@article{spacerselfplayanchoringwithcentralizedre,
  title = {SPACeR: Self-Play Anchoring with Centralized Reference Models},
  author = {Wei-Jer Chang and Akshay Rangesh and Kevin Joseph and Matthew Strong and Masayoshi Tomizuka and Yihan Hu and Wei Zhan},
  year = {2025},
  eprint = {2510.18060},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2510.18060},
}