SMARTS: An Open-Source Scalable Multi-Agent RL Training School for Autonomous Driving. - Ming Zhou 006; Jun Luo 009; Julian Villela; Yaodong Yang 002; David Rusu; Jiayu Miao; Weinan Zhang 001; Montgomery Alban; Iman Fadakar; Zheng Chen; Chongxi Huang; Ying Wen 001; et al. (CoRL, 2020)