Game-aware mode enumeration and understanding for trajectory prediction

A system, comprising:

• a memory configured to store instructions;
• and
• one or more processors communicably coupled to the memory and configured to execute the instructions to:
• obtain training data including first trajectories for a first plurality of agent devices and first map information of a first environment for a past time horizon;
• train a trajectory prediction model on modes of the first trajectories predicted by a mode-finding model trained by applying the training data to a game-theoretic mode-finding algorithm;
• predict trajectories for a second plurality of agent devices based on applying observed data to the trajectory prediction model, wherein the observed data includes second trajectories for a second plurality of agent devices and second map information of a second environment;
• and
• generate a control signal to effectuate an autonomous driving command on an agent device of the second plurality of agent devices based on the predicted trajectories.

A non-transitory computer-readable storage medium including instructions that, when executed by at least one processor of a computing system, cause the computing system to perform a method comprising:

• collecting observed trajectories for a plurality of agent devices and map information of an environment;
• predicting future trajectories for the plurality of agent devices based on weighted modes output by a game-theoretic mode-finding model trained to detect modes as groups of trajectories and assign weights to each mode;
• and
• generating an autonomous driving command for controlling an agent device of the plurality of agent devices based on the predicted future trajectories.