@article{planningwithoccludedtrafficagentsusing,
  title = {Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models},
  author = {Filippos Christianos and Peter Karkus and Boris Ivanovic and Stefano V. Albrecht and Marco Pavone},
  year = {2022},
  eprint = {2210.14584},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2210.14584v1},
}