Advancing ship automatic navigation strategy with prior knowledge and hierarchical penalty in irregular obstacles: a reinforcement learning approach to enhanced efficiency and safe... by Hao Zhang, Jiawen Li, Jiawen Li, Jiawen Li, Jiawen Li, Liang Cao, Liang Cao, Liang Cao, Shucan Wang, Ronghui Li, Ronghui Li, Ronghui Li

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