Discovering Avoidable Planner Failures of Autonomous Vehicles using Counterfactual Analysis in Behaviorally Diverse Simulation.
Daisuke NishiyamaMario Ynocente CastroShirou MaruyamaShinya ShiroshitaKarim HamzaouiYi OuyangGuy RosmanJonathan A. DeCastroKuan-Hui LeeAdrien GaidonPublished in: ITSC (2020)