@misc{igl2022symphony,
  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},
  primaryClass={cs.LG},
  url={https://arxiv.org/abs/2205.03195}
}