Simulation with realistic, interactive agents represents a key task for autonomous vehicle software development. In this work, we introduce the Waymo Open Sim Agents Challenge (WOSAC). WOSAC is the first public challenge to tackle this task and propose corresponding metrics. The goal of the challenge is to stimulate the design of realistic simulators that can be used to evaluate and train a behavior model for autonomous driving. We outline our evaluation methodology, present results for a number of different baseline simulation agent methods, and analyze several submissions to the 2023 competition which ran from March 16, 2023 to May 23, 2023. The WOSAC evaluation server remains open for submissions and we discuss open problems for the task.

翻译：具有真实感与交互性的智能体仿真，是自动驾驶软件研发中的关键任务。本文提出了Waymo开放仿真智能体挑战赛（WOSAC）。WOSAC是首个针对该任务并给出相应评测指标的公开挑战赛，旨在促进可用于自动驾驶行为模型训练与评估的真实仿真器的设计。我们详细阐述了评测方法，给出了多种基线仿真智能体方法的结果，并对2023年3月16日至2023年5月23日期间举办的竞赛中的若干参赛方案进行了分析。WOSAC评测服务器仍将持续开放接收提交，同时我们也讨论了该任务中存在的未解决问题。