent (e.g., not connected) of the switching components of other switched fabrics  213  such that only switched fabric  213  endpoints (e.g., the CPU packages  204  and sensors  212 ) are overlapping across the switched fabrics  213 . This provides redundancy such that, should a connection between a CPU package  204  and sensor  212  fail in one switched fabric  213 , the CPU package  204  and sensor  212  may remain connected via another switched fabric  213 . Moreover, in the event of a failure in a CPU package  204 , a processor of a CPU package  204 , or a sensor, a communications path excluding the failed component and including a functional redundant component may be established. 
     The CPU packages  204  and sensors  212  are configured to receive power from one or more power supplies  215 . The power supplies  215  may comprise an extension of a power system of the autonomous vehicle  100  or an independent power source (e.g., a battery). The power supplies  215  may supply power to the CPU packages  204  and sensors  212  by another switched fabric  214 . The switched fabric  214  provides redundant power pathways such that, in the event of a failure in a power connection, a new power connection pathway may be established to the CPU packages  204  and sensors  212 . 
     Stored in RAM  206  is an automation module  220 . The automation module  220  may be configured to process sensor data from the sensors  212  to determine a driving decision for the autonomous vehicle. The driving decision comprises one or more operational commands for an autonomous vehicle  100  to affect the movement, direction, or other function of the autonomous vehicle  100 , thereby facilitating autonomous driving or operation of the vehicle. Such operational commands may include a change in the speed of the autonomous vehicle  100 , a change in steering direction, a change in gear, or other command as can be appreciated. For example, the automation module  220  may provide sensor data and/or processed sensor data as one or more inputs to a trained machine learning model (e.g., a trained neural network) to determine the one or more operational commands. The operational commands may then be communicated to autonomous vehicle control systems  223  via a vehicle interface  222 . 
     In some embodiments, the automation module  220  may be configured to determine an exit path for an autonomous vehicle  100  in motion. The exit path includes one or more operational commands that, if executed, are determined and/or predicted to bring the autonomous vehicle  100  safely to a stop (e.g., without collision with an object, without violating one or more safety rules). The automation module  220  may determine a both a driving decision and an exit path at a predefined interval. The automation module  220  may then send the driving decision and the exit path to the autonomous vehicle control systems  223 . The autonomous vehicle control systems  223  may be configured to execute the driving decision unless an error state has been reached. If an error decision has been reached, therefore indicating a possible error in functionality of the automation computing system  116 ), the autonomous vehicle control systems  223  may then execute a last received exit path in order to bring the autonomous vehicle  100  safely to a stop. Thus, the autonomous vehicle control systems  223  are configured to receive both a driving decision and exit path at predefined intervals, and execute the exit path in response to an error. 
     The autonomous vehicle control systems  223  are configured to affect the movement and operation of the autonomous vehicle  100 . For example, the autonomous vehicle control systems  223  may activate (e.g., apply one or more control signals) to actuators or other components to turn or otherwise change the direction of the autonomous vehicle  100 , accelerate or decelerate the autonomous vehicle  100 , change a gear of the autonomous vehicle  100 , or otherwise affect the movement and operation of the autonomous vehicle  100 . 
     Further stored in RAM  206  is a data collection module  224  configured to process and/or store sensor data received from the one or more sensors  212 . For example, the data collection module  224  may store the sensor data as captured by the one or more sensors  212 , or processed sensor  212  data (e.g., sensor  212  data having object recognition, compression, depth filtering, or other processes applied). Such processing may be performed by the data collection module  224  in real-time or in substantially real-time as the sensor data is captured by the one or more sensors  212 . The processed sensor data may then be used by other functions or modules. For example, the automation module  220  may use processed sensor data as input to determine one or more operational commands. The data collection module  224  may store the sensor data in data storage  218 . 
     Also stored in RAM  206  is a data processing module  226 . The data processing module  226  is configured to perform one or more processes on stored sensor data (e.g., stored in data storage  218  by the data collection module  224  prior to upload to a execution environment  227 . Such operations can include filtering, compression, encoding, decoding, or other operations as can be appreciated. The data processing module  226  may then communicate the processed and stored sensor data to the execution environment  227 . 
