US Patent 11755396 Generating autonomous vehicle simulation data from logged data

Logged data from an autonomous vehicle is processed to generate augmented data. The augmented data describes an actor in an environment of the autonomous vehicle, the actor having an associated actor type and an actor motion behavior characteristic. The augmented data may be varied to create different sets of augmented data. The sets of augmented data can be used to create one or more simulation scenarios that in turn are used to produce machine learning models to control the operation of autonomous vehicles.