公开(公告)号：US20250166366A1

公开(公告)日：2025-05-22

申请号：US18950830

申请日：2024-11-18

Applicant: Waymo LLC

Inventor： Yin Zhou ,  Jingwei Ji ,  Zhenpei Yang ,  Nathan Paul Harada ,  Kan Chen ,  Rami Al-Rfou

IPC: G06V10/82 ,  B60W60/00 ,  G06V10/80

Abstract: 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.