@article{combiningplanninganddeepreinforcement,
  title = {Combining Planning and Deep Reinforcement Learning in Tactical Decision Making for Autonomous Driving},
  author = {Carl-Johan Hoel and Katherine Driggs-Campbell and Krister Wolff and Leo Laine and Mykel J. Kochenderfer},
  year = {2019},
  eprint = {1905.02680},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1905.02680v1},
}