@inproceedings{cai2021dignet,
  title        = {DiGNet: Learning scalable self-driving policies for generic traffic scenarios with graph neural networks},
  author       = {Cai, Peide and Wang, Hengli and Sun, Yuxiang and Liu, Ming},
  booktitle    = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {8979--8984},
  year         = {2021},
  organization = {IEEE},
  doi          = {10.1109/IROS51168.2021.9636376}
}