@INPROCEEDINGS{cai2021dignet,
  author={Peide Cai and Hengli Wang and Yuxiang Sun and Ming Liu},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={DiGNet: Learning Scalable Self-Driving Policies for Generic Traffic Scenarios with Graph Neural Networks}, 
  year={2021},
  volume={},
  number={},
  pages={8979-8984},
  doi={10.1109/IROS51168.2021.9636376}}