Patent ID: 11900224
Assignee: WAYMO LLC
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 17:
18. A computer program product, encoded on one or more non-transitory computer storage media, comprising instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:
obtaining a training input, the training input comprising (i) data characterizing an agent in an environment as of a first time and (ii) data characterizing a candidate trajectory of the agent in the environment for a first time period that is after the first time;
determining a long-term label for the candidate trajectory that indicates whether the agent actually followed the candidate trajectory for the first time period after the first time;
determining a short-term label for the candidate trajectory that indicates whether the agent intended to follow the candidate trajectory;
determining, based on the long-term label and the short-term label for the candidate trajectory, a ground-truth probability for the candidate trajectory, wherein the ground-truth probability for the candidate trajectory is a probability that should be assigned to the candidate trajectory by a machine learning model that performs trajectory prediction;
associating the training input with the ground-truth probability for the candidate trajectory in training data; and
training the machine learning model on the training data.