ScenarioNet: Open-Source Platform for Large-Scale Traffic Scenario Simulation and Modeling

Large-scale driving datasets such as Waymo Open Dataset and nuScenes substantially accelerate autonomous driving research, especially for perception tasks such as 3D detection and trajectory forecasting. Since the driving logs in these datasets contain HD maps and detailed object annotations that accurately reflect the realworld complexity of traffic behaviors, we can harvest a massive number of complex traffic scenarios and recreate their digital twins in simulation. Compared to the handcrafted scenarios often used in existing simulators, data-driven scenarios collected from the real world can facilitate many research opportunities in machine learning and autonomous driving.