A pre-trained machine-learned model, pre-generated clusters determined from embeddings generated by the machine-learned model, and/or difficulty metric(s) determined from simulation and associated with the clusters may be transmitted to and used on a vehic...

Techniques for determining a planned trajectory usable to control a vehicle in an environment are discussed herein. A computing device can receive multiple planned trajectories generated by different models, and determine to use one of the planned trajecto...

Techniques for optimal trajectory generation for a vehicle are described herein. In some cases, the techniques described herein include determining a first primary trajectory by a first component (e.g., a planner component) of the vehicle, determining a tr...

Techniques are discussed herein for executing log-based driving simulations to evaluate the performance and functionalities of vehicle control systems. A simulation system may execute a log-based driving simulation including playback agents whose behavior ...