InfGen is a single next-token-prediction transformer that interleaves motion simulation with scene generation, keeping traffic realistic over 30-second rollouts better than motion-only simulators.
Implicit latent variable model for scene-consistent motion forecasting
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Long-term Traffic Simulation with Interleaved Autoregressive Motion and Scenario Generation
InfGen is a single next-token-prediction transformer that interleaves motion simulation with scene generation, keeping traffic realistic over 30-second rollouts better than motion-only simulators.