Realistic traffic simulation is crucial for developing self-driving software in a safe and scalable manner prior to real-world deployment. Typically, imitation learning (IL) is used to learn human-like traffic agents directly from real-world observations collected offline, but without explicit specification of traffic rules, agents trained from IL alone frequently display unrealistic infractions like collisions and driving off the road. This problem is exacerbated in out-of-distribution and long-tail scenarios. On the other hand, reinforcement learning (RL) can train traffic agents to avoid infractions, but using RL alone results in unhuman-like driving behaviors. We propose Reinforcing Traffic Rules (RTR), a holistic closed-loop learning objective to match expert demonstrations under a traffic compliance constraint, which naturally gives rise to a joint IL + RL approach, obtaining the best of both worlds. Our method learns in closed-loop simulations of both nominal scenarios from real-world datasets as well as procedurally generated long-tail scenarios. Our experiments show that RTR learns more realistic and generalizable traffic simulation policies, achieving significantly better tradeoffs between human-like driving and traffic compliance in both nominal and long-tail scenarios. Moreover, when used as a data generation tool for training prediction models, our learned traffic policy leads to considerably improved downstream prediction metrics compared to baseline traffic agents. For more information, visit the project website: https://waabi.ai/rtr

Many applications of imitation learning require the agent to generate the full distribution of behaviour observed in the training data. For example, to evaluate the safety of autonomous vehicles in simulation, accurate and diverse behaviour models of other road users are paramount. Existing methods that improve this distributional realism typically rely on hierarchical policies. These condition the policy on types such as goals or personas that give rise to multi-modal behaviour. However, such methods are often inappropriate for stochastic environments where the agent must also react to external factors: because agent types are inferred from the observed future trajectory during training, these environments require that the contributions of internal and external factors to the agent behaviour are disentangled and only internal factors, i.e., those under the agent's control, are encoded in the type. Encoding future information about external factors leads to inappropriate agent reactions during testing, when the future is unknown and types must be drawn independently from the actual future. We formalize this challenge as distribution shift in the conditional distribution of agent types under environmental stochasticity. We propose Robust Type Conditioning (RTC), which eliminates this shift with adversarial training under randomly sampled types. Experiments on two domains, including the large-scale Waymo Open Motion Dataset, show improved distributional realism while maintaining or improving task performance compared to state-of-the-art baselines.