     Further stored in RAM  206  is a hypervisor  228 . The hypervisor  228  is configured to manage the configuration and execution of one or more virtual machines  229 . For example, each virtual machine  229  may emulate and/or simulate the operation of a computer. Accordingly, each virtual machine  229  may comprise a guest operating system  216  for the simulated computer. The hypervisor  228  may manage the creation of a virtual machine  229  including installation of the guest operating system  216 . The hypervisor  228  may also manage when execution of a virtual machine  229  begins, is suspended, is resumed, or is terminated. The hypervisor  228  may also control access to computational resources (e.g., processing resources, memory resources, device resources) by each of the virtual machines. 
     Each of the virtual machines  229  may be configured to execute one or more of the automation module  220 , the data collection module  224 , the data processing module  226 , or combinations thereof. Moreover, as is set forth above, each of the virtual machines  229  may comprise its own guest operating system  216 . Guest operating systems  216  useful in autonomous vehicles in accordance with some embodiments of the present disclosure include UNIX™, Linux™, Microsoft Windows™, AIX™, IBM&#39;s i OS™, and others as will occur to those of skill in the art. For example, the autonomous vehicle  100  may be configured to execute a first operating system when the autonomous vehicle is in an autonomous (or even partially autonomous) driving mode and the autonomous vehicle  100  may be configured to execute a second operating system when the autonomous vehicle is not in an autonomous (or even partially autonomous) driving mode. In such an example, the first operating system may be formally verified, secure, and operate in real-time such that data collected from the sensors  212  are processed within a predetermined period of time, and autonomous driving operations are performed within a predetermined period of time, such that data is processed and acted upon essentially in real-time. Continuing with this example, the second operating system may not be formally verified, may be less secure, and may not operate in real-time as the tasks that are carried out (which are described in greater detail below) by the second operating system are not as time-sensitive the tasks (e.g., carrying out self-driving operations) performed by the first operating system. 
     Readers will appreciate that although the example included in the preceding paragraph relates to an embodiment where the autonomous vehicle  100  may be configured to execute a first operating system when the autonomous vehicle is in an autonomous (or even partially autonomous) driving mode and the autonomous vehicle  100  may be configured to execute a second operating system when the autonomous vehicle is not in an autonomous (or even partially autonomous) driving mode, other embodiments are within the scope of the present disclosure. For example, in another embodiment one CPU (or other appropriate entity such as a chip, CPU core, and so on) may be executing the first operating system and a second CPU (or other appropriate entity) may be executing the second operating system, where switching between these two modalities is accomplished through fabric switching, as described in greater detail below. Likewise, in some embodiments, processing resources such as a CPU may be partitioned where a first partition supports the execution of the first operating system and a second partition supports the execution of the second operating system. 
     The guest operating systems  216  may correspond to a particular operating system modality. An operating system modality is a set of parameters or constraints which a given operating system satisfies, and are not satisfied by operating systems of another modality. For example, a given operating system may be considered a “real-time operating system” in that one or more processes executed by the operating system must be performed according to one or more time constraints. For example, as the automation module  220  must make determinations as to operational commands to facilitate autonomous operation of a vehicle. Accordingly, the automation module  220  must make such determinations within one or more time constraints in order for autonomous operation to be performed in real time. The automation module  220  may then be executed in an operating system (e.g., a guest operating system  216  of a virtual machine  229 ) corresponding to a “real-time operating system” modality. Conversely, the data processing module  226  may be able to perform its processing of sensor data independent of any time constrains, and may then be executed in an operating system (e.g., a guest operating system  216  of a virtual machine  229 ) corresponding to a “non-real-time operating system” modality. 
     As another example, an operating system (e.g., a guest operating system  216  of a virtual machine  229 ) may comprise a formally verified operating system. A formally verified operating system is an operating system for which the correctness of each function and operation has been verified with respect to a formal specification according to formal proofs. A formally verified operating system and an unverified operating system (e.g., one that has not been formally verified according to these proofs) can be said to operate in different modalities. 
