Before revision:  Formally, we model an AV's maneuver planning in mixed-autonomy traffic as a partially-observable stochastic game and attempt to derive optimal policies that lead to socially-desirable outcomes using our multi-agent reinforcement learning framework.
After revision:  Formally, we model an AV's maneuver planning in mixed-autonomy traffic as a partially-observable stochastic game and attempt to derive optimal policies that lead to socially-desirable outcomes using a multi-agent reinforcement learning framework.