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Heated debates continue over the best autonomous driving framework. The classic modular pipeline is widely adopted in the industry owing to its great interpretability and stability, whereas the fully end-to-end paradigm has demonstrated considerable simplicity and learnability along with the rise of deep learning. As a way of marrying the advantages of both approaches, learning a semantically meaningful representation and then use in the downstream driving policy learning tasks provides aarXiv:2110.11573v2 fatcat:fhjv37a6i5apxgghwe6ve27arm