OFF-BOARD PERCEPTION BASED ON SEQUENCE TO SEQUENCE SENSOR DATA GENERATION

Methods, systems, and non-transitory computer readable media are configured to perform operations comprising capturing a first sequence of captured data associated with a first time window; generating a second sequence of generated data associated with a second time window based on the first sequence of data; identifying a difference between the second sequence of generated data and a ground truth sequence of captured data associated with the second time window; determining whether the difference between the second sequence of generated data and the ground truth sequence of captured data satisfies a selected threshold value; detecting a change associated with an environment when the difference between the second sequence of generated data and the ground truth sequence of captured data satisfies the selected threshold value; and based on the detected change, providing navigation guidance to a vehicle travelling in the environment.