@article{tofgaunifiedandfinegrainedenvironment,
  title = {TOFG: A Unified and Fine-Grained Environment Representation in Autonomous Driving},
  author = {Zihao Wen and Yifan Zhang and Xinhong Chen and JianPing Wang},
  year = {2023},
  eprint = {2305.20068},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2305.20068v1},
}