HALight: Hierarchical Deep Reinforcement Learning for Cooperative Arterial Traffic Signal Control with Cycle Strategy - Jing Zeng; Jie Xin; Ya Cong; Jiancong Zhu; Yihao Zhang; Weihao Jiang; Shiliang Pu (25th IEEE International Conference on Intelligent Transportation Systems, ITSC 2022, Macau, China, October 8-12, 2022, 2022)