Model other agents in simulation

You are building a simulation platform that is used to train and evaluate an autonomous driving stack, whether that stack is a planner or a reinforcement-learning policy. In addition to the ego vehicle, the simulated world must be populated with other road users — commonly referred to as "agents" — including cars, pedestrians, and cyclists. Question 1. How would you design the behavioral model for those other agents so that the ego agent is trained under conditions that are…