Patent ID: 11900224
Assignee: WAYMO LLC
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 16:
17. The system of claim 12, wherein determining, based on the long-term label and the short-term label for the candidate trajectory, a ground-truth probability for the candidate trajectory comprises:
determining that the long-term label is inconsistent with the short-term label, comprising:
determining that the long-term label indicates that agent did not actually follow the candidate trajectory after the first time and the short-term label indicates that the agent intended to follow the candidate trajectory, or
determining that the long-term label indicates that agent actually followed the candidate trajectory after the first time and determining that the short-term label indicates that the agent did not intend to follow the candidate trajectory;

obtaining context information of the environment;
based on the context information of the environment, generating an updated short-term label using one or more predetermined rules; and
based on the long-term label and the updated short-term label for the candidate trajectory, determining a ground-truth probability for the candidate trajectory.