@article{pretrainingonsyntheticdrivingdatafor,
  title = {Pre-training on Synthetic Driving Data for Trajectory Prediction},
  author = {Yiheng Li and Seth Z. Zhao and Chenfeng Xu and Chen Tang and Chenran Li and Mingyu Ding and Masayoshi Tomizuka and Wei Zhan},
  year = {2023},
  eprint = {2309.10121},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2309.10121v3},
}