Patent attributes
A vehicle can capture data for use in a simulator. Objects represented in the vehicle data can be instantiated in simulation and move according to object models/controllers. A user can tune how closely simulated motion of the object corresponds to the previously recorded data based on simulation costs. The scenarios can be used for testing and validating interactions and responses of a vehicle controller within a simulated environment. The scenarios can include simulated objects that traverse the simulated environment and perform actions based on the captured data and/or interactions within the simulated environment. Objects observed by the vehicle can be disregarded from simulation based on one or more filters. A user can override, augment, or otherwise modify simulations instantiated based on the one or more filters and captured data.
