{
  "$type": "site.standard.document",
  "description": "Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating trajectory predictions for one or more agents in an environment. In one aspect, a method comprises: obtaining scene context data characterizing a scene in an environment at a current…",
  "path": "/patents/1425089",
  "publishedAt": "2026-06-23T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/0027",
    "Waymo LLC"
  ],
  "textContent": "Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating trajectory predictions for one or more agents in an environment. In one aspect, a method comprises: obtaining scene context data characterizing a scene in an environment at a current time point and generating a respective predicted future trajectory for each of a plurality of agents in the scene at the current time point by sampling a sequence of discrete motion tokens that defines a joint future trajectory for the plurality of agents using a trajectory prediction neural network that is conditioned on the scene context data.",
  "title": "Trajectory prediction by sampling sequences of discrete motion tokens"
}