Instruct: Identify the main and secondary category of Arxiv papers based on the titles
Query: Behavior Planning at Urban Intersections through Hierarchical
  Reinforcement Learning
10
The categories of this paper are: q-bio
9
The categories of this paper are: nlin
3
The categories of this paper are: physics
0
The categories of this paper are: hep-ph
25
The categories of this paper are: patt-sol
15
The categories of this paper are: nucl-ex
34
The categories of this paper are: chem-ph
5
The categories of this paper are: gr-qc
29
The categories of this paper are: funct-an
17
The categories of this paper are: q-fin
36
The categories of this paper are: cmp-lg
22
The categories of this paper are: chao-dyn
26
The categories of this paper are: bayes-an
33
The categories of this paper are: plasm-ph
28
The categories of this paper are: alg-geom
6
The categories of this paper are: astro-ph