 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.
<coherence>  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.
 We use a reinforcement learning-based navigation scheme to compute safe trajectories for the ego-vehicle that accounts for aggressive driver maneuvers such as overtaking, over-speeding, weaving, and sudden lane changes.