Generative adversarial inverse trajectory optimization for probabilistic vehicle forecasting

A method for autonomous drone operation with object behavior prediction, the method comprising:

• capturing images of a vehicle in traffic using an imaging device;
• stochastically modeling future behavior of the vehicle using a processing device including an energy-based model stored in a memory of the processing device, the energy-based model including:
• generating a distribution of possible future trajectories of the vehicle using a generator;
• sampling the distribution of possible future trajectories according to an energy value of each trajectory in the distribution of possible future trajectories a energy model to determine probable future trajectories;
• optimizing parameters of each of the generator and the energy model using an optimizer;
• and
• autonomously navigating an environment using an autonomous navigation system that recognizes hazardous trajectories of the probable future trajectories and avoiding the hazardous trajectories.