US 12,450,469 B1
Anomaly estimation neural networks for behavior prediction
Khaled Refaat, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jun. 16, 2022, as Appl. No. 17/842,605.
Int. Cl. G06N 3/045 (2023.01); B60W 60/00 (2020.01)
CPC G06N 3/045 (2023.01) [B60W 60/0027 (2020.02); B60W 2556/45 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving data characterizing a scene that includes an agent in an environment;
processing a behavior prediction input generated from the data using a behavior prediction neural network, wherein the behavior prediction neural network is configured to receive the behavior prediction input and to process the behavior prediction input to generate a predicted probability distribution over a plurality of possible behaviors for the agent; and
processing an anomaly estimation input generated from the data characterizing the scene that includes the agent using an anomaly estimation neural network, wherein the anomaly estimation neural network is configured to receive the anomaly estimation input and to process the anomaly estimation input to generate a prediction error for the predicted probability distribution, wherein the prediction error indicates an error between the predicted probability distribution over the plurality of possible behaviors generated by the behavior prediction neural network and another predicted probability distribution over the plurality of possible behaviors that would be generated by another behavior prediction neural network from the same behavior prediction input.