# RITA: Boost Driving Simulators with Realistic Interactive Traffic Flow

arXiv: https://arxiv.org/abs/2211.03408 · HTML: https://mlsanity.com/paper/2211.03408/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 37 references that are in the map.
- First posted on arXiv 7 Nov 2022.

## Builds on (most cited first, 21 of 21)

- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Generative Adversarial Imitation Learning](https://mlsanity.com/paper/1606.03476/) (2016)
- [NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles](https://mlsanity.com/paper/2106.11810/) (2021)
- [End-to-end Driving via Conditional Imitation Learning](https://mlsanity.com/paper/1710.02410/) (2017)
- [ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst](https://mlsanity.com/paper/1812.03079/) (2018)
- [A Survey of Inverse Reinforcement Learning: Challenges, Methods and Progress](https://mlsanity.com/paper/1806.06877/) (2018)
- [Causal Confusion in Imitation Learning](https://mlsanity.com/paper/1905.11979/) (2019)
- [LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving](https://mlsanity.com/paper/2005.03778/) (2020)
- [SMARTS: Scalable Multi-Agent Reinforcement Learning Training School for Autonomous Driving](https://mlsanity.com/paper/2010.09776/) (2020)
- [Multi-Agent Generative Adversarial Imitation Learning](https://mlsanity.com/paper/1807.09936/) (2018)
- [Error Bounds of Imitating Policies and Environments](https://mlsanity.com/paper/2010.11876/) (2020)
- [Virtual-Taobao: Virtualizing Real-world Online Retail Environment for Reinforcement Learning](https://mlsanity.com/paper/1805.10000/) (2018)
- [SimNet: Learning Reactive Self-driving Simulations from Real-world Observations](https://mlsanity.com/paper/2105.12332/) (2021)
- [Learning to Collide: An Adaptive Safety-Critical Scenarios Generating Method](https://mlsanity.com/paper/2003.01197/) (2020)
- [Multi-Agent Imitation Learning for Driving Simulation](https://mlsanity.com/paper/1803.01044/) (2018)
- [Modeling Human Driving Behavior through Generative Adversarial Imitation Learning](https://mlsanity.com/paper/2006.06412/) (2020)
- [Energy-Based Imitation Learning](https://mlsanity.com/paper/2004.09395/) (2020)
- [Simulating Emergent Properties of Human Driving Behavior Using Multi-Agent Reward Augmented Imitation Learning](https://mlsanity.com/paper/1903.05766/) (2019)
- [DriverGym: Democratising Reinforcement Learning for Autonomous Driving](https://mlsanity.com/paper/2111.06889/) (2021)
- [BARK: Open Behavior Benchmarking in Multi-Agent Environments](https://mlsanity.com/paper/2003.02604/) (2020)

## Built on by (most cited first, 7 of 7)

- [Data-driven Traffic Simulation: A Comprehensive Review](https://mlsanity.com/paper/2310.15975/) (2023)
- [Applications of Large Scale Foundation Models for Autonomous Driving](https://mlsanity.com/paper/2311.12144/) (2023)
- [DriveGen: Towards Infinite Diverse Traffic Scenarios with Large Models](https://mlsanity.com/paper/2503.05808/) (2025)
- [A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator](https://mlsanity.com/paper/2509.08221/) (2025)
- [Adversarial and Reactive Traffic Entities for Behavior-Realistic Driving Simulation: A Review](https://mlsanity.com/paper/2409.14196/) (2024)
- [Navigating the Edge with the State-of-the-Art Insights into Corner Case Identification and Generation for Enhanced Autonomous Vehicle Safety](https://mlsanity.com/paper/2503.00077/) (2025)
- [CORTEX-AVD: A Framework for CORner Case Testing and EXploration in Autonomous Vehicle Development](https://mlsanity.com/paper/2504.03989/) (2025)

## Abstract (arXiv)

High-quality traffic flow generation is the core module in building simulators for autonomous driving. However, the majority of available simulators are incapable of replicating traffic patterns that accurately reflect the various features of real-world data while also simulating human-like reactive responses to the tested autopilot driving strategies. Taking one step forward to addressing such a problem, we propose Realistic Interactive TrAffic flow (RITA) as an integrated component of existing driving simulators to provide high-quality traffic flow for the evaluation and optimization of the tested driving strategies. RITA is developed with consideration of three key features, i.e., fidelity, diversity, and controllability, and consists of two core modules called RITABackend and RITAKit. RITABackend is built to support vehicle-wise control and provide traffic generation models from real-world datasets, while RITAKit is developed with easy-to-use interfaces for controllable traffic generation via RITABackend. We demonstrate RITA's capacity to create diversified and high-fidelity traffic simulations in several highly interactive highway scenarios. The experimental findings demonstrate that our produced RITA traffic flows exhibit all three key features, hence enhancing the completeness of driving strategy evaluation. Moreover, we showcase the possibility for further improvement of baseline strategies through online fine-tuning with RITA traffic flows.