SIMULATOR FOR A VEHICLE PLANNING SYSTEM

A method for updating a planning system of an autonomous vehicle is provided. The method comprises obtaining, at a simulator, an input comprising scene data associated with a single planning cycle of the planning system; using the simulator, apply a simulation of the planning system based on the scene data to output a plurality of autonomous vehicle metrics; updating one or more parameters of the simulation based on the plurality of autonomous vehicle metrics; outputting a plurality of updated autonomous vehicle metrics based on the one or more updated parameters; determining that a condition is satisfied based on the plurality of updated autonomous vehicle metrics; and deploying the one or more updated parameters to the planning system of the autonomous vehicle.