     The automation module  220 , data collection module  224 , data collection module  224 , data processing module  226 , hypervisor  228 , and virtual machine  229  in the example of  FIG. 2  are shown in RAM  206 , but many components of such software typically are stored in non-volatile memory also, such as, for example, on data storage  218 , such as a disk drive. Moreover, any of the automation module  220 , data collection module  224 , and data processing module  226  may be executed in a virtual machine  229  and facilitated by a guest operating system  216  of that virtual machine  229 . 
     The automation computing system  116  of  FIG. 2  includes disk drive adapter  230  coupled through expansion bus  232  and bus adapter  210  to CPU packages(s)  204  and other components of the automation computing system  116 . Disk drive adapter  230  connects non-volatile data storage to the automation computing system  116  in the form of data storage  218 . Disk drive adapters  230  useful in computers configured for transforming model data according to embodiments of the present invention include Integrated Drive Electronics (‘IDE’) adapters, Small Computer System Interface (SCSI′) adapters, and others as will occur to those of skill in the art. Non-volatile computer memory also may be implemented for as an optical disk drive, electrically erasable programmable read-only memory (so-called ‘EEPROM’ or ‘Flash’ memory), RAM drives, and so on, as will occur to those of skill in the art. 
     The exemplary automation computing system  116  of  FIG. 2  includes a communications adapter  238  for data communications with other computers and for data communications with a data communications network. Such data communications may be carried out serially through RS-232 connections, through external buses such as a Universal Serial Bus (‘USB’), through data communications networks such as IP data communications networks, and in other ways as will occur to those of skill in the art. Communications adapters implement the hardware level of data communications through which one computer sends data communications to another computer, directly or through a data communications network. Examples of communications adapters useful in computers configured for transforming model data according to embodiments of the present invention include modems for wired dial-up communications, Ethernet (IEEE 802.3) adapters for wired data communications, 802.11 adapters for wireless data communications, as well as mobile adapters (e.g., cellular communications adapters) for mobile data communications. For example, the automation computing system  116  may communicate with one or more remotely disposed execution environments  227  via the communications adapter  238 . 
     The exemplary automation computing system of  FIG. 2  also includes one or more Artificial Intelligence (AI) accelerators  240 . The AI accelerator  240  provides hardware-based assistance and acceleration of AI-related functions, including machine learning, computer vision, etc. Accordingly, performance of any of the automation module  220 , data collection module  224 , data processing module  226 , or other operations of the automation computing system  116  may be performed at least in part by the AI accelerators  240 . 
     The exemplary automation computing system of  FIG. 2  also includes one or more graphics processing units (GPUs)  242 . The GPUs  242  are configured to provide additional processing and memory resources for processing image and/or video data, including encoding, decoding, etc. Accordingly, performance of any of the automation module  220 , data collection module  224 , data processing module  226 , or other operations of the automation computing system  116  may be performed at least in part by the GPUs  242 . 
       FIG. 3  shows an example redundant power fabric for transforming model data. The redundant power fabric provides redundant pathways for power transfer between the power supplies  215 , the sensors  212 , and the CPU packages  204 . In this example, the power supplies  215  are coupled to the sensors  212  and CPU packages via two switched fabrics  214   a  and  214   b . The topology shown in  FIG. 3  provides redundant pathways between the power supplies  215 , the sensors  212 , and the CPU packages  204  such that power can be rerouted through any of multiple pathways in the event of a failure in an active connection pathway. The switched fabrics  214   a  and  214   b  may provide power to the sensors  212  using various connections, including Mobile Industry Processor Interface (MIPI), Inter-Integrated Circuit (I2C), Universal Serial Bus (USB), or another connection. The switched fabrics  214   a  and  214   b  may also provide power to the CPU packages  204  using various connections, including Peripheral Component Interconnect Express (PCIe), USB, or other connections. Although only two switched fabrics  214   a  and  214   b  are shown connecting the power supplies  215  to the sensors  212  and CPU packages  204 , it is understood that the approach shown by  FIG. 3  can be modified to include additional switched fabrics  214 . 
