Learning Soft Driving Constraints from Vectorized Scene Embeddings while Imitating Expert Trajectories. - Niloufar Saeidi Mobarakeh; Behzad Khamidehi; Chunlin Li; Hamidreza Mirkhani; Fazel Arasteh; Mohammed Elmahgiubi; Weize Zhang; Kasra Rezaee; Pascal Poupart (CoRR, 2024)