SYSTEMS AND METHODS FOR DISTRIBUTION-AWARE GOAL PREDICTION FOR MODULAR AUTONOMOUS VEHICLE CONTROL

A method includes generating, using a machine learning model and at a first time interval, a first current vehicle position prediction and generating, using the machine learning model, at a second time interval, a first historical vehicle trajectory prediction based on at least the first current vehicle position prediction and previous spatial information. The method also includes generating, using the machine learning model, at a third time interval, a first future vehicle position prediction based on the first current vehicle position prediction and the first historical vehicle trajectory predication. The method also includes receiving, at the first time interval, sensor data and a sequence of waypoints, and controlling, at the first time interval, at least one vehicle operation of the vehicle using the first current vehicle position prediction, the first historical vehicle trajectory prediction, the first future vehicle position prediction, the sensor data, and the sequence of waypoints.