BIASED TRAJECTORY SELECTION BY A PLANNING SYSTEM

Techniques for determining a planned trajectory usable to control a vehicle in an environment are discussed herein. A computing device can receive multiple planned trajectories generated by different models, and determine to use one of the planned trajectories to control the vehicle at a future time. The models can represent machine learned models that are independently trained using different training data and one of the models may leverage human driving data during training. The techniques can also include determining a bias value to cause the vehicle to utilize a planned trajectory from a set of available planned trajectories.