US Patent 11537134 Generating environmental input encoding for training neural networks

An encoding of an environment for operating vehicles is obtained, comprising a combination of at least a representation of moving entities with a graph representation of static infrastructure elements. Using the encoding and a set of one or more observations of the environment state, a machine learning model is trained to produce a probabilistic representation of a set of predicted states of the environment. A trained version of the machine learning model is stored and deployed at one or more vehicles to help plan and control vehicle movements.