Aurora Operations, Inc.

Ricson Cheng

Raquel Urtasun

Justin Liang

Xinchen Yan

Adam Wlodzimierz Harley

Mehmet Ersin Yumer

Systems and methods for generating simulation data based on real-world environments are provided. A method includes obtaining multi-modal sensor data indicative of a dynamic object within an environment of a robotic platform. The multi-modal sensor data is associated with a plurality of timesteps including a first timestep and a second timestep. The method includes providing the multi-modal sensor data indicative of the dynamic object within the environment as an input to a machine-learned dynamic object removal model. And, the method includes receiving as an output of the machine-learned dynamic object removal model, in response to receipt of the multi-modal sensor data, a scene representation indicative of at least a portion of the environment including a reconstructed region based at least in part on removal of the dynamic object and multiple levels of granularity. The scene representation is used as a template for generating different simulations within the depicted environment.

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Bridgewater, NJ, United States of America

Ricson Cheng