Heterogeneous Self-Play for Realistic Highway Traffic Simulation

ArXi:2604.16406v1 Announce Type: cross Realistic highway simulation is critical for scalable safety evaluation of autonomous vehicles, particularly for interactions that are too rare to study from logged data alone. Yet highway traffic generation remains challenging because it requires broad coverage across speeds and maneuvers, controllable generation of rare safety-critical scenarios, and behavioral credibility in multi-agent interactions.