@article{rethinkingclosedlooptrainingfor,
  title = {Rethinking Closed-loop Training for Autonomous Driving},
  author = {Chris Zhang and Runsheng Guo and Wenyuan Zeng and Yuwen Xiong and Binbin Dai and Rui Hu and Mengye Ren and Raquel Urtasun},
  year = {2023},
  eprint = {2306.15713},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2306.15713v1},
}