# RTA-IR: A runtime assurance framework for behavior planning based on imitation learning and responsibility-sensitive safety model

> Research article (Expert Systems with Applications, 2023) · cited 12× · AI/ML

**Wikidata**: [openalex:W4381485890](https://www.wikidata.org/wiki/openalex:W4381485890)  
**Source**: https://4ort.xyz/entity/rta-ir-a-runtime-assurance-framework-for-behavior-planning-based-on-imitation-learning-and-responsibility-sensitive-safe