Waymo LLC

Rami Al-Rfou

Khaled Refaat

Benjamin Sapp

Kratarth Goel

Aurick Qikun Zhou

Nigamaa Nayakanti

Methods, systems, and apparatus for generating trajectory predictions for one or more target agents. In one aspect, a system comprises one or more computers configured to obtain scene context data characterizing a scene in an environment at a current time point, where the scene includes multiple agents that include a target agent and one or more context agents, and the scene context data includes respective context data for each of multiple different modalities of context data. The one or more computers then generate an encoded representation of the scene in the environment that includes one or more embeddings and process the encoded representation of the scene context data using a decoder neural network to generate a trajectory prediction output for the target agent that predicts a future trajectory of the target after the current time point.

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Menlo Park, CA, United States of America

Rami Al-Rfou