SYSTEMS AND METHODS FOR AUTONOMOUS DRIVING BASED ON HUMAN- DRIVEN DATA

Provided are methods for systems and methods for autonomous driving based on human-driven data, which can include obtaining sensor data associated with an environment in which a vehicle operates, determining a set of candidate trajectories, determining a human-driven trajectory, generating a trajectory score for one or more candidate trajectories of the set of candidate trajectories, and causing an output to be provided to a device based on the trajectory score associated with the one or more candidate trajectories, wherein the output comprises one or more of: the human-driven trajectory, the one or more candidate trajectories, and the one or more trajectory scores. Systems and computer program products are also provided.