{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T16:44:57Z","timestamp":1777653897447,"version":"3.51.4"},"reference-count":38,"publisher":"IEEE","license":[{"start":{"date-parts":[[2022,10,23]],"date-time":"2022-10-23T00:00:00Z","timestamp":1666483200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,10,23]],"date-time":"2022-10-23T00:00:00Z","timestamp":1666483200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2020AAA0108104"],"award-info":[{"award-number":["2020AAA0108104"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,10,23]]},"DOI":"10.1109\/iros47612.2022.9982041","type":"proceedings-article","created":{"date-parts":[[2022,12,26]],"date-time":"2022-12-26T19:38:15Z","timestamp":1672083495000},"page":"13143-13150","source":"Crossref","is-referenced-by-count":16,"title":["Cola-HRL: Continuous-Lattice Hierarchical Reinforcement Learning for Autonomous Driving"],"prefix":"10.1109","author":[{"given":"Lingping","family":"Gao","sequence":"first","affiliation":[{"name":"Alibaba Group,Hangzhou,China,310000"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ziqing","family":"Gu","sequence":"additional","affiliation":[{"name":"School of Vehicle and Mobility, Tsinghua University,State Key Lab of Automotive Safety and Energy,Beijing,China,100084"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cong","family":"Qiu","sequence":"additional","affiliation":[{"name":"Alibaba Group,Hangzhou,China,310000"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lanxin","family":"Lei","sequence":"additional","affiliation":[{"name":"Alibaba Group,Hangzhou,China,310000"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shengbo Eben","family":"Li","sequence":"additional","affiliation":[{"name":"School of Vehicle and Mobility, Tsinghua University,State Key Lab of Automotive Safety and Energy,Beijing,China,100084"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sifa","family":"Zheng","sequence":"additional","affiliation":[{"name":"School of Vehicle and Mobility, Tsinghua University,State Key Lab of Automotive Safety and Energy,Beijing,China,100084"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Jing","sequence":"additional","affiliation":[{"name":"Alibaba Group,Hangzhou,China,310000"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junbo","family":"Chen","sequence":"additional","affiliation":[{"name":"Alibaba Group,Hangzhou,China,310000"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-03991-1","volume-title":"The DARPA urban challenge: autonomous vehicles in city traffic","volume":"56","author":"Buehler","year":"2009"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1038\/nature24270"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2022.3163816"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01494"},{"key":"ref5","article-title":"End to end learning for self-driving cars","author":"Bojarski","year":"2016","journal-title":"arXiv preprint"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793742"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2019.8917306"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1049\/iet-its.2019.0317"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2019.00172"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2019.8916928"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500675"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500368"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341496"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3096998"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9635935"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561195"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561095"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2019.2955905"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC48978.2021.9564634"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341647"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.3390\/electronics8121536"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.2352\/ISSN.2470-1173.2017.19.AVM-023"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2019.01.003"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2017.64"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1613\/jair.639"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(99)00052-1"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v31i1.10916"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1609\/icaps.v27i1.13867"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636757"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341656"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509799"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01154"},{"key":"ref33","article-title":"Attention is all you need","volume":"30","author":"Vaswani","year":"2017","journal-title":"Advances in neural information processing systems"},{"key":"ref34","article-title":"Proximal policy optimization algorithms","author":"Schulman","year":"2017","journal-title":"arXiv preprint"},{"key":"ref35","article-title":"Openai gym","author":"Brockman","year":"2016","journal-title":"arXiv preprint"},{"key":"ref36","first-page":"3053","article-title":"Rllib: Abstractions for distributed reinforcement learning","volume-title":"International Conference on Machine Learning","author":"Liang"},{"key":"ref37","volume-title":"Environmental Management-Life Cycle Assessment-Principles and Framework","author":"Organization","year":"1997"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ECMR.2013.6698833"}],"event":{"name":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Kyoto, Japan","start":{"date-parts":[[2022,10,23]]},"end":{"date-parts":[[2022,10,27]]}},"container-title":["2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9981026\/9981028\/09982041.pdf?arnumber=9982041","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,1]],"date-time":"2024-02-01T06:00:16Z","timestamp":1706767216000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9982041\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10,23]]},"references-count":38,"URL":"https:\/\/doi.org\/10.1109\/iros47612.2022.9982041","relation":{},"subject":[],"published":{"date-parts":[[2022,10,23]]}}}