  In this technical report we present TrafficBots V1.5, a baseline method for
the closed-loop simulation of traffic agents. TrafficBots V1.5 achieves
baseline-level performance and a 3rd place ranking in the Waymo Open Sim Agents
Challenge (WOSAC) 2024. It is a simple baseline that combines TrafficBots, a
CVAE-based multi-agent policy conditioned on each agent's individual
destination and personality, and HPTR, the heterogeneous polyline transformer
with relative pose encoding. To improve the performance on the WOSAC
leaderboard, we apply scheduled teacher-forcing at the training time and we
filter the sampled scenarios at the inference time. The code is available at
https://github.com/zhejz/TrafficBotsV1.5.
