9. A method comprising: determining one or more symbols of an environment proximate to an autonomous vehicle; generating a context of the environment based at least in part on the one or more symbols; populating a tree search with one or more candidate trajectories; selecting, as a selected trajectory, a trajectory of the one or more candidate trajectories based at least part on an evaluation of the selected trajectory with respect to one or more temporal logic formulas or on one or more costs; and controlling the autonomous vehicle based at least in part on the selected trajectory.
14. The method of claim 9 , further comprising generating one or more automaton based at least in part on the one or more temporal logic formulas, the method further comprising evaluating the one or more candidate trajectories using the one or more automaton, wherein the one or more automaton includes at least one of a Rabin automaton, a Büchi automaton, a Streett automaton, a Parity automaton, or a Muller automaton.