OPTIMIZATION BASED PLANNING SYSTEM

Techniques for aggregating costs associated with one or more heat maps to control a vehicle in an environment are discussed herein. A vehicle computing device can implement a model to determine heat maps and respective cost information for different features of the environment based on sensor data. The vehicle computing device can output a planned trajectory for the vehicle based on combining the heat maps. The techniques can also include determining a rationalization or root cause detailing reasons why the planned trajectory was determined.