A method implemented by one or more processors, the method comprising: receiving, at a computing device, a user input from an interface of the computing device, other than an audio interface input or a keyboard interface input, for invoking an automated assistant that is accessible via the computing device, wherein the automated assistant is responsive to the audio interface input and the keyboard interface input from a user via the computing device; determining, by the automated assistant, whether to render the keyboard interface at a display interface of the computing device in response to the user input, wherein determining whether to render the keyboard interface in response to the user input is based on one or more prior interactions between one or more users and one or more computing devices, and includes: identifying a current state of a foreground application being rendered at the display interface of the computing device, and determining whether the user previously accessed, during a prior interaction with the foreground application, an interface selected from a group of interfaces comprising the keyboard interface and the audio interface; wherein, during the prior interaction, the foreground application was operating in a state corresponding to the current state; and when the automated assistant determines to not render the keyboard interface at the display interface of the computing device: causing, in response to the user input, the audio interface of the computing device or another computing device to be initialized for receiving a spoken utterance from the user; and determining whether to render, at the display interface, a selectable element that, when selected, causes the keyboard interface to be rendered at the display interface; and in response to determining to render the selectable element, rendering the selectable element. receiving, at a computing device, a user input from an interface of the computing device, other than an audio interface input or a keyboard interface input, for invoking an automated assistant that is accessible via the computing device, wherein the automated assistant is responsive to the audio interface input and the keyboard interface input from a user via the computing device; determining, by the automated assistant, whether to render the keyboard interface at a display interface of the computing device in response to the user input, wherein determining whether to render the keyboard interface in response to the user input is based on one or more prior interactions between one or more users and one or more computing devices, and includes: identifying a current state of a foreground application being rendered at the display interface of the computing device, and determining whether the user previously accessed, during a prior interaction with the foreground application, an interface selected from a group of interfaces comprising the keyboard interface and the audio interface; wherein, during the prior interaction, the foreground application was operating in a state corresponding to the current state; and identifying a current state of a foreground application being rendered at the display interface of the computing device, and determining whether the user previously accessed, during a prior interaction with the foreground application, an interface selected from a group of interfaces comprising the keyboard interface and the audio interface; wherein, during the prior interaction, the foreground application was operating in a state corresponding to the current state; and when the automated assistant determines to not render the keyboard interface at the display interface of the computing device: causing, in response to the user input, the audio interface of the computing device or another computing device to be initialized for receiving a spoken utterance from the user; and determining whether to render, at the display interface, a selectable element that, when selected, causes the keyboard interface to be rendered at the display interface; and in response to determining to render the selectable element, rendering the selectable element. causing, in response to the user input, the audio interface of the computing device or another computing device to be initialized for receiving a spoken utterance from the user; and determining whether to render, at the display interface, a selectable element that, when selected, causes the keyboard interface to be rendered at the display interface; and in response to determining to render the selectable element, rendering the selectable element.