… vehicles (AV). In this work, we propose a behavior planning structure based on hierarchical
reinforcement learning (HRL) which is capable of performing autonomous vehicle planning …

… behavior planning structure based on reinforcement learning (RL) which is capable of performing
autonomous vehicle behavior planning with a hierarchical … of the hierarchical structure […

… vehicles. Aiming at the above problems, this article proposes a hierarchical reinforcement
learning approach … The proposed approach consists of two layers. At the higher layer, a kernel-…

… Recent advances in the ecological car following issue of HEV … a hierarchical reinforcement
learning based ACC-EMS strategy is proposed with a hierarchical policy and non-hierarchical …

… racing cars. In this work, A deep reinforcement learning (DRL) with a novel hierarchical structure
… Hierarchical actions for multi-scale tasks have been actively studied in DRL [12, 27]. [8] …

… Supervised learning methods such as Imitation Learning lack generalization and safety … a
RobustHierarchical Reinforcement Learning (HRL) framework for learning autonomous driving …

… acteristics of hierarchical reinforcement learning to separate these different behaviors into
different policies. Then we train an additional master policy that can choose which behavior to …

… depends not only on historical information, but also on future plans of other vehicles that …
probabilistic prediction approach based on hierarchical inverse reinforcement learning (IRL)…

… In sum, we propose the state-based safety enhancement method for autonomous vehicles
via the direct hierarchical reinforcement learning (Safari), and verify it in the highway scenario …

… a general behavior planner for autonomous vehicles based on reinforcement learning and
… By combining the power of lowlevel safe controllers with a high-level reinforcement learning …