@article{urbandriverlearningtodrivefromreal,
  title = {Urban Driver: Learning to Drive from Real-world Demonstrations Using Policy Gradients},
  author = {Oliver Scheel and Luca Bergamini and Maciej Wołczyk and Błażej Osiński and Peter Ondruska},
  year = {2021},
  eprint = {2109.13333},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.13333v1},
}