Zhao, Y., Wu, K., Xu, Z., Che, Z., Lu, Q., Tang, J., & Liu, C. H. (2022). CADRE: A Cascade Deep Reinforcement Learning Framework for Vision-Based Autonomous Urban Driving. Proceedings of the AAAI Conference on Artificial Intelligence, 36(3), 3481-3489. https://doi.org/10.1609/aaai.v36i3.20259