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Systematic Benchmarking of SUMO Against Data-Driven Traffic Simulators

Robotics 2025-12-23 v1

Abstract

This paper presents a systematic benchmarking of the model-based microscopic traffic simulator SUMO against state-of-the-art data-driven traffic simulators using large-scale real-world datasets. Using the Waymo Open Motion Dataset (WOMD) and the Waymo Open Sim Agents Challenge (WOSAC), we evaluate SUMO under both short-horizon (8s) and long-horizon (60s) closed-loop simulation settings. To enable scalable evaluation, we develop Waymo2SUMO, an automated pipeline that converts WOMD scenarios into SUMO simulations. On the WOSAC benchmark, SUMO achieves a realism meta metric of 0.653 while requiring fewer than 100 tunable parameters. Extended rollouts show that SUMO maintains low collision and offroad rates and exhibits stronger long-horizon stability than representative data-driven simulators. These results highlight complementary strengths of model-based and data-driven approaches for autonomous driving simulation and benchmarking.

Keywords

Cite

@article{arxiv.2512.18537,
  title  = {Systematic Benchmarking of SUMO Against Data-Driven Traffic Simulators},
  author = {Erdao Liang},
  journal= {arXiv preprint arXiv:2512.18537},
  year   = {2025}
}

Comments

Source code is available at https://github.com/LuminousLamp/SUMO-Benchmark

R2 v1 2026-07-01T08:35:11.331Z