A plurality of agent locations can be determined at a plurality of time steps by inputting a plurality of images to a perception algorithm that inputs the plurality of images and outputs agent labels and the agent locations. A plurality of first uncertainties corresponding to the agent locations can be determined at the plurality of time steps by inputting the plurality of agent locations to a filter algorithm that inputs the agent locations and outputs the plurality of first uncertainties corresponding to the plurality of agent locations. A plurality of predicted agent trajectories and potential trajectories corresponding to the predicted agent trajectories can be determined by inputting the plurality of agent locations at the plurality of time steps and the first uncertainties corresponding to the agent locations at the plurality of time steps to a variational autoencoder. The plurality of predicted agent trajectories and the potential trajectories corresponding to the predicted agent trajectories can be output.