@article{safemultiagentreinforcementlearningwith,
  title = {Safe Multi-Agent Reinforcement Learning with Bilevel Optimization in Autonomous Driving},
  author = {Zhi Zheng and Shangding Gu},
  year = {2024},
  eprint = {2405.18209},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2405.18209v1},
}