mlsanityData to 14 Oct 2026

TrajTok: Technical Report for 2025 Waymo Open Sim Agents Challenge

arXiv 2506.21618 ↗First posted 23 Jun 2025cs.CL cs.AIcited by 8

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Abstract (arXiv)

In this technical report, we introduce TrajTok, a trajectory tokenizer for discrete next-token-prediction based behavior generation models, which combines data-driven and rule-based methods with better coverage, symmetry and robustness, along with a spatial-aware label smoothing method for cross-entropy loss. We adopt the tokenizer and loss for the SMART model and reach a superior performance with realism score of 0.7852 on the Waymo Open Sim Agents Challenge 2025. We will open-source the code in the future.

Key facts. Cited by 8 papers in the map (data through 14 Oct 2026). Builds on 6 of its 8 references that are in the map. First posted on arXiv 23 Jun 2025.

Builds on

6 of 8 references.

References · 6

  1. 2023MotionLM: Multi-Agent Motion Forecasting as Language Modelingcited by 156
  2. 2023The Waymo Open Sim Agents Challengecited by 86
  3. 2023Trajeglish: Traffic Modeling as Next-Token Predictioncited by 60
  4. 2024Closed-Loop Supervised Fine-Tuning of Tokenized Traffic Modelscited by 40
  5. 2024KiGRAS: Kinematic-Driven Generative Model for Realistic Agent Simulationcited by 17
  6. 2025UniMM: A Unified Mixture Model Framework for Multi-Agent Simulationcited by 13

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 5; 2026: 3.

8 papers.

  1. 2025Advancing Multi-agent Traffic Simulation via R1-Style Reinforcement Fine-Tuningcited by 14
  2. 2025RoaD: Rollouts as Demonstrations for Closed-Loop Supervised Fine-Tuning of Autonomous Driving Policiescited by 6
  3. 2025DecompGAIL: Learning Realistic Traffic Behaviors with Decomposed Multi-Agent Generative Adversarial Imitation Learningcited by 5
  4. 2025VLA-R: Vision-Language Action Retrieval toward Open-World End-to-End Autonomous Drivingcited by 5
  5. 2025LLM-based Human-like Traffic Simulation for Self-driving Testscited by 0
  6. 2026General-purpose LLMs as Models of Human Driver Behavior: The Case of Simplified Mergingcited by 0
  7. 2026Controllable Sim Agents with Behavior Latentscited by 0
  8. 2026Agent-driven Long-tail Simulation for Autonomous Drivingcited by 0