1. Wisconsin Institute for Discovery, University of Wisconsin–Madison, Madison, WI, USA
2. DiDi Research America, LLC, Fremont, CA, USA
3. Department of Computer Sciences, University of Wisconsin–Madison, Madison, WI, USA
4. Department of Electrical and Computer Engineering, The University of Texas at Austin, Austin, TX, USA
5. School of Operations Research and Information Engineering, Cornell University, Ithaca, NY, USA
6. Department of Statistics and Data Sciences, The University of Texas at Austin, Austin, TX, USA