… Abstract— Behavioral decision making is an important aspect of autonomous vehicles (AV). …
propose a behavior planning structure based on hierarchical reinforcement learning (HRL) …

… behavior, we propose a hierarchical reinforcement learning structure which can generate
both higher-level behavior … to the behavior decision with reinforcement learning causes jerky …

… We are interested in longhorizon planning behavior and therefore performed testing by
sampling object and goal configurations on opposite sides of the H-shaped object. Interestingly, …

… hierarchical behavior planning framework with a set of low-level safe controllers and a high-level
reinforcement learning … , while the high-level reinforcement learning algorithm makes H-…

We consider a setting of hierarchical reinforcement learning, in which the reward is a sum of
components. For each component, we are given a policy that maximizes it, and our goal is …

… use hierarchical action decomposition to make Bayesian model-based reinforcement learning
… We formulate Bayesian hierarchical reinforcement learning as a partially observable semi-…

… a hierarchical reinforcement learning approach for autonomous decision making and motion
planning … In recent years, applications of machine learning methods in behavioral decision …

… been a wealth of research focusing on hierarchical structure in human behaviour [28–33], …
has typically been used as a synonym for reward-based planning, and this is the usage we …

… combining a hierarchical reinforcement learning framework … classical hierarchy of behavior
decision, motion planning and … planning, in contrast to using either monolithic behavior …

… developments in computational reinforcement learning. Specifically, we … hierarchical
reinforcement learning, which extend the reinforcement learning paradigm by allowing the learning …