@article{contingenciesfromobservationstractable,
  title = {Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Models},
  author = {Nicholas Rhinehart and Jeff He and Charles Packer and Matthew A. Wright and Rowan Mcallister and Joseph E. Gonzalez and Sergey Levine},
  year = {2021},
  eprint = {2104.10558},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2104.10558v1},
}