One or more non-transitory computer-readable media storing processor-executable instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising: storing a first state identifying a computing device of an autonomous vehicle as having exclusive authority to provide guidance to a component of the autonomous vehicle; storing a policy specifying one or more conditions associated with transferring authority to an actor, the one or more conditions comprising a first condition requiring that a teleoperations request be previously received from the autonomous vehicle and at least one of an action, a role, or a state; receiving , via a network interface and from a first device associated with a first actor , a first request to transfer exclusive authority from the computing device of the autonomous vehicle to the first actor, the first request including at least one of an identifier specifying an identity or a first role of the first actor; determining to deny the first request based at least in part on determining that the autonomous vehicle had not transmitted the teleoperations request; transmitting a teleoperations request; receiving a second request to transfer authority to the first actor; updating, based at least in part on determining that the teleoperations request was transmitted by the autonomous vehicle and that the identifier satisfies a condition specified by the policy stored in memory, the first state to a second state identifying the first actor as having exclusive authority to provide guidance to the component of the autonomous vehicle; transmitting, via the network interface and to at least the first device, the second state; receiving a guidance from the first device via the network interface; and controlling, based at least in part on the guidance received from the first device via the network interface and determining that the guidance is authorized by the second state, the component of the autonomous vehicle. storing a first state identifying a computing device of an autonomous vehicle as having exclusive authority to provide guidance to a component of the autonomous vehicle; storing a policy specifying one or more conditions associated with transferring authority to an actor, the one or more conditions comprising a first condition requiring that a teleoperations request be previously received from the autonomous vehicle and at least one of an action, a role, or a state; receiving , via a network interface and from a first device associated with a first actor , a first request to transfer exclusive authority from the computing device of the autonomous vehicle to the first actor, the first request including at least one of an identifier specifying an identity or a first role of the first actor; determining to deny the first request based at least in part on determining that the autonomous vehicle had not transmitted the teleoperations request; transmitting a teleoperations request; receiving a second request to transfer authority to the first actor; updating, based at least in part on determining that the teleoperations request was transmitted by the autonomous vehicle and that the identifier satisfies a condition specified by the policy stored in memory, the first state to a second state identifying the first actor as having exclusive authority to provide guidance to the component of the autonomous vehicle; transmitting, via the network interface and to at least the first device, the second state; receiving a guidance from the first device via the network interface; and controlling, based at least in part on the guidance received from the first device via the network interface and determining that the guidance is authorized by the second state, the component of the autonomous vehicle. <EOS>