Abstract: A method for generating a motion plan for an autonomous agent includes obtaining scene data for an agent's environment, including map data and historical state data for one or more objects. A transformer-based encoder generates a set of scene embedding tokens from the scene data to represent a fixed environmental context. A transformer-based decoder autoregressively generates a sequence of action tokens representing a future trajectory. The generation of each subsequent action token is based on the scene embedding tokens and previously generated tokens. Each action token is selected from a discrete action space of unique Verlet actions, which represent accelerations. A future trajectory is determined from the sequence of action tokens and provided to a motion planning module of the autonomous agent.

Abstract: Multiplayer tournaments may be established, and then automatically executed by tournament server devices to help provide users with quality matchups against players of similar skill. Tournaments may be defined by an administrator, and then automatically instantiated any number of times to accommodate demand by players. Some tournaments may group players of similar rank in tournament rounds, and may also employ a window factor to prevent players from playing together too soon after playing together in a prior round. Some tournaments may use a leaderboard qualification process, allowing potential entrants to qualify for tournaments by accomplishing feats specified in qualification parameters.

Abstract: Multiplayer tournaments may be established, and then automatically executed by tournament server devices to help provide users with quality matchups against players of similar skill. Tournaments may be defined by an administrator, and then automatically instantiated any number of times to accommodate demand by players. Some tournaments may dynamically adjust tournament parameters to accommodate a variable number of qualifiers entering the tournament. Tournaments may perform ranking, before and/or during the tournament, based on a calculation of a ratio of player points to a total number of points the player could have received. User interface displays may also be provided to allow players to view details of tournaments for which they have qualified, details on their tournament competitors, or search for tournaments satisfying the user's desired criteria.