@article{vtgnetavisionbasedtrajectorygeneration,
  title = {VTGNet: A Vision-based Trajectory Generation Network for Autonomous Vehicles in Urban Environments},
  author = {Peide Cai and Yuxiang Sun and Hengli Wang and Ming Liu},
  year = {2020},
  eprint = {2004.12591},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2004.12591v3},
}