       FIG. 4  is an example redundant data fabric for transforming model data. The redundant data fabric provides redundant data connection pathways between sensors  212  and CPU packages  204 . In this example view, three CPU packages  204   a ,  204   b , and  204   c  are connected to three sensors  212   a ,  212   b , and  212   c  via three switched fabrics  213   a ,  213   b , and  213   c . Each CPU package  204   a ,  204   b , and  204   c  is connected to a subset of the switched fabrics  213   a ,  213   b , and  213   c . For example, CPU package  204   a  is connected to switched fabrics  213   a  and  213   c , CPU package  204   b  is connected to switched fabrics  213   a  and  213   b , and CPU package  204   c  is connected to switched fabrics  213   b  and  213   c . Each switched fabric  213   a ,  213   b , and  213   c  is connected to a subset of the sensors  212   a ,  212   b , and  212   c . For example, switched fabric  213   a  is connected to sensors  212   a  and  212   b , switched fabric  213   b  is connected to sensor  212   b  and  212   c , and switched fabric  213   c  is connected to sensors  212   a  and  212   c . Under this topology, each CPU package  204   a ,  204   b , and  204   c  has an available connection path to any sensor  212   a ,  212   b , and  212   c . It is understood that the topology of  FIG. 4  is exemplary, and that CPU packages, switched fabrics, sensors, or connections between components may be added or removed while maintaining redundancy as can be appreciated by one skilled in the art. 
       FIG. 5  is an example view of process allocation across CPU packages for transforming model data. Shown are three CPU packages  204   a ,  204   b , and  204   c . Each CPU package  204   a  includes a processing unit that has been allocated (e.g., by a hypervisor  228  or other process or service) primary execution of a process and another processing unit that has been allocated secondary execution of a process. As set forth herein, primary execution of a process describes an executing instance of a process whose output will be provided to another process or service. Secondary execution of the process describes executing an instance of the process in parallel to the primary execution, but the output may not be output to the other process or service. For example, in CPU package  204   a , processing unit  502   a  has been allocated secondary execution of “process B,” denoted as secondary process B  504   b , while processing unit  502   b  has been allocated primary execution of “process C,” denoted as primary process C  506   a.    
     CPU package  204   a  also comprises two redundant processing units that are not actively executing a process A, B, or C, but are instead reserved in case of failure of an active processing unit. Redundant processing unit  508   a  has been reserved as “A/B redundant,” indicating that reserved processing unit  508   a  may be allocated primary or secondary execution of processes A or B in the event of a failure of a processing unit allocated the primary or secondary execution of these processes. Redundant processing unit  508   b  has been reserved as “A/C redundant,” indicating that reserved processing unit  508   b  may be allocated primary or secondary execution of processes A or C in the event of a failure of a processing unit allocated the primary or secondary execution of these processes. 
     CPU package  204   b  includes processing unit  502   c , which has been allocated primary execution of “process A,” denoted as primary process A  510   a , and processing unit  502   d , which has been allocated secondary execution of “process C,” denoted as secondary process C  506   a . CPU package  204   b  also includes redundant processing unit  508   c , reserved as “A/B redundant,” and redundant processing unit  508   d , reserved as “B/C redundant.” CPU package  204   c  includes processing unit  502   e , which has been allocated primary execution of “process B,” denoted as primary process B  504   a , and processing unit  502   f , which has been allocated secondary execution of “process A,” denoted as secondary process A  510   b . CPU package  204   c  also includes redundant processing unit  508   e , reserved as “B/C redundant,” and redundant processing unit  508   f , reserved as “A/C redundant.” 
