shi, shang, and J. Qu. “Multi-Task in Autonomous Driving through RDNet18-CA With LiSHTL-S Loss Function”. ECTI Transactions on Computer and Information Technology (ECTI-CIT), vol. 18, no. 2, Apr. 2024, pp. 158-73, doi:10.37936/ecti-cit.2024182.254780.