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name: motion-sim-agents description: "Guides Waymo Open Motion Dataset scenarios, occupancy flow, sim-agent and scenario-generation submissions, WOMD camera or LiDAR features, and rollout validation." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Motion and Sim Agents

Use this sub-skill for WOMD motion scenarios, Scenario protos, trajectory utilities, occupancy-flow parsing/grids/metrics, sim-agents or scenario-generation submissions, rollout validation, camera/LiDAR feature merging, and WDL-limited sim-agent metrics.

Read:

• references/api-reference.md for verified occupancy, sim-agent, converter, and WOMD helper signatures.
• references/workflows.md for occupancy-flow metric flow, sim-agent validation, and WOMD camera/LiDAR merge recipes.
• references/data-formats.md for Scenario, ScenarioRollouts, JointScene, occupancy tensors, and feature prerequisites.
• references/troubleshooting.md for rollout counts, invalid ids, missing tracks, TFExample parsing, and WDL limitations.

Run scripts/check_sim_agent_submission.py to print challenge types and config basics without data downloads.

Route generic metric wrapper mechanics to metrics-evaluation, V2 Parquet object assets to v2-components, and camera-only/E2E perception challenge content to camera-and-segmentation.