Trajectory prediction using diffusion models

A system comprising:

• one or more computers;
• and
• one or more storage devices storing instructions that, when executed by the one or more computers, cause the one or more computers to perform operations comprising:
• obtaining scene context data characterizing a scene at a current time point in an environment;
• generating, from the scene context data, an encoded representation of the scene in the environment;
• and
• generating, by using a diffusion model and based on the encoded representation, a trajectory prediction output that predicts a future trajectory for a target agent after the current time point by repeatedly updating an intermediate representation of the trajectory prediction output across multiple steps in a generation process.

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

• obtaining scene context data characterizing a scene at a current time point in an environment;
• generating, from the scene context data, an encoded representation of the scene in the environment;
• and
• generating, by using a diffusion model and based on the encoded representation, a trajectory prediction output that predicts a future trajectory for a target agent after the current time point by repeatedly updating an intermediate representation of the trajectory prediction output across multiple steps in a generation process.