Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating cut-in probabilities of agents surrounding a vehicle. One of the methods includes obtaining agent trajectory data for one or more agents in an environment; obtaining vehicle trajectory data of a vehicle in the environment; and processing a network input generated from the agent trajectory data and vehicle trajectory data using a neural network to generate a cut-in output, wherein the cut-in output comprises respective cut-in probabilities for each of a plurality of locations in the environment, wherein the respective cut-in probability for each location that is a current location of one of the one or more agents characterizes a likelihood that the agent in the current location will intersect with a planned future location of the vehicle within a predetermined amount of time.