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：具备逼真交互能力的智能体模拟是自动驾驶软件研发中的关键任务。本文提出Waymo开放模拟体智能体挑战赛（WOSAC），这是首个针对该任务并定义相应指标体系的公开竞赛。该挑战旨在推动可用于评估和训练自动驾驶行为模型的逼真模拟器设计。我们阐述了评估方法学，呈现了多种基线模拟智能体方法的实验结果，并分析了2023年3月16日至5月23日举办的竞赛中提交的多个参赛方案。WOSAC评估服务器仍对公众开放提交通道，同时我们探讨了该任务面临的未解决问题。