Autonomous system training and testing

A system comprising:

• a virtual driver of an autonomous system;
• and
• a computer processor executing a simulator causing the computer processor to perform operations comprising:
• generating a digital twin of a real world scenario as a simulated environment state of a simulated environment;
• iteratively, through a plurality of timesteps:
• executing a sensor simulation model on the simulated environment state to obtain simulated sensor output,
• obtaining, from the virtual driver of the autonomous system, at least one actuation action that is based on the simulated sensor output,
• updating an autonomous system state of the autonomous system based on the at least one actuation action,
• modeling, using a plurality of actor models, a plurality of actors in the simulated environment according to the simulated environment state to obtain a plurality of actor actions, and
• updating the simulated environment state according to the plurality of actor actions and the autonomous system state;
• and
• evaluating the virtual driver after updating the simulated environment state.

A non-transitory computer readable medium comprising computer readable program code for causing a computer system to perform operations comprising:

• generating a digital twin of a real world scenario as a simulated environment state of a simulated environment;
• iteratively, through a plurality of timesteps:
• executing a sensor simulation model on the simulated environment state to obtain simulated sensor output,
• obtaining, from a virtual driver of an autonomous system, at least one actuation action that is based on the simulated sensor output,
• updating an autonomous system state of the autonomous system based on the at least one actuation action,
• modeling, using a plurality of actor models, a plurality of actors in the simulated environment according to the simulated environment state to obtain a plurality of actor actions, and
• updating the simulated environment state according to the plurality of actor actions and the autonomous system state;
• and
• evaluating the virtual driver after updating the simulated environment state.