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Authors
Kenny, Eoin M. https://orcid.org/0000-0001-5800-2525
Dharmavaram, Akshay
Lee, Sang Uk
Phan-Minh, Tung
Rajesh, Shreyas
Hu, Yunqing
Major, Laura
Tomov, Momchil S. https://orcid.org/0000-0002-0949-302X
Shah, Julie A.
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Article History
Received: 24 November 2024
Accepted: 24 July 2026
First Online: 2 September 2026
Ethics
Competing interests: Several authors were employed by Motional during the course of this research (A.D., S.U.L., T.P.-M., S.R., Y.H., L.M. and M.S.T.). Moreover, E.M.K. received compensation from Motional as a research intern during the data collection phase of the project. Certain authors may hold equity interests in Motional, the value of which could potentially be affected by the publication of this research. Motional has pending patent protection regarding certain aspects involving the ML architectures and AV planning systems described in this manuscript (see WIPO Patent App. Pub. No. WO 2026/085086 (published 23 April 2026)). Authors listed as inventors on this application include E.M.K., M.S.T., A.D., S.U.L., T.P.-M., S.R., Y.H. and J.A.S.
