SYSTEMS AND METHODS FOR VEHICLE MOTION PLANNING

This document discloses system, method, and computer program product embodiments for operating a robot. For example, the method includes: detecting an object in proximity to the robot; generating a path of travel for the object that is defined by a plurality of first data points representing different object locations in an area; generating cost curves respectively associated with the plurality of first data points; generating a polyline comprising a plurality of second data points associated with displacements of the cost curves from a particular location in the area; defining a predicted path of travel for the object based on the polyline; and using the predicted path of travel for the object to facilitate at least one autonomous operation of the robot.