     As set forth in the example view of  FIG. 5 , primary and secondary instances processes A, B, and C are each executed in an allocated processing unit. Thus, if a processing unit performing primary execution of a given process fails, the processing unit performing secondary execution may instead provide output of the given process to a receiving process or service. Moreover, the primary and secondary execution of a given process are executed on different CPU packages. Thus, if an entire processing unit fails, execution of each of the processes can continue using one or more processing units handling secondary execution. The redundant processing units  508   a - f  allow for allocation of primary or secondary execution of a process in the event of processing unit failure. This further prevents errors caused by processing unit failure as parallel primary and secondary execution of a process may be restored. One skilled in the art would understand that the number of CPU packages, processing units, redundant processing units, and processes may be modified according to performance requirements while maintaining redundancy. 
     For further explanation,  FIG. 6  sets forth a diagram of an execution environment  227  accordance with some embodiments of the present disclosure. The execution environment  227  depicted in  FIG. 6  may be embodied in a variety of different ways. The execution environment  227  may be provided, for example, by one or more physical or virtual machine components consisting of bare-metal applications, operating systems such as Android, Linux, Real-time Operating systems (RTOS), Automotive RTOS, such as AutoSAR, and others, including combinations thereof. The execution environment  227  may also be provided by cloud computing providers such as Amazon AWS, Microsoft Azure, Google Cloud, and others, including combinations thereof. Alternatively, the execution environment  227  may be embodied as a collection of devices (e.g., servers, storage devices, networking devices) and software resources that are included in a computer or distributed computer or private data center. Readers will appreciate that the execution environment  227  may be constructed in a variety of other ways and may even include resources within one or more autonomous vehicles or resources that communicate with one or more autonomous vehicles. 
     The execution environment  227  depicted in  FIG. 6  may include storage resources  608 , which may be embodied in many forms. For example, the storage resources  608  may include flash memory, hard disk drives, nano-RAM,  3 D crosspoint non-volatile memory, MRAM, non-volatile phase-change memory (‘PCM’), storage class memory (‘SCM’), or many others, including combinations of the storage technologies described above. Readers will appreciate that other forms of computer memories and storage devices may be utilized as part of the execution environment  227 , including DRAM, SRAM, EEPROM, universal memory, and many others. The storage resources  608  may also be embodied, in embodiments where the execution environment  227  includes resources offered by a cloud provider, as cloud storage resources such as Amazon Elastic Block Storage (‘EBS’) block storage, Amazon S3 object storage, Amazon Elastic File System (‘EFS’) file storage, Azure Blob Storage, and many others. The example execution environment  227  depicted in  FIG. 6  may implement a variety of storage architectures, such as block storage where data is stored in blocks, and each block essentially acts as an individual hard drive, object storage where data is managed as objects, or file storage in which data is stored in a hierarchical structure. Such data may be saved in files and folders, and presented to both the system storing it and the system retrieving it in the same format. 
     The execution environment  227  depicted in  FIG. 6  also includes communications resources  610  that may be useful in facilitating data communications between components within the execution environment  227 , as well as data communications between the execution environment  227  and computing devices that are outside of the execution environment  227 . Such communications resources may be embodied, for example, as one or more routers, network switches, communications adapters, and many others, including combinations of such devices. The communications resources  610  may be configured to utilize a variety of different protocols and data communication fabrics to facilitate data communications. For example, the communications resources  610  may utilize Internet Protocol (‘IP’) based technologies, fibre channel (‘FC’) technologies, FC over ethernet (‘FCoE’) technologies, InfiniBand (‘IB’) technologies, NVM Express (‘NVMe’) technologies and NVMe over fabrics (‘NVMeoF’) technologies, and many others. The communications resources  610  may also be embodied, in embodiments where the execution environment  227  includes resources offered by a cloud provider, as networking tools and resources that enable secure connections to the cloud as well as tools and resources (e.g., network interfaces, routing tables, gateways) to configure networking resources in a virtual private cloud. Such communications resources may be useful in facilitating data communications between components within the execution environment  227 , as well as data communications between the execution environment  227  and computing devices that are outside of the execution environment  227  (e.g., computing devices that are included within an autonomous vehicle). 
