Long-term Traffic Simulation with Interleaved Autoregressive Motion and Scenario Generation

TL;DR InfGen performs interleaved long-term closed-loop motion simulation and scene generation with unified next-token prediction.

Long-term Traffic Simulation with Interleaved Autoregressive Motion and Scenario Generation
Xiuyu Yang*, Shuhan Tan*, Philipp Krähenbühl (* equal contribution)
Preprint (arXiv 2506.17213)

BibTeX

If you find our work useful in your research, please consider citing our paper:

@article{yang2025infgen,
    title={Long-term Traffic Simulation with Interleaved Autoregressive Motion and Scenario Generation},
    author={Yang, Xiuyu and Tan, Shuhan and Kr{\"a}henb{\"u}hl, Philipp},
    journal={arXiv preprint arXiv:2506.17213},
    year={2025}
}

TODO

• Release arXiv technique report
• Release full codes and instructions (before 2025/7/31)

Acknowledgement

Thansk for these excellent opensource works and models: SMART; CatK.