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:
Jan. 13, 2026
Filed:
May. 31, 2024
Zoox, Inc., Foster City, CA (US);
Abishek Krishna Akella, Pleasanton, CA (US);
Timothy Caldwell, Boulder, CO (US);
Clark Michael Davenport, San Bruno, CA (US);
Marin Kobilarov, Baltimore, MD (US);
Joseph Lorenzetti, Foster City, CA (US);
Anjali Lakshmi Pemmaraju, San Francisco, CA (US);
Shahriar Sefati, San Francisco, CA (US);
Seyed Mahdi Shamsi, Daly City, CA (US);
Jacob Patrick Thalman, San Francisco, CA (US);
Zoox, Inc., Foster City, CA (US);
Abstract
Techniques for determining adversarial cost(s) representing an object in an environment are described herein. For example, a vehicle may generate candidate action(s) (or trajectories) and input such candidate actions into a tree structure. The vehicle can determine a control trajectory for the vehicle to follow based a determining which of the candidate actions to follow at each layer in the tree structure. The vehicle can determine which candidate action to follow based on determining adversarial cost(s). To generate the adversarial cost(s), the vehicle can detect an object and determine associated object trajectories. Based on a likelihood that the object will deviate from a predicted object trajectory, the vehicle can determine one or more sub-factors that may be combined to generate the adversarial cost(s). The vehicle can be controlled based on the adversarial cost(s).