Abstract
The goal of traffic simulation is to augment a potentially limited amount of manually-driven miles that is available for testing and validation, with a much larger amount of simulated synthetic miles. The culmination of this vision would be a generative simulated city, where given a map of the city and an autonomous vehicle (AV) software stack, the simulator can seamlessly simulate the trip from point A to point B by populating the city around the AV and controlling all aspects of the scene, from animating the dynamic agents (e.g., vehicles, pedestrians) to controlling the traffic light states. We refer to this vision as CitySim, which requires an agglomeration of simulation technologies: scene generation to populate the initial scene, agent behavior modeling to animate the scene, occlusion reasoning, dynamic scene generation to seamlessly spawn and remove agents, and environment simulation for factors such as traffic lights. While some key technologies have been separately studied in various works, others such as dynamic scene generation and environment simulation have received less attention in the research community. We propose SceneDiffuser++, the first end-to-end generative world model trained on a single loss function capable of point A-to-B simulation on a city scale integrating all the requirements above. We demonstrate the city-scale traffic simulation capability of SceneDiffuser++ and study its superior realism under long simulation conditions. We evaluate the simulation quality on an augmented version of the Waymo Open Motion Dataset (WOMD) with larger map regions to support trip-level simulation.
Abstract (translated)
交通模拟的目标是通过大量的仿真合成里程来增强有限的手动驾驶测试和验证里程。这一愿景的最终目标是一个生成式的虚拟城市，即给定一个城市的地图和自动驾驶车辆（AV）软件堆栈后，该模拟器能够无缝地从A点到B点进行旅程模拟，并且可以通过填充城市环境并控制场景的所有方面来实现这一点，包括动画化动态代理（例如，车辆、行人）以及管理交通灯状态等。我们将这一愿景称为CitySim，这需要一系列的仿真技术：用于初始化场景生成的技术，用于动画化场景的行为建模技术，遮挡推理，无缝启动和移除代理的动态场景生成技术，以及包括交通灯在内的环境模拟技术。尽管一些关键技术已经在各种研究中分别进行了单独的研究，但其他技术如动态场景生成和环境模拟在学术界却受到了较少的关注。 我们提出了SceneDiffuser++，这是第一个基于单个损失函数训练完成的端到端生成式世界模型，能够在城市规模上实现从A点到B点的仿真，并集成了上述所有需求。我们展示了SceneDiffuser++的城市级交通仿真的能力以及其在长时间模拟条件下的优越现实性。我们在Waymo开放运动数据集（WOMD）的一个增强版本上评估了该模拟的质量，此版本包含了更大的地图区域以支持行程级别的模拟。
URL
https://arxiv.org/abs/2506.21976
