MAKING TIME-SERIES PREDICTIONS USING A TRAINED DECODER MODEL

A computer-implemented prediction method of making time-series predictions for controlling and/or monitoring a computer-controlled system, such as a semi-autonomous vehicle. The method uses a time series of one or more observed states. A state comprises values of measurable quantities of multiple interacting objects. Based on the observed states, values of time-invariant latent features for the multiple objects are determined, for example, according to an encoder model. A decoder model is then used to predict at least one next state. This involves applying a trained graph model to obtain a first prediction contribution based on an object's interactions with other objects, and applying a trained function to obtain a second prediction contribution based just on information about the object itself. Based on the predicted next state, output data is generated for use in controlling and/or monitoring the computer-controlled system.