Object relevance filtering with state interaction scoring

Systems and techniques for whether to associate predicted object trajectories of objects detected in an environment with candidate vehicle trajectories are described. A vehicle computing system may determine a vehicle occupancy state of a vehicle along a path of travel, determine, based at least in part on the predicted object trajectory, an object occupancy state of the object along the predicted object trajectory, determine a state interaction score for the vehicle occupancy state and the object occupancy state, determine, based at least in part on the state interaction score, a relevancy score representing a relevance of the predicted object trajectory to a candidate trajectory, and control the vehicle based at least in part on the relevancy score.