FORWARD SIMULATION FOR DECISION-MAKING FOR DEVICE OPERATION

Disclosed are systems, apparatuses, processes, and computer-readable media for a lightweight forward simulation for decision-making. For example, a computing device for decision making for operation of at least one vehicle can determine a plurality of prediction trajectories onto a path of a vehicle within a simulated scene over time at time steps. Each prediction trajectory of the plurality of prediction trajectories can include at least one position of the vehicle or at least one location of an agent vehicle of one or more agent vehicles that changes as a function of time. The computing device can further determine one or more reactions of the one or more agent vehicles based on at least the position of the vehicle and each respective reactivity model assigned to each agent vehicle. For example, a respective reactivity model can be based on a traffic context.