US Patent 11789155 Pedestrian object detection training

Training a model for detecting pedestrian objects is described. Annotated data can be received by a training component. In an example, the annotated data can include a first indication of a first object (e.g., a pedestrian) and a second indication of a second object (e.g., a pedestrian object), wherein the first object and the second object comprise a portion of a compound object (e.g., a pedestrian/pedestrian object system). In an example, a training component can train a model to determine an output associated with a second object based at least in part on the annotated data and the model can be transmitted to a vehicle configured to be controlled by output(s) of the model.