mlsanityData to 7 Oct 2026

InterSim: Interactive Traffic Simulation via Explicit Relation Modeling

arXiv 2210.14413 ↗First posted 26 Oct 2022cs.ROcited by 27

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Abstract (arXiv)

Interactive traffic simulation is crucial to autonomous driving systems by enabling testing for planners in a more scalable and safe way compared to real-world road testing. Existing approaches learn an agent model from large-scale driving data to simulate realistic traffic scenarios, yet it remains an open question to produce consistent and diverse multi-agent interactive behaviors in crowded scenes. In this work, we present InterSim, an interactive traffic simulator for testing autonomous driving planners. Given a test plan trajectory from the ego agent, InterSim reasons about the interaction relations between the agents in the scene and generates realistic trajectories for each environment agent that are consistent with the relations. We train and validate our model on a large-scale interactive driving dataset. Experiment results show that InterSim achieves better simulation realism and reactivity in two simulation tasks compared to a state-of-the-art learning-based traffic simulator.

Key facts. Cited by 27 papers in the map (data through 7 Oct 2026). First posted on arXiv 26 Oct 2022.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 8; 2024: 10; 2025: 7; 2026: 1.

27 papers.

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  1. 2023Waymax: An Accelerated, Data-Driven Simulator for Large-Scale Autonomous Driving Researchcited by 158
  2. 2023GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Drivingcited by 141
  3. 2023The Waymo Open Sim Agents Challengecited by 86
  4. 2024GPUDrive: Data-driven, multi-agent driving simulation at 1 million FPScited by 43
  5. 2025Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysiscited by 37
  6. 2025A Survey of Sim-to-Real Methods in RL: Progress, Prospects and Challenges with Foundation Modelscited by 36
  7. 2024Multi-Agent Reinforcement Learning for Autonomous Driving: A Surveycited by 30
  8. 2023Data-driven Traffic Simulation: A Comprehensive Reviewcited by 29
  9. 2023Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Drivingcited by 26
  10. 2024Language-Driven Interactive Traffic Trajectory Generationcited by 19
  11. 2023Boosting Offline Reinforcement Learning for Autonomous Driving with Hierarchical Latent Skillscited by 13
  12. 2024Learning to Drive via Asymmetric Self-Playcited by 11
15 more
  1. 2023Uncertainty-Aware Decision Transformer for Stochastic Driving Environmentscited by 8
  2. 2024TorchDriveEnv: A Reinforcement Learning Benchmark for Autonomous Driving with Reactive, Realistic, and Diverse Non-Playable Characterscited by 6
  3. 2023Tactics2D: A Highly Modular and Extensible Simulator for Driving Decision-makingcited by 4
  4. 2025RIFT: Group-Relative RL Fine-Tuning for Realistic and Controllable Traffic Simulationcited by 4
  5. 2024Adversarial and Reactive Traffic Entities for Behavior-Realistic Driving Simulation: A Reviewcited by 3
  6. 2025Getting SMARTER for Motion Planning in Autonomous Driving Systemscited by 3
  7. 2022P4P: Conflict-Aware Motion Prediction for Planning in Autonomous Drivingcited by 1
  8. 2024LitSim: A Conflict-aware Policy for Long-term Interactive Traffic Simulationcited by 1
  9. 2024TrafficGamer: Reliable and Flexible Traffic Simulation for Safety-Critical Scenarios with Game-Theoretic Oraclescited by 1
  10. 2025Unlocking Efficient Vehicle Dynamics Modeling via Analytic World Modelscited by 1
  11. 2024Autonomous vehicle decision and control through reinforcement learning with traffic flow randomizationcited by 0
  12. 2024MRIC: Model-Based Reinforcement-Imitation Learning with Mixture-of-Codebooks for Autonomous Driving Simulationcited by 0
  13. 2025Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baselinecited by 0
  14. 2025A Trajectory Generator for High-Density Traffic and Diverse Agent-Interaction Scenarioscited by 0
  15. 2026Is Your Trajectory Displacement Safe in Long-tail?cited by 0