Using machine learning models for generating human-like trajectories

One or more non-transitory computer-readable storage media including instructions that, when executed by one or more processors of a computing system, are operable to cause the one or more processors to:

• access sensor data associated with a surrounding environment of a vehicle;
• generate, based on the sensor data, a first trajectory having one or more first driving characteristics for navigating the vehicle in the surrounding environment;
• generate a second trajectory having one or more second driving characteristics by modifying the one or more first driving characteristics of the first trajectory, wherein the modifying uses adjustment parameters based on one or more human-driving characteristics of observed human-driven trajectories such that the one or more second driving characteristics satisfy a similarity threshold relative to the one or more human-driving characteristics;
• and
• determine, based on the second trajectory, vehicle operations to navigate the vehicle in the surrounding environment.

A system comprising:

• one or more non-transitory computer-readable storage media including instructions;
• and
• one or more processors coupled to the non-transitory computer-readable storage media and operable to execute the instructions to:
• access sensor data associated with a surrounding environment of a vehicle;
• generate, based on the sensor data, a first trajectory having one or more first driving characteristics for navigating the vehicle in the surrounding environment;
• generate a second trajectory having one or more second driving characteristics by modifying the one or more first driving characteristics of the first trajectory, wherein the modifying uses adjustment parameters based on one or more human-driving characteristics of observed human-driven trajectories such that the one or more second driving characteristics satisfy a similarity threshold relative to the one or more human-driving characteristics;
• and
• determine, based on the second trajectory, vehicle operations to navigate the vehicle in the surrounding environment.