@article{learningtopredictvehicletrajectorieswith,
  title = {Learning to Predict Vehicle Trajectories with Model-based Planning},
  author = {Haoran Song and Di Luan and Wenchao Ding and Michael Yu Wang and Qifeng Chen},
  year = {2021},
  eprint = {2103.04027},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.04027v2},
}