@article{deepemplanneranemmotionplannerwith,
  title = {PPAD: Iterative Interactions of Prediction and Planning for End-to-end Autonomous Driving},
  author = {Zhili Chen and Maosheng Ye and Shuangjie Xu and Tongyi Cao and Qifeng Chen},
  year = {2023},
  eprint = {2311.08100},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2311.08100v4},
}