Systems and methods for forecasting trajectories of objects. The method includes obtaining a prediction model trained to predict future trajectories of objects. The prediction model is trained over a first prediction horizon selected to encode inertial constraints in a predicted trajectory and over a second prediction horizon selected to encode behavioral constraints in the predicted trajectory. The method also include generating a planned trajectory of an autonomous vehicle by receiving state data corresponding to the autonomous vehicle, receiving perception data corresponding to an object, predicting a future trajectory of the object based on the perception data and the prediction model, and generating the planned trajectory of the autonomous vehicle based on the future trajectory of the object and the state data.
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