ACTIVE PREDICTION BASED ON OBJECT TRAJECTORIES

Techniques for accurately predicting and avoiding collisions with objects detected in an environment of a vehicle are discussed herein. A vehicle computing device can implement a model to output data indicating costs for potential intersection points between the object and the vehicle in the future. The model may employ a control policy and a time-step integrator to determine whether an object may intersect with the vehicle, in which case the techniques may include predicting vehicle actions by the vehicle computing device to control the vehicle.