     The execution environment  227  depicted in  FIG. 6  also includes processing resources  612  that may be useful in useful in executing computer program instructions and performing other computational tasks within the execution environment  227 . The processing resources  612  may include one or more application-specific integrated circuits (‘ASICs’) that are customized for some particular purpose, one or more central processing units (‘CPUs’), one or more digital signal processors (‘DSPs’), one or more field-programmable gate arrays (‘FPGAs’), one or more systems on a chip (‘SoCs’), or other form of processing resources  612 . The processing resources  612  may also be embodied, in embodiments where the execution environment  227  includes resources offered by a cloud provider, as cloud computing resources such as one or more Amazon Elastic Compute Cloud (‘EC2’) instances, event-driven compute resources such as AWS Lambdas, Azure Virtual Machines, or many others. 
     The execution environment  227  depicted in  FIG. 6  also includes software resources  613  that, when executed by processing resources  612  within the execution environment  227 , may perform various tasks. The software resources  613  may include, for example, one or more modules of computer program instructions that when executed by processing resources  612  within the execution environment  227  are useful in training neural networks configured to determine control autonomous vehicle control operations. For example, a training module  614  may train a neural network using training data including sensor  212  data and control operations recorded or captured contemporaneous to the training data. In other words, the neural network may be trained to encode a relationship between an environment relative to an autonomous vehicle  100  as indicated in sensor  212  data and the corresponding control operations effected by a user or operation of the autonomous vehicle. The training module  614  may provide a corpus of training data, or a selected subset of training data, to train the neural network. For example, the training module  614  may select particular subsets of training data associated with particular driving conditions, environment states, etc. to train the neural network. 
     The software resources  613  may include, for example, one or more modules of computer program instructions that when executed by processing resources  612  within the execution environment  227  are useful in deploying software resources or other data to autonomous vehicles  100  via a network  618 . For example, a deployment module  616  may provide software updates, neural network updates, or other data to autonomous vehicles  100  to facilitate autonomous vehicle control operations. 
     The software resources  613  may include, for example, one or more modules of computer program instructions that when executed by processing resources  612  within the execution environment  227  are useful in collecting data from autonomous vehicles  100  via a network  618 . For example, a data collection module  620  may receive, from autonomous vehicles  100 , collected sensor  212 , associated control operations, software performance logs, or other data. Such data may facilitate training of neural networks via the training module  614  or stored using storage resources  608 . 
     For further explanation,  FIG. 7  sets forth a flow chart illustrating an exemplary method for transforming model data that includes applying  702  (e.g., by the automation computing system  116 ) a transformation to data generated by a machine learning model. In some embodiments, the machine learning model is a model used by the automation module  220  to facilitate generating control operations for an autonomous vehicle  100 . In some embodiments, the machine learning model is another model used by the automation computing system  116 . In some embodiments, the machine learning model is a neural network. 
     In some embodiments, the data generated by the machine learning model is an output of the machine learning model. In such embodiments, the transformation is applied by a service or module separate from the machine learning model and implemented in the automation computing system  116 . In other embodiments, the transformation is applied by the machine learning model itself as a final layer or step in the machine learning model. In such embodiments, the data to which the transformation is applied may be generated by a penultimate layer or step in the machine learning model. For example, assume that the machine learning model is trained according to some set of training data and thereby configured to generate some sort of output based on some sort of input. An additional layer may be encoded into the model (e.g., independent of training or after training) to perform the transformation. The model is thus configured to generate transformed outputs using an output layer. 
     In some embodiments, the transformation applied to the data may be an arithmetic transformation. For example, where the data includes one or more values (e.g., as a single value, as a vector, matrix, or another data structure), applying the transformation may include adding, subtracting, multiplying, dividing, or otherwise arithmetically modifying the one or more values. Accordingly, the transformation may include a vector or matrix addition, subtraction, multiplication, division, and the like. The transformation may include one or more predefined operations applied to the data independent of the content of the data (e.g., the same transformation is applied to any data). The transformation may include one or more Boolean operations (e.g., OR, XOR, and the like). The transformation may also include conditionally executed operations dependent on the content of the data. As set forth below, the transformation must be reversable by a consumer of the transformed data in order to perform operations or computations on the untransformed, original data. Accordingly, one skilled in the art will appreciate that the transformation may include any combination of operations that may be reversed. 
