Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that generates path prediction data for agents in the vicinity of an autonomous vehicle using machine learning models. One method includes identifying an agent in a vicinity of an autonomous vehicle navigating an environment and determining that the agent is within a vicinity of a crossing zone, which can be marked or unmarked. In response to determining that the agent is within a vicinity of a crossing zone: (i) features of the agent and of the crossing zone can be obtained; (ii) a first input that includes the features can be processed using a first machine learning model that is configured to generate a first crossing prediction that characterizes future crossing behavior of the agent, and (iii) a predicted path for the agent for crossing the roadway can be determined from at least the first crossing prediction.