Methods, systems, and apparatus for predicting future trajectories of agents in an environment. In one aspect, a system comprises one or more computers configured to receive sensor data of an environment having one or more agents. The system decomposes the sensor data into a plurality of scene elements in the environment, and the system generates multiple tokens including a respective token for each respective scene element of the multiple scene elements in the environment. The system processes the multiple tokens using a decoder model to generate a respective predicted trajectory for the one or more agents in the environment.
SCENE TOKENIZATION FOR MOTION PREDICTION
2025-05-22
Patent
Electronic Resource
English
European Patent Office | 2020
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