Wei Zhan, Arnaud de la Fortelle, Yi-Ting Chen, Ching-Yao Chan, Masayoshi Tomizuka. Probabilistic Prediction from Planning Perspective: Problem Formulation, Representation Simplification and Evaluation Metric.
2018 IEEE Intelligent Vehicles Symposium (IV), Jun 2018, Chang Shu, China.
⟨hal-01981612⟩ 
