@inproceedings{goalorientedautonomousdriving,
  title = {Planning-oriented Autonomous Driving},
  author = {Yihan Hu and Jiazhi Yang and Li Chen and Keyu Li and Chonghao Sima and Xizhou Zhu and Siqi Chai and Senyao Du and Tianwei Lin and Wenhai Wang and Lewei Lu and Xiaosong Jia and Qiang Liu and Jifeng Dai and Yu Qiao and Hongyang Li},
  year = {2022},
  booktitle = {CVPR 2023 1},
  eprint = {2212.10156},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2212.10156v2},
}