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  <xs:element id="aur_NumberOfVotesForEachShare" abstract="false" name="NumberOfVotesForEachShare" nillable="true" xbrli:periodType="instant" substitutionGroup="xbrli:item" type="xbrli:integerItemType"/>
  <xs:element id="aur_SaleOfStockAuthorizedAmount" abstract="false" name="SaleOfStockAuthorizedAmount" nillable="true" xbrli:periodType="instant" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="aur_SaleOfStockRemainingAuthorizedAmount" abstract="false" name="SaleOfStockRemainingAuthorizedAmount" nillable="true" xbrli:periodType="instant" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="aur_A2021StockIncentivePlanMember" abstract="true" name="A2021StockIncentivePlanMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="aur_NumberOfEquityCompensationPlans" abstract="false" name="NumberOfEquityCompensationPlans" nillable="true" xbrli:periodType="instant" substitutionGroup="xbrli:item" type="xbrli:integerItemType"/>
  <xs:element id="aur_ShareBasedCompensationArrangementByShareBasedPaymentAwardPercentageOfFairValueCommonStockThreshold" abstract="false" name="ShareBasedCompensationArrangementByShareBasedPaymentAwardPercentageOfFairValueCommonStockThreshold" nillable="true" xbrli:periodType="instant" substitutionGroup="xbrli:item" type="dtr-types:percentItemType"/>
  <xs:element id="aur_ShareBasedCompensationArrangementByShareBasedPaymentAwardExpirationPeriodFollowingTermination" abstract="false" name="ShareBasedCompensationArrangementByShareBasedPaymentAwardExpirationPeriodFollowingTermination" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:durationItemType"/>
  <xs:element id="aur_PublicWarrantsMember" abstract="true" name="PublicWarrantsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="aur_PrivatePlacementWarrantsMember" abstract="true" name="PrivatePlacementWarrantsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="aur_DerivativeInstrumentContingentConsiderationLiabilityEarnoutSharesOutstanding" abstract="false" name="DerivativeInstrumentContingentConsiderationLiabilityEarnoutSharesOutstanding" nillable="true" xbrli:periodType="instant" substitutionGroup="xbrli:item" type="xbrli:sharesItemType"/>
  <xs:element id="aur_CommonStockWarrantsMember" abstract="true" name="CommonStockWarrantsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="aur_EarnoutSharesMember" abstract="true" name="EarnoutSharesMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="aur_BuildingsAndLeaseholdImprovementsMember" abstract="true" name="BuildingsAndLeaseholdImprovementsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="aur_CommonStockNumberOfClasses" abstract="false" name="CommonStockNumberOfClasses" nillable="true" xbrli:periodType="instant" substitutionGroup="xbrli:item" type="xbrli:integerItemType"/>
  <xs:element id="aur_ReportableSegmentMember" abstract="true" name="ReportableSegmentMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
</xs:schema>
