Liu, Xiaofeng, Yuzhuo Han, Song Bai, Yi Ge, Tianxing Wang, Xu Han, Site Li, Jane You, and Jun Lu. “Importance-Aware Semantic Segmentation in Self-Driving With Discrete Wasserstein Training”. Proceedings of the AAAI Conference on Artificial Intelligence 34, no. 07 (April 3, 2020): 11629-11636. Accessed May 1, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/6831.