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:
Jul. 21, 2026
Filed:
Aug. 23, 2023
Waymo Llc, Mountain View, CA (US);
Khaled Refaat, Mountain View, CA (US);
Nigamaa Nayakanti, San Jose, CA (US);
Waymo LLC, Mountain View, CA (US);
Abstract
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for intervention behavior prediction. A method includes receiving data characterizing a scene that includes a first agent and a second agent and receiving intervention data specifying a planned intervention to be performed by the second agent. A conditional behavior prediction output that assigns, to each of a plurality of possible future behaviors, (i) a respective conditional likelihood that the first agent performs the possible future behavior given that the second agent performs the planned intervention and (ii) a predicted value of a confounder variable for the possible future behavior is-generated using a conditional behavior prediction model. An intervention behavior prediction for the first agent is generated by generating a corrected likelihood for each possible future behavior based on the respective conditional likelihood and the predicted value of the confounder variable for the possible future behavior.