Patent ID: 11926347
Assignee: WAYMO LLC
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 7:
8. The method of any one of claim 5, wherein the first neural network further comprises:
a graph neural network that is configured to:
receive features of a graph that has nodes representing the target agents and edges representing relationships between the target agents, wherein the features of the graph comprise, for each node in the graph, the embedding of the context data for the target agent represented by the node, the embedding of the planned trajectory for the target agent represented by the node, and the conditional behavior prediction output for the target agent represented by the node; and
processes the features to generate a respective updated embedding for each of the target agents, and wherein the first neural network is configured to:

process the respective updated embeddings of each of the target agents using the decoder neural network to update the conditional trajectory predictions for the target agents.