| CPC G06V 20/58 (2022.01) [B60W 40/10 (2013.01); B60W 2554/4049 (2020.02)] | 20 Claims |
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6. A method comprising:
receiving, by a training component, state data representing a previous state of an object or a vehicle in an environment;
receiving, by the training component, feature vectors representing the vehicle and the object in the environment;
training a codebook to output a trained codebook, the training comprising:
assigning, based at least in part on the state data, a first token to represent the previous state of the object;
assigning a second token to represent a characteristic of the vehicle;
assigning a third token to represent a feature of the environment; and
mapping the feature vectors to respective tokens; and
outputting the trained codebook for use by a machine learned model configured to access tokens from the trained codebook and to arrange the first token, the second token, and the third token to represent a potential interaction between the vehicle and the object.
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