@article{behaviorplanningaturbanintersections,
  title = {Behavior Planning at Urban Intersections through Hierarchical Reinforcement Learning},
  author = {Zhiqian Qiao and Jeff Schneider and John M. Dolan},
  year = {2020},
  eprint = {2011.04697},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2011.04697v1},
}