mlsanityData to 14 Oct 2026

The 2nd Place Solution for 2023 Waymo Open Sim Agents Challenge

arXiv 2306.15914 ↗First posted 28 Jun 2023cs.CVcited by 6

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Abstract (arXiv)

In this technical report, we present the 2nd place solution of 2023 Waymo Open Sim Agents Challenge (WOSAC)[4]. We propose a simple yet effective autoregressive method for simulating multi-agent behaviors, which is built upon a well-known multimodal motion forecasting framework called Motion Transformer (MTR)[5] with postprocessing algorithms applied. Our submission named MTR+++ achieves 0.4697 on the Realism Meta metric in 2023 WOSAC. Besides, a modified model based on MTR named MTR_E is proposed after the challenge, which has a better score 0.4911 and is ranked the 3rd on the leaderboard of WOSAC as of June 25, 2023.

Key facts. Cited by 6 papers in the map (data through 14 Oct 2026). Builds on 6 of its 6 references that are in the map. First posted on arXiv 28 Jun 2023.

Builds on

6 of 6 references.

References · 6

  1. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 537
  2. 2019MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Predictioncited by 420
  3. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 270
  4. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  5. 2023The Waymo Open Sim Agents Challengecited by 86
  6. 2022JFP: Joint Future Prediction with Interactive Multi-Agent Modeling for Autonomous Drivingcited by 40

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Cited by year (2026 to 14 Oct)

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

6 papers.

  1. 2023SceneDM: Scene-level Multi-agent Trajectory Generation with Consistent Diffusion Modelscited by 24
  2. 2024Promptable Closed-loop Traffic Simulationcited by 20
  3. 2025UniMM: A Unified Mixture Model Framework for Multi-Agent Simulationcited by 13
  4. 2025Decoupled Diffusion Sparks Adaptive Scene Generationcited by 12
  5. 2026Long-term Traffic Simulation via Structured Autoregressive Modelingcited by 1
  6. 2026Proposal-Conditioned Latent Diffusion for Closed-Loop Traffic Scenario Generationcited by 0