@article{tractablejointpredictionandplanningover,
  title = {Tractable Joint Prediction and Planning over Discrete Behavior Modes for Urban Driving},
  author = {Adam Villaflor and Brian Yang and Huangyuan Su and Katerina Fragkiadaki and John Dolan and Jeff Schneider},
  year = {2024},
  eprint = {2403.07232},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2403.07232v1},
}