@article{explaininghowadeepneuralnetworktrained,
  title = {Explaining How a Deep Neural Network Trained with End-to-End Learning Steers a Car},
  author = {Mariusz Bojarski and Philip Yeres and Anna Choromanska and Krzysztof Choromanski and Bernhard Firner and Lawrence Jackel and Urs Muller},
  year = {2017},
  eprint = {1704.07911},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1704.07911v1},
}