The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 09, 2023
Filed:
Oct. 30, 2019
Waymo Llc, Mountain View, CA (US);
Brandyn Allen White, Mountain View, CA (US);
Waymo LLC, Mountain View, CA (US);
Abstract
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating a simulation of an environment that is being interacted with by a plurality of agents over a plurality of time steps, wherein the simulation comprises a respective simulation state for each time step that specifies a respective state of each agent at the time step. In one aspect, a method comprises, for each time step: obtaining a current simulation state for the current time step; generating a plurality of candidate next simulation states for a next time step; determining, for each candidate next simulation state, a discriminative score characterizing a likelihood that the candidate next simulation state is a realistic simulation state; and selecting a candidate next simulation state as the simulation state for the next time step based on the discriminative scores for the candidate next simulation states.