@inproceedings{endtoendmodelfreereinforcementlearning,
  title = {End-to-End Model-Free Reinforcement Learning for Urban Driving using Implicit Affordances},
  author = {Marin Toromanoff and Emilie Wirbel and Fabien Moutarde},
  year = {2019},
  booktitle = {CVPR 2020 6},
  eprint = {1911.10868},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1911.10868v2},
}