@article{actionandtrajectoryplanningforurban,
  title = {Action and Trajectory Planning for Urban Autonomous Driving with Hierarchical Reinforcement Learning},
  author = {Xinyang Lu and Flint Xiaofeng Fan and Tianying Wang},
  year = {2023},
  eprint = {2306.15968},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2306.15968v1},
}