A vehicle can capture data that can be converted into a synthetic scenario for use in a simulator. Objects can be identified in the data and attributes associated with the objects can be determined. The data can be used to generate a synthetic scenario of a simulated environment. The scenarios can include simulated objects that traverse the simulated environment and perform actions based on the attributes associated with the objects, the captured data, and/or interactions within the simulated environment. In some instances, the simulated objects can be filtered from the scenario based on attributes associated with the simulated objects and can be instantiated and/or destroyed based on triggers within the simulated environment. The scenarios can be used for testing and validating interactions and responses of a vehicle controller within the simulated environment.