@article{discoveringavoidableplannerfailuresof,
  title = {Discovering Avoidable Planner Failures of Autonomous Vehicles using Counterfactual Analysis in Behaviorally Diverse Simulation},
  author = {Daisuke Nishiyama and Mario Ynocente Castro and Shirou Maruyama and Shinya Shiroshita and Karim Hamzaoui and Yi Ouyang and Guy Rosman and Jonathan DeCastro and Kuan-Hui Lee and Adrien Gaidon},
  year = {2020},
  eprint = {2011.11991},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2011.11991v1},
}