Biological language model performance depends heavily on pretraining data quality, diversity, and size. While metagenomic datasets feature enormous biological diversity, their utilization as pretraining data has been limited due to challenges in data accessibility, quality filtering and deduplication. Here, we present the Open MetaGenomic (OMG) corpus, a genomic pretraining dataset totalling 3.1T base pairs and 3.3B protein coding sequences, obtained by combining two largest metagenomic dataset repositories (JGI's IMG and EMBL's MGnify). We first document the composition of the dataset and describe the quality filtering steps taken to remove poor quality data. We make the OMG corpus available as a mixed-modality genomic sequence dataset that represents multi-gene encoding genomic sequences with translated amino acids for protein coding sequences, and nucleic acids for intergenic sequences. We train the first mixed-modality genomic language model (gLM2) that leverages genomic context information to learn robust functional representations, as well as coevolutionary signals in protein-protein interfaces and genomic regulatory syntax. Furthermore, we show that deduplication in embedding space can be used to balance the corpus, demonstrating improved performance on downstream tasks. The OMG dataset is publicly hosted on the Hugging Face Hub at https://huggingface.co/datasets/tattabio/OMG and gLM2 is available at https://huggingface.co/tattabio/gLM2_650M.

Simulation with realistic and interactive agents represents a key task for autonomous vehicle (AV) software development in order to test AV performance in prescribed, often long-tail scenarios. In this work, we propose SceneDiffuser, a scene-level diffusion prior for traffic simulation. We present a singular framework that unifies two key stages of simulation: scene initialization and scene rollout. Scene initialization refers to generating the initial layout for the traffic in a scene, and scene rollout refers to closed-loop simulation for the behaviors of the agents. While diffusion has been demonstrated to be effective in learning realistic, multimodal agent distributions, two open challenges remain: controllability and closed-loop inference efficiency and realism. To this end, to address controllability challenges, we propose generalized hard constraints, a generalized inference-time constraint mechanism that is simple yet effective. To improve closed-loop inference quality and efficiency, we propose amortized diffusion, a novel diffusion denoising paradigm that amortizes the physical cost of denoising over future simulation rollout steps, reducing the cost of per physical rollout step to a single denoising function evaluation, while dramatically reducing closed-loop errors. We demonstrate the effectiveness of our approach on the Waymo Open Dataset, where we are able to generate distributionally realistic scenes, while obtaining competitive performance in the Sim Agents Challenge, surpassing the state-of-the-art in many realism attributes.

We present MotionDiffuser, a diffusion based representation for the joint distribution of future trajectories over multiple agents. Such representation has several key advantages: first, our model learns a highly multimodal distribution that captures diverse future outcomes. Second, the simple predictor design requires only a single L2 loss training objective, and does not depend on trajectory anchors. Third, our model is capable of learning the joint distribution for the motion of multiple agents in a permutation-invariant manner. Furthermore, we utilize a compressed trajectory representation via PCA, which improves model performance and allows for efficient computation of the exact sample log probability. Subsequently, we propose a general constrained sampling framework that enables controlled trajectory sampling based on differentiable cost functions. This strategy enables a host of applications such as enforcing rules and physical priors, or creating tailored simulation scenarios. MotionDiffuser can be combined with existing backbone architectures to achieve top motion forecasting results. We obtain state-of-the-art results for multi-agent motion prediction on the Waymo Open Motion Dataset.

Predicting the future behavior of road users is one of the most challenging and important problems in autonomous driving. Applying deep learning to this problem requires fusing heterogeneous world state in the form of rich perception signals and map information, and inferring highly multi-modal distributions over possible futures. In this paper, we present MultiPath++, a future prediction model that achieves state-of-the-art performance on popular benchmarks. MultiPath++ improves the MultiPath architecture [34] by revisiting many design choices. The first key design difference is a departure from dense image-based encoding of the input world state in favor of a sparse encoding of heterogeneous scene elements: MultiPath++ consumes compact and efficient polylines to describe road features, and raw agent state information directly (e.g., position, velocity, acceleration). We propose a context-aware fusion of these elements and develop a reusable multi-context gating fusion component. Second, we reconsider the choice of pre-defined static anchors, and develop a way to learn latent anchor embeddings end-to-end in the model. Lastly, we explore ensembling and output aggregation techniques—common in other ML domains—and find effective variants for our probabilistic multimodal output representation. We perform an extensive ablation on these design choices, and show that our proposed model achieves state-of-the-art performance on the Argoverse Motion Forecasting Competition [10] and the Waymo Open Dataset Motion Prediction Challenge [13].