@article{riskawarehighleveldecisionsforautomated,
  title = {Risk-Aware High-level Decisions for Automated Driving at Occluded Intersections with Reinforcement Learning},
  author = {Danial Kamran and Carlos Fernandez Lopez and Martin Lauer and Christoph Stiller},
  year = {2020},
  eprint = {2004.04450},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2004.04450v1},
}