Before revision:  We present PILOT , a two-stage planning framework comprising an imitation neural network and an efficient optimisation component that guarantees the satisfaction of requirements of safety and comfort . The neural network is trained to imitate an expensive-to-run optimisation-based planning system with the same objective as the efficient optimisation component of PILOT.
After revision:  We present PILOT , a two-stage planning framework comprising an imitation neural network and an efficient optimisation component that guarantees the satisfaction of requirements of safety and comfort requirements. The objective of the efficient optimiser is the same as the objective of an expensive-to-run optimisation-based planning system with the same objective as the efficient optimisation component of PILOT.