Before revision:  More precisely, we inject the ego 's cost function with an adversarial phase, a time interval during which other agents are assumed to be temporarily distracted, to robustify the ego agent's trajectory against other agents' potentially dangerous behavior during this time.
After revision:  More precisely, we prepend an adversarial phase to the ego agent 's cost function with an adversarial phase, a time interval during which other agents are assumed to be temporarily distracted, to robustify the ego agent's trajectory against other agents' potentially dangerous behavior during this time.