executing a simulated operation of a vehicle in a scene, the vehicle comprising a sensor suite configured to detect the scene and to generate sensor data, the sensor suite comprising one or more sensors;

controlling the operation of the vehicle by using a deep neural network (DNN) that is configured to receive the sensor data as an input and to output a control signal, the vehicle configured to operate in accordance with the control signal;

determining a learning score, the learning score indicating a cost associated with the DNN;

determining a performance score based on an evaluation of a performance of the vehicle during the operation of the vehicle in the scene; and

modifying a parameter associated with the DNN based on the learning score and the performance score.