We present a comparison of halo properties in cosmological simulations of c
ollisionless cold dark matter (CDM) and self-interacting dark matter (SIDM)
for a range of dark matter cross sections. We find, in agreement with vari
ous authors, that CDM yields cuspy halos that are too centrally concentrate
d as compared to observations. Conversely, SIDM simulations using a Monte C
arlo N-body technique produce halos with significantly reduced central dens
ities and flatter cores. We introduce a concentration parameter based on en
closed mass that we expect will be straightforward to determine observation
ally and present predictions for SIDM and CDM. SIDM also produces more sphe
rical halos than CDM, providing possibly the strongest observational constr
aint on SIDM. In our simulations with SIDM cross sections sigma DM approxim
ate to 10(-23) to 10(-25) cm(2) GeV-1, collisions reduce the central densit
y in galaxy halos, with larger cross sections producing lower densities. Si
mulations in the upper end of this range best match current observations of
galaxy properties but are disfavored by cluster simulations of Yoshida and
colleagues. This problem would be alleviated in models in which the cross
section is velocity dependent.