Abstract: Various embodiments include methods and devices for training and implementing a tree-based behavior prediction model for use in autonomous vehicle control systems. Some embodiments may include labeling real-world autonomous vehicle run data to indicate an insight of the data, selecting an insight decision tree of the tree-based behavior prediction model for training using the labeled data, training the insight decision tree using the labeled data to classify a probability of an insight associated with the insight decision tree, and updating the tree-based behavior prediction model based on training the insight decision tree. Some embodiments may include selecting an insight decision tree of a tree-based behavior prediction model configured for classifying a probability of an insight associated with the insight decision tree, executing the insight decision tree, and outputting a probability of an insight determined from executing the insight decision tree using the data.