# Hierarchical Generative Adversarial Imitation Learning With Mid-Level Input Generation for Autonomous Driving on Urban Environments

> Research article (IEEE Transactions on Intelligent Vehicles, 2024) · cited 11× · AI/ML

**Wikidata**: [openalex:W4401246741](https://www.wikidata.org/wiki/openalex:W4401246741)  
**Source**: https://4ort.xyz/entity/hierarchical-generative-adversarial-imitation-learning-with-mid-level-input-generation-for-autonomous-driving-on-urban-e