LEARNING BY PREDICTION THROUGH IMAGE LEVEL REPRESENTATION

A method of using an artificial neural network to generate granular image level representations for driving, the method includes (a) obtaining a sensed information unit that captures a first element, (b) generating, by a machine learning process using the artificial neural network, a first set of tokens for the first element each representing a respective attribute characterizing the first element, (c) processing, by the machine learning process, the first set of tokens in correspondence with at least a second set of tokens generated for a second element, (d) producing, based on the processing, an image-level representation for the first element with respect to the second element, (e) determining, based on the image-level representation, an interaction between the first and second elements in real time; and (f) determining, based on the determined interaction, a driving related output with respect to the vehicle.