@article{affordancebasedreinforcementlearningfor,
  title = {Affordance-based Reinforcement Learning for Urban Driving},
  author = {Tanmay Agarwal and Hitesh Arora and Jeff Schneider},
  year = {2021},
  eprint = {2101.05970},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2101.05970v1},
}