@article{imaginationaugmentedhierarchical,
  title = {Imagination-Augmented Hierarchical Reinforcement Learning for Safe and Interactive Autonomous Driving in Urban Environments},
  author = {Sang-Hyun Lee and Yoonjae Jung and Seung-Woo Seo},
  year = {2023},
  eprint = {2311.10309},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2311.10309v2},
}