@article{cai2020vtgnet,
  title     = {{VTGNet}: A vision-based trajectory generation network for autonomous vehicles in urban environments},
  author    = {Cai, Peide and Sun, Yuxiang and Wang, Hengli and Liu, Ming},
  journal   = {IEEE Transactions on Intelligent Vehicles},
  volume    = {6},
  number    = {3},
  pages     = {419--429},
  year      = {2021},
  publisher = {IEEE},
  doi       = {10.1109/TIV.2020.3033878}
}