Validating self driving simulators using autonomy realism evaluation of simulation

A system comprising:

• at least one processor;
• and
• an application that, when executing on the at least one processor, performs operations comprising:
• receiving real-world data comprising real sensor data captured with a sensor system of an autonomous system,
• generating a digital twin specification from the real-world data,
• executing a world simulation using the digital twin specification to generate simulated world data, and
• processing the real-world data and the simulated world data using an evaluation model to generate a domain gap metric and a realism evaluation,
• wherein the domain gap metric comprises a difference measured between the real-world data and the simulated world data, and
• wherein the realism evaluation comprises one or more of:
• an error value from the domain gap metric, and
• a realism value of one or more components of the world simulation, wherein the realism value is calculated as one minus the error value.

A non-transitory computer readable medium comprising instructions executable by at least one processor to perform operations comprising:

• receiving real-world data comprising real sensor data captured with a sensor system of an autonomous system;
• generating a digital twin specification from the real-world data;
• executing a world simulation using the digital twin specification to generate simulated world data;
• and
• processing the real-world data and the simulated world data using an evaluation model to generate a domain gap metric and a realism evaluation,
• wherein the domain gap metric comprises a difference measured between the real-world data and the simulated world data, and
• wherein the realism evaluation comprises one or more of:
• an error value from the domain gap metric, and
• a realism value of one or more components of the world simulation, wherein the realism value is calculated as one minus the error value.