@article{diffstackadifferentiableandmodular,
  title = {DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles},
  author = {Peter Karkus and Boris Ivanovic and Shie Mannor and Marco Pavone},
  year = {2022},
  eprint = {2212.06437},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2212.06437v1},
}