Robust detection and tracking of objects is crucial for the deployment of autonomous vehicle technology. Imagebased benchmark datasets have driven development in computer vision tasks such as object detection, tracking and segmentation of agents in the environment. Most autonomous vehicles, however, carry a combination of cameras and range sensors such as lidar and radar. As machine learning based methods for detection and tracking become more prevalent, there is a need to train and evaluate such methods on datasets containing range sensor data along with images. In this work we present nuTonomy scenes (nuScenes), the first published dataset to carry the full autonomous vehicle sensor suite: 6 cameras, 5 radars and 1 lidar, all with full 360 degree field of view. nuScenes comprises 1000 scenes, each 20s long and fully annotated with 3D bounding boxes for 23 classes and 8 attributes. It has 7x as many annotations and 100x as many images as the pioneering KITTI dataset. We define novel 3D detection and tracking metrics. We also provide careful dataset analysis as well as baselines for lidar and image based detection and tracking. Data, development kit and more information are available online at www.nuscenes.org.

Modern development of chemical manufacturing requires a substantial reduction in energy consumption and catalyst cost. Sunlight-driven chemical transformation by metal oxides holds great promise for this goal; however, it remains a grand challenge to efficiently couple solar energy into many catalytic reactions. Here we report that defect engineering on oxide catalyst can serve as a versatile approach to bridge light harvesting with surface reactions by ensuring species chemisorption. The chemisorption not only spatially enables the transfer of photoexcited electrons to reaction species, but also alters the form of active species to lower the photon energy requirement for reactions. In a proof of concept, oxygen molecules are activated into superoxide radicals on defect-rich tungsten oxide through visible-near-infrared illumination to trigger organic aerobic couplings of amines to corresponding imines. The excellent efficiency and durability for such a highly important process in chemical transformation can otherwise be virtually impossible to attain by counterpart materials.

Herein, we construct a novel electrocatalyst with Fe–Co dual sites embedded in N-doped carbon nanotubes ((Fe,Co)/CNT), which exhibits inimitable advantages towards the oxygen reduction reaction.

A cost-effective approach to obtain electrode materials with excellent electrochemical performance is critical to the development of supercapacitors (SCs). Here we report the preparation of a three-dimensional (3D) honeycomb-like porous carbon (HLPC) by the simple carbonization of pomelo peel followed by KOH activation. Structural characterization indicates that the as-prepared HLPC with a high specific surface area (SSA) up to 2725 m(2) g(-1) is made up of interconnected microporous carbon walls. Chemical analysis shows that the HLPC is doped with nitrogen and also has oxygen-containing groups. Electrochemical measurements show that the HLPC not only exhibits a high specific capacitance of 342 F g(-1) and 171 F cm(-3) at 0.2 A g(-1) but also shows considerable rate capability with a retention of 62% at 20 A g(-1) as well as good cycling performance with 98% retention over 1000 cycles at 10 A g(-1) in 6 M KOH. Furthermore, an as-fabricated HLPC-based symmetric SC device delivers a maximum energy density of ∼9.4 Wh kg(-1) in the KOH electrolyte. Moreover, the outstanding cycling stability (only 2% capacitance decay over 1000 cycles at 5 A g(-1)) of the SC device makes it promising for use in a high-performance electrochemical energy system.

Electroreduction of CO 2 into value-added products is an effective approach to remit the environmental and energy issues. In this study, a hierarchical, selfsupported, and atomistic catalyst was successfully synthesized based on the solidstate diffusion strategy. This catalyst can be directly used as a binder-free electrode and exhibits superb catalytic CO 2 electroreduction performance. Directly synthesized by bulk metal foil, this catalyst is scalable to meet the industrial demand.

It is highly desired but remains a great challenge to develop nonprecious metal single-atom catalysts to supersede the Pt-based material for oxygen reduction reaction (ORR). Herein, we report a porous nitrogen-doped carbon matrix catalyst with 3.5 wt % single Fe atoms (Fe SAs/N–C) through a versatile molecules-confined pyrolysis strategy. In 0.1 M KOH condition, the Fe SAs/N–C catalyst possesses a half-wave potential of 0.91 V vs RHE. In a more challenging acidic solution, Fe SAs/N–C catalyst also offers good ORR activity, comparable with the commercial Pt/C. Impressively, Fe SAs/N–C shows extremely high stability both in alkaline and acidic media. In addition, this Fe SAs/N–C-derived Zn–air battery and proton exchange membrane fuel cells (PEMFCs) exhibit high performance. This work opens an avenue for designing and preparing single-atom catalysts.

Single-atom metal catalysts have sparked tremendous attention, but direct transformation of cheap and easily obtainable bulk metal oxide into single atoms is still a great challenge. Here we report a facile and versatile gas-transport strategy to synthesize isolated single-atom copper sites (Cu ISAS/NC) catalyst at gram levels. Commercial copper (I) oxide powder is sublimated as mobile vapor at nearly melting temperature (1500 K) and subsequently can be trapped and reduced by the defect-rich nitrogen-doped carbon (NC), forming the isolated copper sites catalyst. Strikingly, this thermally stable Cu ISAS/NC, which is obtained above 1270 K, delivers excellent oxygen reduction performance possessing a recorded half-wave potential of 0.92 V vs RHE among other Cu-based electrocatalysts. By varying metal oxide precursors, we demonstrate the universal synthesis of different metal single atoms anchored on NC materials (M ISAS/NC, where M refers to Mo and Sn). This strategy is readily scalable and the as-prepared sintering-resistant M ISAS/NC catalysts hold great potential in high-temperature applications.

The coordination of organic semiconductors with metal cations can induce metal-to-ligand charge transfer, which broadens light absorption to cover the visible-near-infrared (vis-NIR) spectrum. As a proof-of-concept demonstration, the g-C3 N4 -based complex exhibits dramatically enhanced photocatalytic H2 production with excellent durability under vis-NIR irradiation.