Before revision:  We use a reinforcement learning-based navigation scheme that uses a proximity graph of traffic agents and computes a safe trajectory for the ego-vehicle that accounts for aggressive driver maneuvers such as overtaking, over-speeding, weaving, and sudden lane changes.
After revision:  We use a reinforcement learning-based navigation scheme that uses a proximity graph of traffic agents and computes a safe trajectory for the ego-vehicle accounting for aggressive driver maneuvers such as overtaking, over-speeding, weaving, and sudden lane changes.