Hyper planning based on object and/or region

A method comprising:

• receiving sensor data from a sensor associated with a vehicle traversing an environment;
• determining, based at least in part on one or more of the sensor data or map data, a type of feature associated with the environment;
• determining, based at least in part on the type of feature, a first model;
• inputting at least a portion of the sensor data into the first model;
• receiving, from the first model, a first output indicative of a behavior of an object in the environment;
• determining a second model from among multiple available models based at least in part on the feature;
• inputting at least a portion of the sensor data into the second model;
• receiving, from the second model, a second output indicative of another behavior of the object;
• and
• controlling operation of the vehicle based at in part on the second output of the second model.

A system comprising:

• a sensor associated with a vehicle traversing an environment;
• one or more processors;
• and
• non-transitory computer-readable storage media storing instructions that, when executed by the one or more processors, cause the system to perform operations comprising:
• detecting an object in an environment around a vehicle based at least in part on sensor data;
• determining a type of feature associated with the object or the vehicle based at least in part on the sensor data or map data;
• determining a first model for the object based at least in part on the type of feature;
• predicting, based at least in part on the first model, a first behavior of the object;
• determining a second model from among multiple available models based at least in part on the type of feature associated with the object;
• predicting, by the second model, a second behavior of the object;
• and
• controlling operation of the vehicle based at in part on the second behavior from the second model.