     In some embodiments, the transformation applied to the data may be a cryptographic operation (e.g., an encryption operation). For example, the transformation may include a symmetric key encryption, an asymmetric key encryption, or other encryption as can be appreciated. Thus, a consumer of the transformed data can decrypt the transformed data in order to generate the untransformed, original data for its designated operations or computations. 
     The method of  FIG. 7  also includes providing  704  the transformed data to a consumer of the transformed data. A consumer of the transformed data is a service, module, or other component of the automation computing system  116  configured to receive output from the machine learning model and perform one or more operations in response to the received output. For example, the consumer may be another machine learning model, an application or service configured to perform operations based on input from the machine learning model, or another component of the automation computing system  116  as can be appreciated. As an example, the consumer may be a machine learning model configured or trained to reverse the one or more transformations. 
     The consumer is configured to reverse the transformation in order to generate the data in its untransformed state (e.g., as generated by the machine learning model). For example, where the transformation includes an arithmetic transformation, the consumer is configured to apply inverse operations to reverse the arithmetic transformation. Accordingly, the consumer is preconfigured with the inverse operations required to reverse the transformation applied to the data. Where the transformation includes encryption, the consumer is configured to decrypt the transformed data to generate the original data. Accordingly, the consumer has access to any required keys or other data required to reverse the applied encryption. The consumer may then perform one or more operations on the data in its untransformed state. Such operations may be any operation required by the automation computing system  116 . 
     Applying the transformation to the data generated by the machine learning model adds an increased layer of complexity to any attempts to reverse engineer the machine learning model. Moreover, in embodiments where the model applies the transformation (e.g., the model is configured after training to apply the transformation for output), the model may be distributed to any system but is only usable in systems capable of reversing the applied transformation (e.g., is configured to apply the correct inverse operations or is in possession of the required decryption keys). Thus, the model cannot be used in unauthorized systems lacking the required data to reverse the transformation. Although the above describes applying a transformation and reversing a transformation, it is understood that potentially many transformations may be applied, thereby necessitating the reversal of these potentially many transformations. 
     For further explanation,  FIG. 8  sets forth a flow chart illustrating an exemplary method for transforming model data that includes submitting  802  (e.g., by an automation computing system  116 ) a query based on location data. For example, the location data may indicate a current location of an autonomous vehicle  100 , such as Global Positioning System (GPS) data. The query may be submitted to a database, hash table, or other relational data structure mapping particular keys to particular values. Such a database, hash table, or other relational data structure may be stored in the automation computing system  116  or stored remotely (e.g., in an execution environment  227 ). Although the following discussion describes a database, one skilled in the art that other data structures may be used and that the use of the term “database” is merely exemplary and for clarity. 
     The database maps particular points of location data to particular features of the corresponding location. Such features may include objects identified in the location (e.g., stop signs, traffic lights, cross walks, etc.), particular road conditions (e.g., asphalt, dirt roads, etc.), identified hazards (e.g., potholes), and other features as can be appreciated. For example, assume that a data collection module  620  collects location data and sensor data (e.g., video or image data) from multiple sources (e.g., multiple sensor-equipped vehicles). The data collection module  620  may apply object classification algorithms or other data to the sensor data to identify the particular features at a given location, and generate the database mapping particular locations to the particular features. The database may then be deployed to autonomous vehicles  100  via the deployment module  616 , or stored in the execution environment  227 . 
     A model (e.g., an object classifier) used by the automation computing system  116  has been trained (e.g., by the training module  614 ) using the data collected by the data collection module  620 . Thus, particular inputs to the model will generate output indicating the features identified in the database. Accordingly, the mapping between a location and the identified features may be encoded as a model input that, when provided to the model, generates an identification of the features. In other words, instead of mapping particular locations to particular identified features, the database maps particular locations to particular model inputs that, when provided as input to the model, generate an identification of the particular features. Accordingly, the method of  FIG. 8  also includes receiving  804 , in response to the query, input data for a machine learning model. 
