@inproceedings{song2020pip, title={PiP: Planning-informed Trajectory Prediction for Autonomous Driving}, author={Song, Haoran and Ding, Wenchao and Chen, Yuxuan and Shen, Shaojie and Wang, Michael Yu and Chen, Qifeng}, booktitle={European Conference on Computer Vision}, pages={598--614}, year={2020}, organization={Springer} }