Techniques for determining a vehicle action and controlling a vehicle to perform the vehicle action for navigating the vehicle in an environment can include determining a vehicle action, such as a lane change action, for a vehicle to perform in an environment. The vehicle can detect, based at least in part on sensor data, an object associated with a target lane associated with the lane change action sensor data. In some instances, the vehicle may determine attribute data associated with the object and input the attribute data to a machine learned model that can output a yield score. Based on such a yield score, the vehicle may determine whether it is safe to perform the lane change action.
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