Path Diffuser: Diffusion Model for Data-Driven Traffic Simulator

Da Saem Lee, Akash Karthikeyan, Yash Vardhan Pant, Sebastian Fischmeister
University of Waterloo

Agent Initialization Result

Image 1 Image 1 Number of agents: 5
Image 2 Image 1 Number of agents: 10
Image 3 Image 1 Number of agents: 15
Diverse Agent Initialization with the same map and the different number of agents.
Image 1 Image 1
Image 1 Image 1
Image 1 Image 1
Diverse Agent Initialization with the same map and the same number of agents(10 agents).


Trajectory Generation Result

Teaser Result Teaser Result Teaser Result
Trajectory Generation with various traffic scenario

Scene-Attack Perturbations

We perturb the maps to evaluate the robustness of our models under diverse, out-of-distribution (OOD) map structures. The generation result with the map perturbation compares PD (ours) vs. PD-P (ours w/o primitives).

Scene-Attack Perturbation Result
Generation under map perturbation: PD (ours) vs. PD-P (ours w/o primitives)

Diversity Under Map Perturbations

Diverse Generation Example 1 Diverse Generation Example 2
Our model remains diverse while robust to map perturbations

Diffusion for Agent Trajectories

Agent Trajectory Diffusion 0 Agent Trajectory Diffusion 1 Agent Trajectory Diffusion 2
Samples from the diffusion policy generating agent trajectories