TRAINING A CODEBOOK FOR TRAJECTORY DETERMINATION

Techniques for training a codebook usable by a machine learned model to predict an object trajectory or scene data are described herein. For example, the techniques may include generating tokens representing discrete object behavior into a machine learned model that outputs a sequence of tokens that is usable by another machine learned model to generate the object trajectory (e.g., position data, velocity data, acceleration data, etc.) or the scene data associated with the environment. The object trajectory can be sent to a vehicle computing device for consideration during vehicle planning, which may include simulation.