TrafficBots V1.5: Traffic Simulation via Conditional VAEs and Transformers with Relative Pose Encoding

Understand

In this technical report we present TrafficBots V1.5, a baseline method for the closed-loop simulation of traffic agents.

• TrafficBots V1.5 achieves baseline-level performance and a 3rd place ranking in the Waymo Open Sim Agents Challenge (WOSAC) 2024.
• It is a simple baseline that combines TrafficBots, a CVAE-based multi-agent policy conditioned on each agent's individual destination and personality, and HPTR, the heterogeneous polyline transformer with relative pose encoding.
• To improve the performance on the WOSAC leaderboard, we apply scheduled teacher-forcing at the training time and we filter the sampled scenarios at the inference time.