Closed-loop simulator for multiagent behavior with controllable diffusion

A system, comprising:

• a hardware processor;
• and
• a memory that stores a computer program which, when executed by the hardware processor, causes the hardware processor to:
• determine actions for a plurality of agents in a driving scenario using a diffusion model, based on individual controllable behavior patterns for the plurality of agents;
• update a state of the driving scenario based on the determined actions for the plurality of agents;
• repeat the determination of actions and the update of the state in a closed-loop fashion to generate simulated trajectories for the plurality of agents;
• and
• train a planner model to select actions for an operating agent based on the simulated trajectories.