 To achieve real-time performance for large-scale planning, this paper introduces Learning from Tree Search for Driving (LeTS-Drive), which integrates planning and learning in a close loop.
<fluency>  To achieve real-time performance for large-scale planning, this paper introduces Learning from Tree Search for Driving (LeTS-Drive), which integrates planning and learning in a close loop.
 To achieve real-time performance for large-scale planning, this paper introduces Learning from Tree Search for Driving (LeTS-Drive), which integrates planning and learning in a closed loop.