human: Given a hyperedge-centered hypergraph: <hypergraph>, where the center hyperedge is induced by one source paper and its member nodes are the cited papers.

Details of the hypergraph:
Center hyperedge (induced by source paper "jointly learnable behavior and trajectory planning for self driving vehicles"):
  Abstract: The motion planners used in self-driving vehicles need to generate trajectories that are safe, comfortable, and obey the traffic rules. This is usually achieved by two modules: behavior planner, which handles high-level decisions and produces a coarse trajectory, and trajectory planner that generates a smooth, feasible trajectory for the duration of the planning horizon. These planners, however, are typically developed separately, and changes in the behavior planner might affect the trajectory planner in unexpected ways. Furthermore, the final trajectory outputted by the trajectory planner might differ significantly from the one generated by the behavior planner, as they do not share the same objective. In this paper, we propose a jointly learnable behavior and trajectory planner. Unlike most existing learnable motion planners that address either only behavior planning, or use an uninterpretable neural network to represent the entire logic from sensors to driving commands, our approach features an interpretable cost function on top of perception, prediction and vehicle dynamics, and a joint learning algorithm that learns a shared cost function employed by our behavior and trajectory components. Experiments on real-world self-driving data demonstrate that jointly learned planner performs significantly better in terms of both similarity to human driving and other safety metrics, compared to baselines that do not adopt joint behavior and trajectory learning.

Includes members:
  Member "an auto tuning framework for autonomous vehicles":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "baidu apollo auto calibration system an industry level data driven and learning based vehicle longitude dynamic calibrating algorithm")
  Member "search based optimal motion planning for automated driving":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "overview of tools supporting planning for automated driving")
  Member "chauffeurnet learning to drive by imitating the best and synthesizing the worst":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "deep reinforcement learning for autonomous driving a survey")
  Member "driving policy transfer via modularity and abstraction":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "learning to move with affordance maps")
  Member "baidu apollo em motion planner":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "overview of tools supporting planning for automated driving")
  Member "learning to drive in a day":
    also connected through other hyperedges:
      - Hyperedge HE-6 (induced by source paper "deep reinforcement learning for autonomous driving a survey")
  Member "virtual to real reinforcement learning for autonomous driving":
    also connected through other hyperedges:
      - Hyperedge HE-7 (induced by source paper "deep reinforcement learning for autonomous driving a survey")
  Member "combining neural networks and tree search for task and motion planning in challenging environments":
    also connected through other hyperedges:
      - Hyperedge HE-8 (induced by source paper "a deep reinforcement learning based driving policy for autonomous road vehicles")

Question: Please tell me which class the source paper belongs to. The 40 classes are: cs.NA(Numerical Analysis), cs.MM(Multimedia), cs.LO(Logic in Computer Science), cs.CY(Computers and Society), cs.CR(Cryptography and Security), cs.DC(Distributed, Parallel, and Cluster Computing), cs.HC(Human-Computer Interaction), cs.CE(Computational Engineering, Finance, and Science), cs.NI(Networking and Internet Architecture), cs.CC(Computational Complexity), cs.AI(Artificial Intelligence), cs.MA(Multiagent Systems), cs.GL(General Literature), cs.NE(Neural and Evolutionary Computing), cs.SC(Symbolic Computation), cs.AR(Hardware Architecture), cs.CV(Computer Vision and Pattern Recognition), cs.GR(Graphics), cs.ET(Emerging Technologies), cs.SY(Systems and Control), cs.CG(Computational Geometry), cs.OH(Other Computer Science), cs.PL(Programming Languages), cs.SE(Software Engineering), cs.LG(Machine Learning), cs.SD(Sound), cs.SI(Social and Information Networks), cs.RO(Robotics), cs.IT(Information Theory), cs.PF(Performance), cs.CL(Computation and Language), cs.IR(Information Retrieval), cs.MS(Mathematical Software), cs.FL(Formal Languages and Automata Theory), cs.DS(Data Structures and Algorithms), cs.OS(Operating Systems), cs.GT(Computer Science and Game Theory), cs.DB(Databases), cs.DL(Digital Libraries), cs.DM(Discrete Mathematics). Directly output the class name.

gpt: cs.RO(Robotics)