@article{rapriskawarepredictionforrobustplanning,
  title = {RAP: Risk-Aware Prediction for Robust Planning},
  author = {Haruki Nishimura and Jean Mercat and Blake Wulfe and Rowan Mcallister and Adrien Gaidon},
  year = {2022},
  eprint = {2210.01368},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2210.01368v2},
}