@article{dapadiscretetokenautoregressiveplannerfo,
  title = {DAP: A Discrete-token Autoregressive Planner for Autonomous Driving},
  author = {Bowen Ye and Bin Zhang and Hang Zhao},
  year = {2025},
  eprint = {2511.13306},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2511.13306},
}