Original Medium post: <a href="https://medium.com/waymo/learning-to-drive-beyond-pure-imitation-465499f8bcb2" rel="nofollow">https://medium.com/waymo/learning-to-drive-beyond-pure-imita...</a><p>ArXiv link: <a href="https://arxiv.org/abs/1812.03079" rel="nofollow">https://arxiv.org/abs/1812.03079</a>