Abstract: Provided are methods for counterexample-guided update of a motion planner, which may include training a machine learning model to generate a trajectory for a vehicle. The training may generate a first trained machine learning model having a first plurality of feature weights. The machine learning model may be trained based on a counterexample for which the first trained machine learning model fails to generate a correct trajectory for the vehicle. The training may generate a second trained machine learning model having a second plurality of feature weights. A third plurality of feature weights may be determined by updating the first plurality of feature weights based on the second plurality of feature weights. The machine learning model may be updated to generate the trajectory of the vehicle by applying the third plurality of feature weights. Systems and computer program products are also provided.