@article{Cai2020ProbabilisticEV,
  title={Probabilistic End-to-End Vehicle Navigation in Complex Dynamic Environments With Multimodal Sensor Fusion},
  author={Peide Cai and Sukai Wang and Yuxiang Sun and M. Liu},
  journal={IEEE Robotics and Automation Letters},
  year={2020},
  volume={5},
  pages={4218-4224}
}