{"id":"https://openalex.org/W7129014840","doi":"https://doi.org/10.48550/arxiv.2602.12913","title":"Hierarchical Reinforcement Learning for Cooperative Air-Ground Delivery in Urban System","display_name":"Hierarchical Reinforcement Learning for Cooperative Air-Ground Delivery in Urban System","publication_year":2026,"publication_date":"2026-02-13","ids":{"openalex":"https://openalex.org/W7129014840","doi":"https://doi.org/10.48550/arxiv.2602.12913"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.12913","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101876724","display_name":"Songxin Lei","orcid":"https://orcid.org/0009-0002-3998-7407"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Lei, Songxin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126108397","display_name":"Chunming Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Chunming","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018234604","display_name":"Haomin Wen","orcid":"https://orcid.org/0000-0001-6130-126X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wen, Haomin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126109565","display_name":"Yexin Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yexin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126152126","display_name":"Lizhenghe Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Lizhenghe","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126133414","display_name":"Qianyu Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Qianyu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126151843","display_name":"Fugee Tsung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tsung, Fugee","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126075149","display_name":"Lei Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Lei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006117974","display_name":"Sijie Ruan","orcid":"https://orcid.org/0000-0002-4520-7174"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ruan, Sijie","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5126126128","display_name":"Yuxuan Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Yuxuan","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5101876724"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.7282999753952026,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.7282999753952026,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.1444000005722046,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.044199999421834946,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.8458999991416931},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7590000033378601},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6759999990463257},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.5011000037193298},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.33739998936653137},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.33410000801086426},{"id":"https://openalex.org/keywords/hierarchical-control-system","display_name":"Hierarchical control system","score":0.32600000500679016}],"concepts":[{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.8458999991416931},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7590000033378601},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7232000231742859},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6759999990463257},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.5011000037193298},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40959998965263367},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.33739998936653137},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.33410000801086426},{"id":"https://openalex.org/C124527596","wikidata":"https://www.wikidata.org/wiki/Q17029359","display_name":"Hierarchical control system","level":3,"score":0.32600000500679016},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.320499986410141},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.31540000438690186},{"id":"https://openalex.org/C2777386808","wikidata":"https://www.wikidata.org/wiki/Q5254078","display_name":"Delivery Performance","level":2,"score":0.30480000376701355},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.3041999936103821},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2924000024795532},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.2865999937057495},{"id":"https://openalex.org/C144986985","wikidata":"https://www.wikidata.org/wiki/Q871236","display_name":"Hierarchical database model","level":2,"score":0.2768999934196472},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.2574000060558319}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.12913","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.12913","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.12913","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.12913","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"score":0.6588791608810425,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Cooperative":[0],"air-ground":[1],"delivery":[2,140],"has":[3],"emerged":[4],"as":[5],"a":[6,59,71,100],"promising":[7],"logistics":[8],"paradigm":[9],"by":[10,44,79,143],"leveraging":[11],"the":[12,32,40,45,76,81,97,109,114,139],"complementary":[13],"strengths":[14],"of":[15],"UAVs":[16],"and":[17,36,85,92,127],"ground":[18],"carriers.":[19],"However,":[20],"effective":[21],"dispatching":[22],"in":[23,49,118,152],"such":[24],"heterogeneous":[25],"systems":[26],"faces":[27],"two":[28,124],"critical":[29],"challenges:":[30],"i)":[31],"heterogeneity":[33],"between":[34],"flight":[35,91],"road":[37,93],"dynamics,":[38],"ii)":[39],"scalability":[41,77],"bottleneck":[42,78],"raised":[43],"exponential":[46],"decision":[47],"variables":[48],"large-scale":[50],"fleets.":[51],"To":[52],"address":[53,96],"these":[54],"challenges,":[55],"we":[56],"propose":[57],"HRL4AG,":[58],"Hierarchical":[60],"Reinforcement":[61],"Learning":[62],"framework":[63],"for":[64],"cooperative":[65],"Air-Ground":[66],"delivery.":[67],"Specifically,":[68],"HRL4AG":[69,133],"employs":[70],"high-level":[72],"manager":[73],"to":[74,95,107,145],"tackle":[75],"decomposing":[80],"joint":[82],"action":[83],"space,":[84],"mode-specific":[86],"workers":[87],"that":[88,132],"encode":[89],"distinct":[90],"dynamics":[94],"heterogeneity.":[98],"Furthermore,":[99],"novel":[101],"internal":[102],"reward":[103],"mechanism":[104],"is":[105],"designed":[106],"guide":[108],"hierarchical":[110],"policy":[111],"learning,":[112],"addressing":[113],"credit":[115],"assignment":[116],"problem":[117],"sparse-reward":[119],"settings.":[120],"Extensive":[121],"experiments":[122],"on":[123],"real-world":[125],"datasets":[126],"an":[128,149],"evaluation":[129],"platform":[130],"demonstrate":[131],"significantly":[134],"outperforms":[135],"state-of-the-art":[136],"baselines,":[137],"improving":[138],"success":[141],"rate":[142],"up":[144],"26%":[146],"while":[147],"achieving":[148],"80-fold":[150],"increase":[151],"computational":[153],"efficiency.":[154]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-02-17T00:00:00"}