@ARTICLE{cai2020probabilistic,
  author={Peide Cai and Sukai Wang and Yuxiang Sun and Ming Liu},
  journal={IEEE Robotics and Automation Letters}, 
  title={Probabilistic End-to-End Vehicle Navigation in Complex Dynamic Environments With Multimodal Sensor Fusion}, 
  year={2020},
  volume={5},
  number={3},
  pages={4218-4224},
  doi={10.1109/LRA.2020.2994027}}