Abstract: A computing system can be configured to generate, for an autonomous vehicle, a route through a transportation network comprising a plurality of segments. The method can include receiving sets of agent attention data from additional autonomous vehicles that are respectively currently located at one or more other segments of the transportation network. The method can include inputting the sets of agent attention data into a value iteration graph neural network that comprises a plurality of nodes that respectively correspond to the plurality of segments of the transportation network. The method can include receiving node values respectively for the segments as an output of the value iteration graph neural network. The method can include selecting a next segment to include in the route for the autonomous vehicle based at least in part on the node values.