We present Argoverse, a dataset designed to support autonomous vehicle perception tasks including 3D tracking and motion forecasting. Argoverse includes sensor data collected by a fleet of autonomous vehicles in Pittsburgh and Miami as well as 3D tracking annotations, 300k extracted interesting vehicle trajectories, and rich semantic maps. The sensor data consists of 360 degree images from 7 cameras with overlapping fields of view, forward-facing stereo imagery, 3D point clouds from long range LiDAR, and 6-DOF pose. Our 290km of mapped lanes contain rich geometric and semantic metadata which are not currently available in any public dataset. All data is released under a Creative Commons license at Argoverse.org. In baseline experiments, we use map information such as lane direction, driveable area, and ground height to improve the accuracy of 3D object tracking. We use 3D object tracking to mine for more than 300k interesting vehicle trajectories to create a trajectory forecasting benchmark. Motion forecasting experiments ranging in complexity from classical methods (k-NN) to LSTMs demonstrate that using detailed vector maps with lane-level information substantially reduces prediction error. Our tracking and forecasting experiments represent only a superficial exploration of the potential of rich maps in robotic perception. We hope that Argoverse will enable the research community to explore these problems in greater depth.

Learning has been studied extensively in the context of isolated individuals. However, many organisms are social and consequently make decisions both individually and as part of a collective. Reaching consensus necessarily means that a single option is chosen by the group, even when there are dissenting opinions. This decision-making process decouples the otherwise direct relationship between animals' preferences and their experiences (the outcomes of decisions). Instead, because an individual's learned preferences influence what others experience, and therefore learn about, collective decisions couple the learning processes between social organisms. This introduces a new, and previously unexplored, dynamical relationship between preference, action, experience and learning. Here we model collective learning within animal groups that make consensus decisions. We reveal how learning as part of a collective results in behavior that is fundamentally different from that learned in isolation, allowing grouping organisms to spontaneously (and indirectly) detect correlations between group members' observations of environmental cues, adjust strategy as a function of changing group size (even if that group size is not known to the individual), and achieve a decision accuracy that is very close to that which is provably optimal, regardless of environmental contingencies. Because these properties make minimal cognitive demands on individuals, collective learning, and the capabilities it affords, may be widespread among group-living organisms. Our work emphasizes the importance and need for theoretical and experimental work that considers the mechanism and consequences of learning in a social context.