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Autonomous vehicles require fleet-wide data collection for continuous algorithm development and validation. The smart black box (SBB) intelligent event data recorder has been proposed as a system for prioritized high-bandwidth data capture. This paper extends the SBB by applying anomaly detection and action detection methods for generalized event-of-interest (EOI) detection. An updated SBB pipeline is proposed for the real-time capture of driving video data. A video dataset is constructed to evaluate the SBB on real-world data for the first time. SBB performance is assessed by comparing the compression of normal and anomalous data and by comparing our prioritized data recording with an FIFO strategy. The results show that SBB data compression can increase the anomalous-to-normal memory ratio by ∼25%, while the prioritized recording strategy increases the anomalous-to-normal count ratio when compared to an FIFO strategy. We compare the real-world dataset SBB results to a baseline SBB given ground-truth anomaly labels and conclude that improved general EOI detection methods will greatly improve SBB performance.

A robot-assisted feeding system must successfully acquire many different food items and transfer them to a user. A key challenge is the wide variation in the physical properties of food, demanding diverse acquisition strategies that are also capable of adapting to previously unseen items. Our key insight is that items with similar physical properties will exhibit similar success rates across an action space, allowing us to generalize to previously unseen items. To better understand which acquisition strategies work best for varied food items, we collected a large, rich dataset of 2450 robot bite acquisition trials for 16 food items with varying properties. Analyzing the dataset provided insights into how the food items' surrounding environment, fork pitch, and fork roll angles affect bite acquisition success. We then developed a bite acquisition framework that takes the image of a full plate as an input, uses RetinaNet to create bounding boxes around food items in the image, and then applies our skewering-position-action network (SPANet) to choose a target food item and a corresponding action so that the bite acquisition success rate is maximized. SPANet also uses the surrounding environment features of food items to predict action success rates. We used this framework to perform multiple experiments on uncluttered and cluttered plates with in-class and out-of-class food items. Results indicate that SPANet can successfully generalize skewering strategies to previously unseen food items.