Systems, methods, tangible non-transitory computer-readable media, and devices associated with object association and tracking are provided. Input data can be obtained. The input data can be indicative of a detected object within a surrounding environment of an autonomous vehicle and an initial object classification of the detected object at an initial time interval and object tracks at time intervals preceding the initial time interval. Association data can be generated based on the input data and a machine-learned model. The association data can indicate whether the detected object is associated with at least one of the object tracks. An object classification probability distribution can be determined based on the association data. The object classification probability distribution can indicate a probability that the detected object is associated with each respective object classification. The association data and the object classification probability distribution for the detected object can be outputted.
Association and tracking for autonomous devices