Systems and Methods for Training Predictive Models for Autonomous Devices

Systems and methods for training machine-learned models are provided. A method can include receiving a rasterized image associated with a training object and generating a predicted trajectory of the training object by inputting the rasterized image into a first machine-learned model. The method can include converting the predicted trajectory into a rasterized trajectory that spatially corresponds to the rasterized image. The method can include utilizing a second machine-learned model to determine an accuracy of the predicted trajectory based on the rasterized trajectory. The method can include determining an overall loss for the first machine-learned model based on the accuracy of the predictive trajectory as determined by the second machine-learned model. The method can include training the first machine-learned model by minimizing the overall loss for the first machine-learned model.