@article{the2ndplacesolutionfor2023waymoopen,
  title = {The 2nd Place Solution for 2023 Waymo Open Sim Agents Challenge},
  author = {Cheng Qian and Di Xiu and Minghao Tian},
  year = {2023},
  eprint = {2306.15914},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2306.15914v1},
}