Path Planning Using Delta Cost Volume Generated from Movement Restrictions and Observed Driving Behavior

In one embodiment, a method includes determining an initial cost volume associated with a plurality of potential trajectories of a vehicle in an environment based on a set of movement restrictions of the vehicle, generating a delta cost volume using the initial cost volume and environment data associated with the environment, wherein the delta cost volume is generated by determining adjustments to the initial cost volume that incorporate observed driving behavior, and scoring a trajectory of the plurality of potential trajectories for the vehicle based on the initial cost volume and the delta cost volume.