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

28 Jun 2023 · Cheng Qian, Di Xiu, Minghao Tian ·

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.

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Motion Forecasting

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Absolute Position Encodings • Adam • BPE • Dense Connections • Dropout • Label Smoothing • Layer Normalization • Linear Layer • Multi-Head Attention • Position-Wise Feed-Forward Layer • Residual Connection • Scaled Dot-Product Attention • Softmax • Transformer

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

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