{"id":"https://openalex.org/W4400944508","doi":"https://doi.org/10.1109/lra.2024.3433170","title":"Enhancing Closed-Loop Performance in Learning-Based Vehicle Motion Planning by Integrating Rule-Based Insights","display_name":"Enhancing Closed-Loop Performance in Learning-Based Vehicle Motion Planning by Integrating Rule-Based Insights","publication_year":2024,"publication_date":"2024-07-24","ids":{"openalex":"https://openalex.org/W4400944508","doi":"https://doi.org/10.1109/lra.2024.3433170"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3433170","doi":"https://doi.org/10.1109/lra.2024.3433170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3433170","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"parent_works":[],"lineage":["https://openalex.org/W4400944508"],"child_works_count":0,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101459642","display_name":"Yunkai Wang","orcid":"https://orcid.org/0000-0002-7402-5003","observed_orcids":["https://orcid.org/0000-0002-7402-5003"]},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunkai Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7402-5003","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072492128","display_name":"Quyu Kong","orcid":"https://orcid.org/0000-0001-6669-9190","observed_orcids":["https://orcid.org/0000-0001-6669-9190"]},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quyu Kong","raw_affiliation_strings":["Alibaba Cloud, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Alibaba Cloud, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024681645","display_name":"He Lei Zhu","orcid":"https://orcid.org/0000-0002-7278-9579","observed_orcids":["https://orcid.org/0000-0002-7278-9579"]},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Zhu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035174542","display_name":"Dongkun Zhang","orcid":"https://orcid.org/0000-0002-0811-4964","observed_orcids":["https://orcid.org/0000-0002-0811-4964"]},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongkun Zhang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022753280","display_name":"Longzhong Lin","orcid":"https://orcid.org/0000-0001-6422-559X","observed_orcids":["https://orcid.org/0000-0001-6422-559X"]},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longzhong Lin","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-6422-559X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5096197844","display_name":"Hao Sha","orcid":"https://orcid.org/0000-0003-3199-0732","observed_orcids":["https://orcid.org/0000-0003-3199-0732"]},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Sha","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-3199-0732","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114196519","display_name":"Xunlong Xia","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xunlong Xia","raw_affiliation_strings":["Alibaba Cloud, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Alibaba Cloud, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Qiao Liang","orcid":"https://orcid.org/0009-0002-7003-0582","observed_orcids":["https://orcid.org/0009-0002-7003-0582"]},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiao Liang","raw_affiliation_strings":["Alibaba Cloud, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0002-7003-0582","affiliations":[{"raw_affiliation_string":"Alibaba Cloud, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074924505","display_name":"Bing Deng","orcid":"https://orcid.org/0000-0001-7591-9749","observed_orcids":["https://orcid.org/0000-0001-7591-9749"]},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Deng","raw_affiliation_strings":["Alibaba Cloud, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Alibaba Cloud, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420346","display_name":"Ken Chen","orcid":"https://orcid.org/0000-0003-2569-0071","observed_orcids":["https://orcid.org/0000-0003-2569-0071","https://orcid.org/0000-0003-2224-2142"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ken Chen","raw_affiliation_strings":["Sichuan Digital Transportation Technology Company Ltd., Chendu, China"],"raw_orcid":"https://orcid.org/0000-0003-2569-0071","affiliations":[{"raw_affiliation_string":"Sichuan Digital Transportation Technology Company Ltd., Chendu, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014","observed_orcids":["https://orcid.org/0000-0001-9318-9014"]},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-9318-9014","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X","observed_orcids":["https://orcid.org/0000-0002-0981-935X","https://orcid.org/0009-0003-5310-2713"]},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0981-935X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010419481","display_name":"Jieping Ye","orcid":"https://orcid.org/0000-0001-8662-5818","observed_orcids":["https://orcid.org/0000-0001-8662-5818"]},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jieping Ye","raw_affiliation_strings":["Alibaba Cloud, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8662-5818","affiliations":[{"raw_affiliation_string":"Alibaba