waymo-open-motion-dataset-2badfa7a·1 events·first seen Aliases: Waymo Open Motion Dataset
Researchers introduce Controllable Neural Variational Agents (CNeVA), a framework for traffic simulation that infers per-agent Gaussian behavior latents from discounted returns via conjugate variational updates, conditioning a rectified-flow trajectory generator with classifier-free guidance. The system enables interpretable steering along axes such as speed, acceleration, and safety compliance without sacrificing realism. Evaluated on the Waymo Open Motion Dataset, CNeVA achieves competitive realism while offering per-channel controllability absent from higher-ranked imitation baselines. The work also introduces soft eligibility gates to address reward signal scarcity near decision thresholds.