NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking - Dauner, Daniel; Hallgarten, Marcel; Li, Tianyu; Weng, Xinshuo; Huang, Zhiyu; Yang, Zetong; Li, Hongyang; Gilitschenski, Igor; Ivanovic, Boris; Pavone, Marco; Geiger, Andreas; Chitta, Kashyap (Advances in Neural Information Processing Systems, 2024)