Aspects of the subject technology relate to systems, methods, and computer-readable media for grouping behaviors based on behavior signatures. Event data gathered for an autonomous vehicle (AV) test is accessed. A signature for the AV behavior is identified from the event data. The signature is defined by features occurring during the AV behavior. The signature for the AV behavior is compared to signatures of one or more other AV behaviors. AV behaviors, including the AV behavior, are grouped together from a comparison of corresponding signatures across the plurality of AV behaviors.