Training Machine Learning Model Based On Training Instances With: Training Instance Input Based On Autonomous Vehicle Sensor Data, and Training Instance Output Based On Additional Vehicle Sensor Data

A method of training a machine learning model to be used in autonomous control of at least one autonomous vehicle, the method comprising:

• generating a plurality of training instances, wherein generating each of the training instances includes:
• generating training instance input of the training instance based on a corresponding instance of vision data from a vision component of a corresponding autonomous vehicle;
• and
• generating a supervised training instance output of the training instance based on a corresponding instance of additional vehicle data that is based on one or more sensors of a corresponding additional vehicle that is captured by the corresponding instance of vision data, wherein the corresponding instance of additional vehicle data indicates a corresponding current state of at least one dynamic property of the corresponding additional vehicle;
• wherein the corresponding instance of additional vehicle data is used in generating the supervised training instance output based on determining that the corresponding instance of additional vehicle data temporally corresponds to the corresponding instance of vision data;
• training the machine learning model based on the plurality of training instances;
• and
• providing the trained machine learning model for use in control of the at least one autonomous vehicle.