     As an example, assume that an autonomous vehicle  100  is on an asphalt road at a stop sign. The automation computing system  116  generates a GPS location for the autonomous vehicle  100  and submits  802  a query to the database indicating the GPS location (e.g., to a remote or locally stored database). The automation computing system  116  receives, in response to the query, input data for a machine learning model (e.g., one or more vectors, matrices, values, etc.). The automation computing system  116  then provides, as input to the machine learning model, the received input data. The automation computing system  116  then receives, as output, an identification of the stop sign and the asphalt road. This is in contrast to providing other data such as generated sensor data to the machine learning model to identify objects or environmental conditions relative to the autonomous vehicle  100 . 
     For further explanation,  FIG. 9  sets forth a flow chart illustrating an exemplary method for transforming model data that includes, as described in  FIG. 8 , submitting  802  a query based on location data; and receiving  804 , in response to the query, input data for the machine learning model; and, as described in  FIG. 7 , applying  702  a transformation to data generated by a machine learning model; and providing  704  the transformed data to a consumer of the transformed data. As set forth in  FIG. 9 , the teachings of  FIG. 7  and  FIG. 8  may be used in combination. Moreover, the teachings of  FIG. 7  and  FIG. 8  may be used in combination with the same machine learning model, or distinct machine learning models in the same automation computing system  116 . 
     In view of the explanations set forth above, readers will recognize that the benefits of transforming model data according to embodiments of the present invention include:
         Improved performance of a computing system by inserting additional complexity into model data, thereby increasing the complexity of model reverse engineering.   Improved performance of a computing system by reducing unauthorized use of a distributed model without the data necessary to reverse applied transformations.       

     Exemplary embodiments of the present invention are described largely in the context of a fully functional computer system for transforming model data. Readers of skill in the art will recognize, however, that the present invention also may be embodied in a computer program product disposed upon computer readable storage media for use with any suitable data processing system. Such computer readable storage media may be any storage medium for machine-readable information, including magnetic media, optical media, or other suitable media. Examples of such media include magnetic disks in hard drives or diskettes, compact disks for optical drives, magnetic tape, and others as will occur to those of skill in the art. Persons skilled in the art will immediately recognize that any computer system having suitable programming means will be capable of executing the steps of the method of the invention as embodied in a computer program product. Persons skilled in the art will recognize also that, although some of the exemplary embodiments described in this specification are oriented to software installed and executing on computer hardware, nevertheless, alternative embodiments implemented as firmware or as hardware are well within the scope of the present invention. 
     The present invention may be a system, a method, and/or a computer program product. The computer program product may include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present invention. 
     The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire. 
     Computer readable program instructions described herein can be downloaded to respective computing/processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and/or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing/processing device. 
     Computer readable program instructions for carrying out operations of the present invention may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program instructions may execute entirely on the user&#39;s computer, partly on the user&#39;s computer, as a stand-alone software package, partly on the user&#39;s computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user&#39;s computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present invention. 
     Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions. 
     These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function/act specified in the flowchart and/or block diagram block or blocks. 
     The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks. 
     The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions. 
     It will be understood that any of the functionality or approaches set forth herein may be facilitated at least in part by artificial intelligence applications, including machine learning applications, big data analytics applications, deep learning, and other techniques. Applications of such techniques may include: machine and vehicular object detection, identification and avoidance; visual recognition, classification and tagging; algorithmic financial trading strategy performance management; simultaneous localization and mapping; predictive maintenance of high-value machinery; prevention against cyber security threats, expertise automation; image recognition and classification; question answering; robotics; text analytics (extraction, classification) and text generation and translation; and many others. 
     It will be understood from the foregoing description that modifications and changes may be made in various embodiments of the present invention without departing from its true spirit. The descriptions in this specification are for purposes of illustration only and are not to be construed in a limiting sense. The scope of the present invention is limited only by the language of the following claims.