A method for configuring a behavior for a subject vehicle is presented. The method includes observing a first behavior of an agent during a first time period and estimating a first set of behavioral constraints followed by the agent based on the observed first behavior. The method also includes observing a second behavior of the agent during a second time period and determining whether the agent is behaving in accordance with the first set of behavioral constraints based on the second behavior. The method still further includes adjusting the first set of behavioral constraints when the agent is not operating in accordance with the estimated set of behavioral constraints. The method also includes adjusting the behavior of the subject vehicle based on the adjusted first set of estimated behavioral constraints.