Abstract: The subject-matter of the present disclosure relates to a computer-implemented method of generating a trajectory for an autonomous vehicle, AV, using an autonomy stack. The autonomy stack includes an end-to-end network trained to generate a trajectory for the AV from sensor inputs, a tracking module and a planning module. The computer-implemented method comprises: receiving, by the tracking module, a plurality of objects identified based on sensor inputs; fusing, by the tracking module, the plurality of objects; and generating, using the planning module, a further trajectory for the AV based on the fused plurality of objects and the trajectory generated by the end-to-end network.

Abstract: Systems and methods for generating a trajectory for an autonomous vehicle, AV, using an autonomy stack are disclosed. The autonomy stack can include a first component for generating a AV trajectory based on sensor inputs and a second component for adjusting the trajectory based on the sensor inputs. Both the first and second components can each include a perception module and a planning module. The method can include: identifying, using a perception module of a first component, objects based on sensor inputs; generating, using a planning module of the first component, a trajectory for the AV based on the objects identified by the perception module of the first component; identifying, using a perception module of a second component, objects based on the sensor inputs; and adjusting, using a planning module of the second component, the trajectory based on the objects identified by the perception module of the second component.