GEOMETRY-AWARE MAP GENERATION MODEL WITH POLYGONS

Certain aspects of the present disclosure provide a method for generating a map. A method generally includes obtaining sensor data corresponding to one or more sensors. The method includes inputting the sensor data to a map generation model. The method obtains as output from the map generation model a vectorized map of one or more features of an environment. The vectorized map represents the first feature as a convex polygon, such that all internal angles of the convex polygon are less than or equal to 180 degrees.