Aurora Operations, Inc.

Sanjiban Choudry

Arun Venkatraman

Micol Marchetti-Bowick

J Andrew Bagnell

Venkatraman Narayanan

Sumit Kumar

Yuhang Ma

Pengju Jin

Carl Wellington

The present disclosure provides an example method that includes: (a) obtaining context data descriptive of an environment surrounding an autonomous vehicle, the context data based on map data and perception data; (b) generating, by a proposer and based on the context data: (i) a plurality of candidate trajectories, and (ii) a plurality of actor forecasts for a plurality of actors in the environment; (c) generating, by a ranker and based on the context data, the plurality of candidate trajectories, and the plurality of actor forecasts, a ranking of the plurality of candidate trajectories; and (d) controlling a motion of the autonomous vehicle based on a candidate trajectory selected based on the ranking of the plurality of candidate trajectories, wherein the proposer comprises a first machine-learned model and the ranker comprises a second machine-learned model, and wherein the first machine-learned model and the second machine-learned model use a common backbone architecture.

Autonomous vehicle motion planning

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Ithaca, NY, United States of America

Sanjiban Choudry