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For human drivers, having rear and side-view mirrors is vital for safe driving. They deliver a more complete view of what is happening around the car. Human drivers also heavily exploit their mental map for navigation. Nonetheless, several methods have been published that learn driving models with only a front-facing camera and without a route planner. This lack of information renders the self-driving task quite intractable. We investigate the problem in a more realistic setting, which consistsarXiv:1803.10158v2 fatcat:6bgsca7qofhixdvnmwjgzy2idi