@article{jointlylearnablebehaviorandtrajectory,
  title = {Jointly Learnable Behavior and Trajectory Planning for Self-Driving Vehicles},
  author = {Abbas Sadat and Mengye Ren and Andrei Pokrovsky and Yen-Chen Lin and Ersin Yumer and Raquel Urtasun},
  year = {2019},
  eprint = {1910.04586},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1910.04586v1},
}