receiving simulation data including the autonomous vehicle, the simulation data generated based on random sampling of snippets of logged data from a set of snippets of logged data associated with real-world driving, the random sampling of snippets of logged data based on an identifier identifying a specific characteristic in a snippet of logged data;

executing a first simulation of a planning subsystem of the autonomous vehicle based on the simulation data to generate a simulation result;

executing a second simulation of a perception subsystem of the autonomous vehicle using the simulation result as an input to generate an amended simulation result including ground truth data based on dynamic state information of one or more actors in the second simulation;

generating a perception scenario using the amended simulation result; and

validating the perception scenario by verifying whether a constraint is satisfied to produce a validated perception scenario.