[redytedy]

The tricky part is that the simulator itself may not have easy to understand rules. Waymo has a Neurips talk about training world agent models that are used for car behavior in the simulation itself. Trying to make world agents that are indistinguishable from real-world vehicle behavior (e.g. minimizing jenson-shannon curvature entropy) is a completely different task than training a model to safely transport you somewhere.

[taeric]

Right. That was my angle. Sometimes, they are ready to see after the fact. But, just like bias can enter into data collection, so too can it enter simulation.