It all depends on the type of sensor provided. Active and Passive Infrared sensors activate on change of temperature, I would expect that any increase of temperature (thermal radiation from a fire and not just smoke) at the AR/PIR sensor would cause the lift doors to remain open.
In the case of a lift door provided with a photoelectric cell sensor, an infrared beam is directed towards a light dependent resistor. If the optical density of the smoke increases to an extent as to scatter the IR beam, then the doors will remain open.
As others have said, something will have gone pair shaped in order to result in a life-threatening situation i.e. late detection, late evacuation, abnormal fire load in the vicinity of lift lobby etc.
Interestingly, I have seen a number of (IR controlled automatic opening) fire doors positioned in corridor locations. Again, in the event of fire, this type of design would result in the door opening “not the best design concept”.