I've also had two actuators fail in my 2013 300H. So far they have been replaced under warranty but concerned about what happens with others when the warranty period runs out. Lexus should provide for free replacement since it is a recurring problem with many of their cars

 

It more than likely the actuator door lock motor. I just replaced mine 3 weeks ago. If you are mechanically incline it a simple DIY. Like DaveGS4 stated numerous threads on this topic, specifically a tutorial on replacing the motor. Good Luck.