Zhao, Yinuo, Kun Wu, Zhiyuan Xu, Zhengping Che, Qi Lu, Jian Tang, and Chi Harold Liu. “CADRE: A Cascade Deep Reinforcement Learning Framework for Vision-Based Autonomous Urban Driving”. Proceedings of the AAAI Conference on Artificial Intelligence 36, no. 3 (June 28, 2022): 3481-3489. Accessed March 28, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/20259.