Abstract: The disclosed technology provides solutions for generating simulated scenes to facilitate autonomous vehicle (AV) testing. In some implementations, the disclosed technology encompasses methods for generating simulated scenes that can includes steps for receiving road data, wherein the road data comprises sensor data collected for a recorded scene measured using one or more vehicle-mounted sensors, processing the road data to generate semantic scene data, and generating a simulated scene based on the semantic scene data. Systems and machine-readable media are also provided.

Abstract: The disclosed technology provides techniques for using simulated scenarios to perform autonomous vehicle (AV) testing. In some implementations, the disclosed technology encompasses a process for receiving a simulated scene based on semantic scene data, modifying the simulated scene to generate a permuted scene, and generating synthetic road data corresponding with the permuted scene. In some approaches, the process can further include operations for providing the synthetic road data to an AV stack. Systems and machine-readable media are also provided.