@article{iplanintentawareplanninginheterogeneous,
  title = {iPLAN: Intent-Aware Planning in Heterogeneous Traffic via Distributed Multi-Agent Reinforcement Learning},
  author = {Xiyang Wu and Rohan Chandra and Tianrui Guan and Amrit Singh Bedi and Dinesh Manocha},
  year = {2023},
  eprint = {2306.06236},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2306.06236v3},
}