@article{hierarchicalmodelbasedimitationlearning,
  title = {Hierarchical Model-Based Imitation Learning for Planning in Autonomous Driving},
  author = {Eli Bronstein and Mark Palatucci and Dominik Notz and Brandyn White and Alex Kuefler and Yiren Lu and Supratik Paul and Payam Nikdel and Paul Mougin and Hongge Chen and Justin Fu and Austin Abrams and Punit Shah and Evan Racah and Benjamin Frenkel and Shimon Whiteson and Dragomir Anguelov},
  year = {2022},
  eprint = {2210.09539},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2210.09539v1},
}