MEASURING ENVIRONMENTAL DIVERGENCE IN A SIMULATION USING OBJECT OCCLUSION ESTIMATION

Aspects of the disclosed technology provide solutions for measuring divergence between recorded real-world scene data, and a simulated environment. A process of the disclosed technology can include steps for generating, based on real-world autonomous vehicle (AV) scene data, a computer-generated simulation of a real-world scenario, determining, an occlusion region in which at least one surrounding object obstructs a field of view of the AV, and determining, based on the occlusion region, a portion of the object of interest that is visible to the AV. In some aspects, the process can further include steps for determining a divergence value indicating a difference between the portion of the object of interest that is visible to the AV within the simulation of the real-world scenario to an actual portion of the object of interest that is visible to the AV within the real-world scenario. Systems and machine-readable media are also provided.