 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.
<clarity>  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 work introduces Learning from Tree Search for Driving (LeTS-Drive), which integrates planning and learning in a close loop.