1. Research Centre for Integrated Transport Innovation, School of Civil and Environmental Engineering, University of New South Wales (UNSW), Sydney, Australia
2. Data61, CSIRO, Canberra ACT, Australia
3. Department of Automation, Nanjing University of Science and Technology, Jiangsu, China
4. Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, PR China
5. UBTECH Sydney Artificial Intelligence Centre, School of Computer Science, the University of Sydney, NSW, Australia