Detecting out-of-model scenarios for an autonomous vehicle including: determining, based on first sensor data from one or more sensors, an environmental state relative to the autonomous vehicle, wherein operational commands for the autonomous vehicle are based on a selected machine learning model, wherein the selected machine learning model comprises a first machine learning model; comparing the environmental state to a predicted environmental state relative to the autonomous vehicle; and determining, based on a differential between the environmental state and the predicted environmental state, whether to select a second machine learning model as the selected machine learning model.