Systems and methods for selecting data for training a machine learning model using active learning are disclosed. The methods include receiving a plurality of unlabeled sensor data logs corresponding to surroundings of an autonomous vehicle and identifying one or more trends associated with a training dataset comprising a plurality of labeled data logs. The methods also include selecting a subset of the plurality of unlabeled sensor data logs that have an importance score greater than a threshold, the importance score being determined based on the one or more trends. The subset of the plurality of unlabeled sensor data logs is used for updating the machine learning model to generate an updated model.