@article{symphonylearningrealisticanddiverse,
  title = {Symphony: Learning Realistic and Diverse Agents for Autonomous Driving Simulation},
  author = {Maximilian Igl and Daewoo Kim and Alex Kuefler and Paul Mougin and Punit Shah and Kyriacos Shiarlis and Dragomir Anguelov and Mark Palatucci and Brandyn White and Shimon Whiteson},
  year = {2022},
  eprint = {2205.03195},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2205.03195v1},
}