Abstract: In one embodiment, a method includes receiving parameter data associated with trajectories captured using at least one sensor associated with one or more vehicles, determining a parameter distribution associated with movement parameters for the parameter data based on the trajectories, adjusting the parameter distribution for the parameter data associated with the movement parameters up to a respective threshold constraint, wherein the respective threshold constraint is based on at least one of the parameter data, generating driving simulations that are based on the adjusted parameter distribution for the parameter data, and evaluating an autonomous-driving system using the driving simulations.

Abstract: Systems, methods, and non-transitory computer-readable media can determine mission data associated with a scenario encountered during operation of a vehicle. A first evaluation of the scenario can be determined by evaluating the mission data using a simulation behavior model based on simulated driving data. A second evaluation of the scenario can be determined by evaluating the mission data using an observed behavior model based on observed driving data. Vehicle performance of an autonomy system of the vehicle can be evaluated based on the first evaluation and the second evaluation.