Method and Apparatus

Abstract

A computer-implemented method of generating trajectories of actors, the method comprising: simulating a first scenario comprising an environment having therein an ego-vehicle, a set of actors, including a first actor, and optionally a set of objects, including a first object, wherein simulating the first scenario comprises using a first trajectory of the first actor; observing, by a first adversarial reinforcement learning agent, a first observation of the environment, for example the ego-vehicle, a second actor of the set thereof and/or the first object of the set thereof, in response to the first trajectory of the first actor; and generating, by the first agent, a second trajectory of the first actor based on the observed first observation of the environment.

Dependencies are inferred from the claim text.