@article{diversecriticalinteractiongenerationfor,
  title = {Diverse Critical Interaction Generation for Planning and Planner Evaluation},
  author = {Zhao-Heng Yin and Lingfeng Sun and Liting Sun and Masayoshi Tomizuka and Wei Zhan},
  year = {2021},
  eprint = {2103.00906},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.00906v2},
}