This is the paper that kicked off the current generation: https://proceedings.neurips.cc/paper_files/paper/2017/file/3f5ee243547dee91fbd053c1c4a845aa-Paper.pdf

This is the paper that kicked off the current generation: https://proceedings.neurips.cc/paper_files/paper/2017/file/3f5ee243547dee91fbd053c1c4a845aa-Paper.pdf https://proceedings.neurips.cc/paper_files/paper/2017/file/3.... That was 2017. And of course Google & UofT were working on it for many years before the paper was published.