Method, system, and media for calculating a surprise score by comparing a posterior state to a prior probability distribution

A system comprising:

• one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
• obtaining first data comprising a prior probability distribution representing a plurality of previously predicted states of an agent along one or more predicted trajectories of the agent from a first time step, wherein the plurality of previously predicted states were generated based on a prior state of the agent at a prior time step that occurred before a current time step;
• obtaining second data comprising a posterior state representing one or more states of the agent at a subsequent time step;
• and
• computing a surprise score for the agent by comparing the posterior state to the prior probability distribution, wherein computing the surprise score for the agent comprises computing a likelihood of the posterior state based on the prior probability distribution.

One or more non-transitory computer storage media encoded with computer program instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:

• obtaining first data comprising a prior probability distribution representing a plurality of previously predicted states of an agent along one or more predicted trajectories of the agent from a first time step, wherein the plurality of previously predicted states were generated based on a prior state of the agent at a prior time step that occurred before a current time step;
• obtaining second data comprising a posterior state representing one or more states of the agent at a subsequent time step;
• and
• computing a surprise score for the agent by comparing the posterior state to the prior probability distribution, wherein computing the surprise score for the agent comprises computing a likelihood of the posterior state based on the prior probability distribution.