@article{echoplanningforautonomousdrivingfrom,
  title = {Echo Planning for Autonomous Driving: From Current Observations to Future Trajectories and Back},
  author = {Jintao Sun and Hu Zhang and Gangyi Ding and Zhedong Zheng},
  year = {2025},
  eprint = {2505.18945},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2505.18945v1},
}