Method and system for data-driven and modular decision making and trajectory generation of an autonomous agent

A non-transitory computer readable medium having stored thereon software instructions that, when executed by a processing system of an autonomous agent, cause the processing system to determine a trajectory for the autonomous agent by:

• determining a context of the autonomous agent from a map of labeled contexts;
• selecting a first learned model from a first plurality of learned models based on the context;
• determining a first output of the first learned model;
• based on the first output, selecting a second learned model from a second plurality of learned models;
• and
• determining a trajectory for the autonomous agent based on the second learned model;
• wherein the processing system is further configured to facilitate operation of the autonomous agent based on the trajectory.