@article{mapendtoendautonomousdrivingwithmapassis,
  title = {MAP: End-to-End Autonomous Driving with Map-Assisted Planning},
  author = {Huilin Yin and Yiming Kan and Daniel Watzenig},
  year = {2025},
  eprint = {2509.13926},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.13926},
}