Zhang, Yifan, Jinghuai Zhang, Jindi Zhang, Jianping Wang, Kejie Lu, and Jeff Hong. “A Novel Learning Framework for Sampling-Based Motion Planning in Autonomous Driving”. Proceedings of the AAAI Conference on Artificial Intelligence 34, no. 01 (April 3, 2020): 1202-1209. Accessed April 18, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/5473.