The Waymo Open Sim Agents Challenge - Montali, Nico; Lambert, John; Mougin, Paul; Kuefler, Alex; Rhinehart, Nicholas; Li, Michelle; Gulino, Cole; Emrich, Tristan; Yang, Zoey; Whiteson, Shimon; White, Brandyn; Anguelov, Dragomir (Advances in Neural Information Processing Systems, 2023)