Abstract: The present disclosure provides an example method that includes: (a) obtaining context data descriptive of an environment surrounding an autonomous vehicle, the context data based on map data and perception data; (b) generating, by a proposer and based on the context data: (i) a plurality of candidate trajectories, and (ii) a plurality of actor forecasts for a plurality of actors in the environment; (c) generating, by a ranker and based on the context data, the plurality of candidate trajectories, and the plurality of actor forecasts, a ranking of the plurality of candidate trajectories; and (d) controlling a motion of the autonomous vehicle based on a candidate trajectory selected based on the ranking of the plurality of candidate trajectories, wherein the proposer comprises a first machine-learned model and the ranker comprises a second machine-learned model, and wherein the first machine-learned model and the second machine-learned model use a common backbone architecture.

Abstract: An example device in accordance with an aspect of the present disclosure includes an overlay engine, storage engine, and visualization engine. The overlay engine is to generate a static overlay, the storage engine is to store a plurality of static overlays generated by the overlay engine, corresponding to a plurality of time periods. The visualization engine is to visualize dynamic characteristics of the RF information based on generating an animated visualization showing progression of the RF information over time to illustrate historical trending of the dynamic characteristics.

Abstract: An example device in accordance with an aspect of the present disclosure includes an overlay engine, storage engine, and visualization engine. The overlay engine is to generate a static overlay, the storage engine is to store a plurality of static overlays generated by the overlay engine, corresponding to a plurality of time periods. The visualization engine is to visualize dynamic characteristics of the RF information based on generating an animated visualization showing progression of the RF information over time to illustrate historical trending of the dynamic characteristics.