A method for operating a robotic vehicle, the method comprising: receiving, on a computing device associated with the robotic vehicle, a sensor input from a sensor associated with the robotic vehicle, the sensor input providing information on dynamic objects and static objects in a vicinity of the robotic vehicle; generating, using a prediction model on the computing device, a first array of scores including a first plurality of scores, a horizontal axis of the array representing an angular direction for the robotic vehicle and a vertical axis of the array representing a speed for the robotic vehicle, each score in the first plurality of scores associated with a possible action of the robotic vehicle from a first plurality of actions, the prediction model configured to generate the first plurality of scores based, at least in part, on a predicted probability of the robotic vehicle encountering any of the dynamic objects; generating, using an analytical model on the computing device, a second array of scores including a second plurality of scores, a horizontal axis of the array representing the angular direction for the robotic vehicle and a vertical axis of the array representing the speed for the robotic vehicle, each score in the second plurality of scores associated with a possible action of the robotic vehicle from the second plurality of actions, the analytical model configured to generate the second plurality of scores based, at least in part, on the information on the static objects; combining the first plurality of scores with the second plurality of scores to generate a combined array of scores including a plurality of combined scores, wherein the analytical model is more accurate than the prediction model, and combining the first plurality of scores with the second plurality of scores comprises giving more weight to the first plurality of scores than to the second plurality of scores, to avoid collisions with the dynamic objects; selecting an action for the robotic vehicle based, at least in part, on the plurality of combined scores; and operating the robotic vehicle according to the selected action. receiving, on a computing device associated with the robotic vehicle, a sensor input from a sensor associated with the robotic vehicle, the sensor input providing information on dynamic objects and static objects in a vicinity of the robotic vehicle; generating, using a prediction model on the computing device, a first array of scores including a first plurality of scores, a horizontal axis of the array representing an angular direction for the robotic vehicle and a vertical axis of the array representing a speed for the robotic vehicle, each score in the first plurality of scores associated with a possible action of the robotic vehicle from a first plurality of actions, the prediction model configured to generate the first plurality of scores based, at least in part, on a predicted probability of the robotic vehicle encountering any of the dynamic objects; generating, using an analytical model on the computing device, a second array of scores including a second plurality of scores, a horizontal axis of the array representing the angular direction for the robotic vehicle and a vertical axis of the array representing the speed for the robotic vehicle, each score in the second plurality of scores associated with a possible action of the robotic vehicle from the second plurality of actions, the analytical model configured to generate the second plurality of scores based, at least in part, on the information on the static objects; combining the first plurality of scores with the second plurality of scores to generate a combined array of scores including a plurality of combined scores, wherein the analytical model is more accurate than the prediction model, and combining the first plurality of scores with the second plurality of scores comprises giving more weight to the first plurality of scores than to the second plurality of scores, to avoid collisions with the dynamic objects; selecting an action for the robotic vehicle based, at least in part, on the plurality of combined scores; and operating the robotic vehicle according to the selected action.