Let the joint distribution of \( (X,Y) \) be bivariate normal with mean vector 
and variance-covariance matrix 
, where \( -1<\rho<1 \). Let \( \Phi_\rho(0,0) = P(X \leq 0, Y \leq 0) \). Then the Kendall’s \( \tau \) coefficient between \( X \) and \( Y \) equals