Determining yaw with learned motion model

A system comprising:

• one or more processors;
• and
• memory storing executable instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
• receiving sensor data from one or more sensors;
• determining, based at least in part on a first portion of the sensor data and using a first technique, a first measured yaw associated with an object in an environment;
• determining, based at least in part on a second portion of the sensor data and using a second technique different than the first technique, a second measured yaw associated with the object;
• determining, based at least in part on the first measured yaw and the second measured yaw, an estimated yaw associated with the object;
• inputting the first measured yaw, the second measured yaw, and the estimated yaw into a machine learned model;
• receiving, from the machine learned model, an output yaw;
• and
• determining a track of the object in the environment based at least in part on the output yaw.

One or more non-transitory computer-readable media storing instructions that, when executed, cause one or more processors to perform acts comprising:

• receiving sensor data from one or more sensors associated with a vehicle;
• determining, based at least in part on a first portion of the sensor data and using a first technique, a first measured yaw associated with an object in an environment;
• determining, based at least in part on a second portion of the sensor data and using a second technique different than the first technique, a second measured yaw associated with the object;
• determining, based at least in part on the first measured yaw and the second measured yaw, an estimated yaw associated with the object;
• inputting the first measured yaw, the second measured yaw, and the estimated yaw into a machine learned model;
• receiving, from the machine learned model, an output yaw;
• and
• determining a track of the object.