@article{adhautonomousdrivingwithhierarchical,
  title = {AD-H: Autonomous Driving with Hierarchical Agents},
  author = {Zaibin Zhang and Shiyu Tang and Yuanhang Zhang and Talas Fu and Yifan Wang and Yang Liu and Dong Wang and Jing Shao and Lijun Wang and Huchuan Lu},
  year = {2024},
  eprint = {2406.03474},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2406.03474v1},
}