Towards End-to-End Deep Learning for Autonomous Racing: On Data Collection and a Unified Architecture for Steering and Throttle Prediction. - Shakti N. Wadekar; Benjamin J. Schwartz; Shyam S. Kannan; Manuel Mar; Rohan Kumar Manna; Vishnu Chellapandi; Daniel J. Gonzalez; Aly El Gamal (CoRR, 2021)