@article{learningsafeautonomousdrivingpoliciesusi,
  title = {Learning Safe Autonomous Driving Policies Using Predictive Safety Representations},
  author = {Mahesh Keswani and Raunak Bhattacharyya},
  year = {2025},
  eprint = {2512.17586},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2512.17586},
}