Before revision:  We make comparisons with traditional and current state-of-the-art collision avoidance methods and observe significant improvements in terms of collision rate , number of dynamics constraint violations and smoothness. We also conduct ablation studies to highlight the advantages and explain the rationale behind our observation space construction, reward structure and network architecture.
After revision:  We make comparisons with traditional and current state-of-the-art collision avoidance methods and observe significant improvements in terms of