Validating Autonomous Vehicle Simulation Scenarios

A system comprising one or more processors and memory operably coupled with the one or more processors, wherein the memory stores instructions that, in response to execution of the instructions by the one or more processors, cause the one or more processors to perform operations including:

• executing a simulation to simulate a behavior of an autonomous vehicle based on a simulation scenario;
• receiving a first message including state information of the autonomous vehicle based on a simulated behavior of the autonomous vehicle from the simulation;
• determining whether the first message including the state information of the autonomous vehicle satisfies a first condition;
• generating, responsive to determining that the first message including the state information of the autonomous vehicle satisfies the first condition, a validated simulated behavior by validating the simulated behavior of the autonomous vehicle in the simulation scenario;
• generating a training instance including the validated simulated behavior of the autonomous vehicle in the simulation scenario;
• and
• training a machine learning model of the autonomous vehicle using the training instance including the validated simulated behavior of the autonomous vehicle in the simulation scenario.