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Recognition of other agent intention in a multiagent environment is a very important issue to realize social activities, for example, imitation learning, understanding intention, cooperative/competitive behavior, and so on. Conventional approaches to infer the other agent intention need a precise trajectory in Cartesian or joint space that is sometimes hard to measure from the viewpoint of an observer. It is also difficult to estimate a same intention but with different realizations because they try to match just a certain trajectory during the trial. We propose a novel method of inference of other agent’s intention based on state value estimation. The method does not need a precise world model or coordination transformation system to deal with view dependency. This paper shows an observer can infer an intention of other not by precise object trajectory in Cartesian space but by estimated state value transition during the observed behavior.

2P1-B07 Inferring other's intention based on estimated state value of self