STATION-TIME SCENE REPRESENTATION FOR MACHINE LEARNING (ML)-BASED PLANNING

Certain aspects of the present disclosure provide techniques for performing trajectory planning for an object, including: obtaining an ST scene representing 1) a displacement of one or more agents over time with respect to a reference point corresponding to a current position of the object and 2) a target location of the object; inputting the ST scene into a first machine learning model; outputting, by the first machine learning model, based on the input ST scene, a first target trajectory for the object to follow to occupy the target location; sending the first target trajectory to a second machine learning model; and obtaining, from the second machine learning model, a second target trajectory for the object to follow to occupy the target location.