Systems and methods for autonomous vehicle testing are provided. In one example embodiment, a computer implemented method includes obtaining, by a computing system including one or more computing devices, simulated perception data indicative of one or more simulated states of at least one simulated object within a surrounding environment of an autonomous vehicle. The computer-implemented method includes determining, by the computing system, a motion of the autonomous vehicle based at least in part on the simulated perception data. The computer-implemented method includes causing, by the computing system, the autonomous vehicle to travel in accordance with the determined motion of the autonomous vehicle through the surrounding environment of the autonomous vehicle.