@article{safetynetsafeplanningforrealworldself,
  title = {SafetyNet: Safe planning for real-world self-driving vehicles using machine-learned policies},
  author = {Matt Vitelli and Yan Chang and Yawei Ye and Maciej Wołczyk and Błażej Osiński and Moritz Niendorf and Hugo Grimmett and Qiangui Huang and Ashesh Jain and Peter Ondruska},
  year = {2021},
  eprint = {2109.13602},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.13602v1},
}