A vehicle comprising: a sensor; one or more processors; and memory storing processor-executable instructions that, when executed by the one or more processors, configure the vehicle to: receive sensor data from a sensor; generate, based at least in part on the sensor data, a first trajectory for the vehicle to traverse along a path; determine, based at least in part on the first trajectory, that the vehicle is unable to continue along the path based at least in part on one or more of an obstacle or a control policy; transmit, to a remote computing device , a request for guidance data; receive, from the remote computing device, the guidance data comprising waypoint data comprising a waypoint position and a waypoint orientation associated with a waypoint ; validate the waypoint position and the waypoint orientation based at least in part on a safety protocol; based at least in part on a validation of the waypoint, determine a second trajectory for the vehicle to navigate the vehicle from an initial vehicle position and an initial vehicle orientation to the waypoint position and the waypoint orientation, the waypoint position and the waypoint orientation being different from the initial vehicle position and the initial vehicle orientation; and control the vehicle based at least in part on the second trajectory. a sensor; one or more processors; and memory storing processor-executable instructions that, when executed by the one or more processors, configure the vehicle to: receive sensor data from a sensor; generate, based at least in part on the sensor data, a first trajectory for the vehicle to traverse along a path; determine, based at least in part on the first trajectory, that the vehicle is unable to continue along the path based at least in part on one or more of an obstacle or a control policy; transmit, to a remote computing device , a request for guidance data; receive, from the remote computing device, the guidance data comprising waypoint data comprising a waypoint position and a waypoint orientation associated with a waypoint ; validate the waypoint position and the waypoint orientation based at least in part on a safety protocol; based at least in part on a validation of the waypoint, determine a second trajectory for the vehicle to navigate the vehicle from an initial vehicle position and an initial vehicle orientation to the waypoint position and the waypoint orientation, the waypoint position and the waypoint orientation being different from the initial vehicle position and the initial vehicle orientation; and control the vehicle based at least in part on the second trajectory. receive sensor data from a sensor; generate, based at least in part on the sensor data, a first trajectory for the vehicle to traverse along a path; determine, based at least in part on the first trajectory, that the vehicle is unable to continue along the path based at least in part on one or more of an obstacle or a control policy; transmit, to a remote computing device , a request for guidance data; receive, from the remote computing device, the guidance data comprising waypoint data comprising a waypoint position and a waypoint orientation associated with a waypoint ; validate the waypoint position and the waypoint orientation based at least in part on a safety protocol; based at least in part on a validation of the waypoint, determine a second trajectory for the vehicle to navigate the vehicle from an initial vehicle position and an initial vehicle orientation to the waypoint position and the waypoint orientation, the waypoint position and the waypoint orientation being different from the initial vehicle position and the initial vehicle orientation; and control the vehicle based at least in part on the second trajectory. <EOS>