PRE-TRAINED MACHINE-LEARNED SCENARIO DATA DIFFICULTY METRIC FOR VEHICLE CONTROL

A pre-trained machine-learned model, pre-generated clusters determined from embeddings generated by the machine-learned model, and/or difficulty metric(s) determined from simulation and associated with the clusters may be transmitted to and used on a vehicle. The machine-learned model may use sensor data to generate an embedding or a difficulty metric characterizing a current scenario encountered by the vehicle and the vehicle may alter operation of the vehicle based on the difficulty metric or difficulty metric(s) for the cluster associated with the embedding.