Risk Aware Executor with Action Set Recommendations

A method for use in traversing a vehicle transportation network by an autonomous vehicle (AV) includes traversing, by the AV, the vehicle transportation network. Traversing the vehicle transportation network includes identifying a distinct vehicle operational scenario; instantiating a first decision component instance; receiving a first set of candidate vehicle control actions from the first decision component instance; selecting an action; and controlling the AV to traverse a portion of the vehicle transportation network based on the action. The first decision component instance is an instance of a first decision component modeling the distinct vehicle operational scenario.