AGENT BEHAVIOR MODEL FOR SIMULATION CONTROL

Simulating realistic movement of an object, such as a vehicle or pedestrian, that accounts for unusual behavior may comprise generating an agent behavior model based at least in part on output of a perception component of an autonomous vehicle and determining a difference between the output and log data that includes indications of an actual maneuver of location of an object. Simulating movement of an object may comprise determining predicted motion of the object using the perception component and modifying the predicted motion based at least in part on the agent behavior model.