A vehicle collects video data of an environment surrounding the vehicle including traffic entities, e.g., pedestrians, bicyclists, or other vehicles. The captured video data is sampled and presented to users to provide input on a traffic entity's state of mind. The user responses on the captured video data is used to generate a training dataset. A machine learning based model configured to predict a traffic entity's state of mind is trained with the training dataset. The system determines input video frames and associated dimension attributes for which the model performs poorly. The dimension attributes characterize stimuli and/or an environment shown in the input video frames. The system generates a second training dataset based on video frames that have the dimension attributes for which the model performed poorly. The model is retrained using the second training dataset and provided to an autonomous vehicle to assist with navigation in traffic.
Adaptive Sampling of Stimuli for Training of Machine Learning Based Models for Predicting Hidden Context of Traffic Entities For Navigating Autonomous Vehicles