@article{190509949,
  title = {Scene Induced Multi-Modal Trajectory Forecasting via Planning},
  author = {Nachiket Deo and Mohan M. Trivedi},
  year = {2019},
  eprint = {1905.09949},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1905.09949v1},
}