MULTI-HEAD MACHINE LEARNING MODEL FOR PROCESSING MULTI-SENSOR DATA

Systems and techniques are provided for processing sensor data using a machine learning model. An example method can include receiving, by a machine learning model configured to perform object detection, sensor data corresponding to one or more sensors on an autonomous vehicle; determining, based on the sensor data, a first object prediction by a first detection head of the machine learning model, wherein the first detection head is configured to generate the first object prediction based on a first input from a first sensor from the one or more sensors; and determining, based on the sensor data, a second object prediction by a second detection head of the machine learning model, wherein the second detection head is configured to generate the second object prediction based on a fusion of the first input from the first sensor and a second input from a second sensor from the one or more sensors.