# Policy-Based Reinforcement Learning for Training Autonomous Driving Agents in Urban Areas With Affordance Learning

> Research article (IEEE Transactions on Intelligent Transportation Systems, 2021) · cited 22× · AI/ML

**Wikidata**: [openalex:W3209213339](https://www.wikidata.org/wiki/openalex:W3209213339)  
**Source**: https://4ort.xyz/entity/policy-based-reinforcement-learning-for-training-autonomous-driving-agents-in-urban-areas-with-affordance-learning