Trajectory representation in behavior prediction systems

A system comprising:

• one or more computers;
• and
• one or more storage devices communicatively coupled to the one or more computers, wherein the one or more storage devices store instructions that, when executed by the one or more computers, cause the one or more computers to perform operations comprising:
• obtaining historical data characterizing a trajectory of a target agent in an environment, the historical data comprising, for each of a plurality of previous time points, data defining a spatial position in the environment occupied by the target agent at the previous time point;
• generating a representation of the trajectory of the target agent in the environment, wherein:
• the representation of the trajectory of the target agent in the environment comprises a time channel;
• the time channel is represented as a two-dimensional array of data values;
• each position in the time channel corresponds to a respective spatial position in the environment;
• and
• for each particular spatial position in the environment occupied by the target agent at a particular previous time point:
• the position in the time channel which corresponds to the particular spatial position defines the particular previous time point;
• and
• processing an input which comprises the representation of the trajectory of the target agent in the environment using a convolutional neural network to generate data characterizing the target agent.

One or more non-transitory computer storage media storing instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:

• obtaining historical data characterizing a trajectory of a target agent in an environment, the historical data comprising, for each of a plurality of previous time points, data defining a spatial position in the environment occupied by the target agent at the previous time point;
• generating a representation of the trajectory of the target agent in the environment, wherein:
• the representation of the trajectory of the target agent in the environment comprises a time channel;
• the time channel is represented as a two-dimensional array of data values;
• each position in the time channel corresponds to a respective spatial position in the environment;
• and
• for each particular spatial position in the environment occupied by the target agent at a particular previous time point:
• the position in the time channel which corresponds to the particular spatial position defines the particular previous time point;
• and
• processing an input which comprises the representation of the trajectory of the target agent in the environment using a convolutional neural network to generate data characterizing the target agent.