1. A method, comprising: receiving, from one or more of a sensor or a communication interface, telemetry data associated with an event, the event being a situation or condition associated with operation of an autonomous vehicle; obtaining policy data, the policy data including instructions for operating an autonomous vehicle according to a trajectory and the policy data including a confidence level associated with the received trajectory, the confidence level indicating a degree of certainty that the autonomous vehicle, in operating according to the trajectory, will operate safely in view of the event; obtaining candidate trajectories responsive to the event, based on the telemetry data, each candidate trajectory having an associated confidence level; generating, by machine-learning by a processor and based at least in part on the candidate trajectories and the telemetry data, updated policy data that includes instructions for operating the autonomous vehicle responsive to the event differently than according to the policy data; and communicating the updated policy data to at least one autonomous vehicle via a communications interface.