@article{fastriskassessmentforautonomousvehicles,
  title = {Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures},
  author = {Allen Wang and Xin Huang and Ashkan Jasour and Brian Williams},
  year = {2020},
  eprint = {2005.13458},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2005.13458v2},
}