mlsanityData to 14 Oct 2026

Multiverse Transformer: 1st Place Solution for Waymo Open Sim Agents Challenge 2023

arXiv 2306.11868 ↗First posted 20 Jun 2023cs.CVcited by 25

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Abstract (arXiv)

This technical report presents our 1st place solution for the Waymo Open Sim Agents Challenge (WOSAC) 2023. Our proposed MultiVerse Transformer for Agent simulation (MVTA) effectively leverages transformer-based motion prediction approaches, and is tailored for closed-loop simulation of agents. In order to produce simulations with a high degree of realism, we design novel training and sampling methods, and implement a receding horizon prediction mechanism. In addition, we introduce a variable-length history aggregation method to mitigate the compounding error that can arise during closed-loop autoregressive execution. On the WOSAC, our MVTA and its enhanced version MVTE reach a realism meta-metric of 0.5091 and 0.5168, respectively, outperforming all the other methods on the leaderboard.

Key facts. Cited by 25 papers in the map (data through 14 Oct 2026). Builds on 20 of its 20 references that are in the map. First posted on arXiv 20 Jun 2023.

Builds on

20 of 20 references.

References · 20

  1. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 537
  2. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 530
  3. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 331
  4. 2022Wayformer: Motion Forecasting via Simple & Efficient Attention Networkscited by 280
  5. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 270
  6. 2023MotionDiffuser: Controllable Multi-Agent Motion Prediction using Diffusioncited by 213
  7. 2021TrafficSim: Learning to Simulate Realistic Multi-Agent Behaviorscited by 193
  8. 2022Guided Conditional Diffusion for Controllable Traffic Simulationcited by 190
  9. 2021Scene Transformer: A unified architecture for predicting multiple agent trajectoriescited by 165
  10. 2021Generating Useful Accident-Prone Driving Scenarios via a Learned Traffic Priorcited by 139
  11. 2023Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusioncited by 138
  12. 2021Latent Variable Sequential Set Transformers For Joint Multi-Agent Motion Predictioncited by 131
8 more
  1. 2020Implicit Latent Variable Model for Scene-Consistent Motion Forecastingcited by 116
  2. 2022TrafficGen: Learning to Generate Diverse and Realistic Traffic Scenarioscited by 106
  3. 2023The Waymo Open Sim Agents Challengecited by 86
  4. 2022BITS: Bi-level Imitation for Traffic Simulationcited by 80
  5. 2021SimNet: Learning Reactive Self-driving Simulations from Real-world Observationscited by 77
  6. 2022Symphony: Learning Realistic and Diverse Agents for Autonomous Driving Simulationcited by 61
  7. 2022JFP: Joint Future Prediction with Interactive Multi-Agent Modeling for Autonomous Drivingcited by 40
  8. 2022PreTR: Spatio-Temporal Non-Autoregressive Trajectory Prediction Transformercited by 6

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 1; 2024: 12; 2025: 10; 2026: 2.

25 papers.

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  1. 2025Robust Autonomy Emerges from Self-Playcited by 67
  2. 2024BehaviorGPT: Smart Agent Simulation for Autonomous Driving with Next-Patch Predictioncited by 50
  3. 2024SceneDiffuser: Efficient and Controllable Driving Simulation Initialization and Rolloutcited by 48
  4. 2024Solving Motion Planning Tasks with a Scalable Generative Modelcited by 40
  5. 2024WcDT: World-centric Diffusion Transformer for Traffic Scene Generationcited by 32
  6. 2025Scenario Dreamer: Vectorized Latent Diffusion for Generating Driving Simulation Environmentscited by 28
  7. 2024CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learningcited by 27
  8. 2024Improving Agent Behaviors with RL Fine-tuning for Autonomous Drivingcited by 27
  9. 2024SMART: Scalable Multi-agent Real-time Motion Generation via Next-token Predictioncited by 25
  10. 2024KiGRAS: Kinematic-Driven Generative Model for Realistic Agent Simulationcited by 17
  11. 2024TrafficBots V1.5: Traffic Simulation via Conditional VAEs and Transformers with Relative Pose Encodingcited by 13
  12. 2025UniMM: A Unified Mixture Model Framework for Multi-Agent Simulationcited by 13
13 more
  1. 2025DRoPE: Directional Rotary Position Embedding for Efficient Agent Interaction Modelingcited by 9
  2. 2025When Planners Meet Reality: How Learned, Reactive Traffic Agents Shift nuPlan Benchmarkscited by 7
  3. 2025SceneStreamer: Continuous Scenario Generation as Next Token Group Predictioncited by 2
  4. 2025Post-Training and Test-Time Scaling of Generative Agent Behavior Models for Interactive Autonomous Drivingcited by 2
  5. 2023TSDiT: Traffic Scene Diffusion Models With Transformerscited by 1
  6. 2024Model Predictive Simulation Using Structured Graphical Models and Transformerscited by 1
  7. 2024Autonomous Vehicle Controllers From End-to-End Differentiable Simulationcited by 1
  8. 2025Unlocking Efficient Vehicle Dynamics Modeling via Analytic World Modelscited by 1
  9. 2025Controllable risk scenario generation from human crash data for autonomous vehicle testingcited by 1
  10. 2026Long-term Traffic Simulation via Structured Autoregressive Modelingcited by 1
  11. 2024Bench4Merge: A Comprehensive Benchmark for Merging in Realistic Dense Traffic with Micro-Interactive Vehiclescited by 0
  12. 2025Benchmarking Autonomous Driving Planners Across Leaderboards: A Unified CARLA-Based Evaluationcited by 0
  13. 2026Bridging Local Observation and Global Simulation in Closed-Loop Traffic Modelingcited by 0