Determining vehicle trajectories based on control distributions

One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:

• determining, based on a first distribution of controls, a trajectory comprising a sequence of controls for controlling a vehicle traversing through an environment;
• determining a cost associated with the trajectory;
• determining a second distribution of controls based on the cost;
• and
• controlling the vehicle based on the second distribution of controls.

A method comprising:

• determining, based on a first distribution of controls, a trajectory comprising a sequence of controls for controlling a vehicle traversing through an environment;
• determining a cost associated with the trajectory;
• determining a second distribution of controls based on the cost;
• and
• controlling the vehicle based on the second distribution of controls.