Abstract: The present disclosure is directed to autonomous vehicle service assignment simulation using simulated remote operators. In particular, a computing system comprising one or more computing devices can obtain sensor data associated with an interior of an autonomous vehicle. The computing system can determine using the sensor data that the interior of the autonomous vehicle contains one or more passengers. In response to determining that the interior of the autonomous vehicle contains one or more passengers, the computing system can analyze the sensor data to determine whether the one or more passengers are violating one or more passenger policies. In response to determining that the one or more passengers are violating one or more passenger policies, the computing system can automatically initiate a remote assistance session with a remote operator.