In one embodiment, a method is provided. The method includes receiving, at an input of a first machine learning model, first input data representing an environment. The method also includes determining, by the first machine learning model, a set of objects within the environment based on the first input data. The method further includes determining, by a second machine learning model, a set of behaviors for a second set of objects. An input of the second machine learning model is coupled to a set of intermediate layers of the first machine learning model. Determining the set of objects and determining the set of behaviors for the second set of objects is performed at least partially simultaneously.
DETECTING OBJECTS AND DETERMINING BEHAVIORS OF OBJECTS