GEOMETRY AWARE MAP GENERATION MODEL WITH POLYLINES

Certain aspects of the present disclosure provide a method for generating a map. A method generally includes obtaining sensor data from one or more sensors, the sensor data corresponding to an environment comprising one or more features including a first feature having one or more changes in curvature; inputting the sensor data to a map generation model; and obtaining as output from the map generation model a vectorized map of the one or more features of the environment, wherein the vectorized map represents the first feature as a polyline comprising a plurality of line segments, wherein a comparison of changes of slope between consecutive line segments of the polyline to slopes of the plurality of line segments of the polyline satisfies a threshold.