CONDITIONAL TRAJECTORY DETERMINATION BY A MACHINE LEARNED MODEL

Techniques for predicting an object trajectory or scene information are described herein. For example, the techniques may include inputting tokens representing discrete behavior into a machine learned model. The machine learned model may output a sequence of tokens that is usable by another machine learned model to generate an object trajectory (e.g., position data, velocity data, acceleration data, etc.) for one or more objects in the environment. The object trajectory can be sent to a vehicle computing device for consideration during vehicle planning, which may include simulation.