Modeling the behavior of intelligent agents is an essential subject for autonomous systems. Safe operations of autonomous agents require accurate prediction of other agents' future motions.

Methods for sequential decision making are often built upon a foundational assumption that the underlying decision process is stationary [Sutton and Barto, 2018]. While this assumption was a cornerstone when laying the theoretical foundations of the field, and while is often reasonable, it isseldom trueinpractice andcanbeunreasonable [Dulac-Arnold etal.,2019].

Onenaiveapproach to incorporate this ability into AI is through future trajectory prediction using model-based RL [40,19,31,54,28,26].

Due to the cost and risk of deploying autonomous vehicles (A Vs) in the real world, simulation is a crucial tool in the research and development of autonomous driving software.

Can we predict how well a team of individuals will perform together?