Abstract: A method includes providing behavior model input data to a behavior model to generate behavior model output data and generating an initial state prediction based on the behavior model output data. The method also includes, based on the initial state prediction indicating a particular state, generating state prediction statistics based on the initial state prediction and historical state predictions indicating the particular state. The method further includes providing classifier input data to a classifier model to generate a classification output indicating whether the initial state prediction is reliable. The classifier input data generated based on the state prediction statistics.