Cloud, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2495,"currency":"USD","value_usd":2495},"apc_paid":null,"fwci":0.4828,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.5794739,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"9","issue":"9","first_page":"7915","last_page":"7922"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.7964000105857849,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.7964000105857849,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.07769999653100967,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.05000000074505806,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/vehicle-motion-planning","display_name":"vehicle motion planning","score":0.9919999837875366},{"id":"https://openalex.org/keywords/closed-loop-performance","display_name":"closed-loop performance","score":0.796999990940094},{"id":"https://openalex.org/keywords/trajectory-filtering","display_name":"trajectory filtering","score":0.7300000190734863},{"id":"https://openalex.org/keywords/kinematic-constraints","display_name":"kinematic constraints","score":0.9850000143051147},{"id":"https://openalex.org/keywords/trajectory-similarity","display_name":"trajectory similarity","score":0.5249999761581421}],"concepts":[{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.5730804800987244},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5633469820022583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5240347981452942},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4721919298171997},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.47148534655570984},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3621804118156433},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3299257755279541},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3185070753097534},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25855299830436707},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13828930258750916},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0774202048778534},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3433170","doi":"https://doi.org/10.1109/lra.2024.3433170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3433170","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7250000238418579},{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.4943999946117401}],"study_designs":[],"awards":[{"id":"https://openalex.org/G4611955052","display_name":null,"funder_award_id":"62373322","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1965455100","https://openalex.org/W2056877664","https://openalex.org/W2107338474","https://openalex.org/W2884634491","https://openalex.org/W2894978157","https://openalex.org/W2991489433","https://openalex.org/W3013376041","https://openalex.org/W3020107244","https://openalex.org/W3035498040","https://openalex.org/W3083074253","https://openalex.org/W3129260190","https://openalex.org/W3135314352","https://openalex.org/W3176012696","https://openalex.org/W3194018559","https://openalex.org/W3197234345","https://openalex.org/W3200386541","https://openalex.org/W4307413605","https://openalex.org/W4380715592","https://openalex.org/W4383108532","https://openalex.org/W4391768851","https://openalex.org/W6854286043"],"related_works":["https://openalex.org/W4380715592","https://openalex.org/W7168736710","https://openalex.org/W7128678645","https://openalex.org/W7216500181","https://openalex.org/W4408697144","https://openalex.org/W6948377209","https://openalex.org/W2774809180","https://openalex.org/W4416230455","https://openalex.org/W2587344994","https://openalex.org/W4389887754"],"abstract_inverted_index":{"This":[0],"letter":[1],"introduces":[2],"an":[3],"innovative":[4],"vehicle":[5],"motion":[6],"planning":[7],"method":[8,100,114,123],"that":[9],"leverages":[10],"the":[11,54,73,83,88,112,121],"integration":[12],"of":[13,38],"rule-based":[14,28,113],"insights":[15],"to":[16,30,63,71,77,111],"significantly":[17],"improve":[18],"closed-loop":[19,93],"performance":[20,119],"within":[21],"a":[22,35,69,102],"learning-based":[23],"framework.":[24],"We":[25,67],"first":[26],"employ":[27],"methods":[29],"heuristically":[31],"search":[32],"and":[33,48,51,97,106],"generate":[34],"diverse":[36],"set":[37],"trajectory":[39,56],"proposals.":[40],"Then,":[41],"we":[42,81,115],"filter":[43],"these":[44],"trajectories":[45,86],"using":[46,87],"prediction":[47],"kinematic":[49],"constraints,":[50],"subsequently":[52],"select":[53],"highest-scoring":[55],"based":[57],"on":[58],"metrics":[59],"such":[60],"as":[61],"similarity":[62],"ground":[64],"truth":[65],"trajectories.":[66,79],"utilize":[68],"model":[70],"learn":[72],"mapping":[74],"from":[75],"observations":[76],"selected":[78],"Finally,":[80],"optimize":[82],"model's":[84],"output":[85],"lane":[89],"centerlines.":[90],"Validated":[91],"through":[92],"simulations":[94],"in":[95,124],"Highway-Env":[96],"nuPlan,":[98],"our":[99],"demonstrates":[101],"higher":[103],"success":[104],"rate":[105],"reduced":[107],"computation":[108],"time":[109],"relative":[110],"used,":[116],"achieving":[117],"competitive":[118],"with":[120],"state-of-the-art":[122],"nuPlan.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2024-07-25T00:00:00"}
