Traffic simulation is essential for autonomous vehicle (AV) development, enabling comprehensive safety evaluation across diverse driving conditions. However, traditional rule-based simulators struggle to capture complex human interactions, while data-driven approaches often fail to maintain long-term behavioral realism or generate diverse safety-critical events. To address these challenges, we propose TeraSim, an open-source, high-fidelity traffic simulation platform designed to uncover unknown unsafe events and efficiently estimate AV statistical performance metrics, such as crash rates. TeraSim is designed for seamless integration with third-party physics simulators and standalone AV stacks, to construct a complete AV simulation system. Experimental results demonstrate its effectiveness in generating diverse safety-critical events involving both static and dynamic agents, identifying hidden deficiencies in AV systems, and enabling statistical performance evaluation. These findings highlight TeraSim's potential as a practical tool for AV safety assessment, benefiting researchers, developers, and policymakers. The code is available at https://github.com/mcity/TeraSim.

Abstract--Motion prediction is critical for autonomous vehicles to effectively navigate complex environments and accurately anticipate the behaviors of other traffic participants. As autonomous driving continues to evolve, the need to assimilate new and varied driving scenarios necessitates frequent model updates through retraining. To address these demands, we introduce DECODE, a novel continual learning framework that begins with a pretrained generalized model and incrementally develops specialized models for distinct domains. Unlike existing continual learning approaches that attempt to develop a unified model capable of generalizing across diverse scenarios, DECODE uniquely balances specialization with generalization, dynamically adjusting to real-time demands. The proposed framework leverages a hypernetwork to generate model parameters, significantly reducing storage requirements, and incorporates a normalizing flow mechanism for real-time model selection based on likelihood estimation. This integration ensures optimal performance in familiar conditions while maintaining robustness in unfamiliar scenarios. Extensive evaluations confirm the effectiveness of the framework, achieving a notably low forgetting rate of 0.044 and an average minADE of 0.584 m, significantly surpassing traditional learning strategies and demonstrating adaptability across a wide range of driving OTION prediction has attracted significant attention in recent years, finding applications across a wide array of fields. It plays a critical role in the development of autonomous vehicles, enabling them to understand complex scenarios and data [10]-[15], yielding successful performances on several anticipate the future behaviors of other traffic participants [1]- prominent open datasets [16]-[18].