{"id":"https://openalex.org/W4401246741","doi":"https://doi.org/10.1109/tiv.2024.3436587","title":"Hierarchical Generative Adversarial Imitation Learning With Mid-Level Input Generation for Autonomous Driving on Urban Environments","display_name":"Hierarchical Generative Adversarial Imitation Learning With Mid-Level Input Generation for Autonomous Driving on Urban Environments","publication_year":2024,"publication_date":"2024-08-02","ids":{"openalex":"https://openalex.org/W4401246741","doi":"https://doi.org/10.1109/tiv.2024.3436587"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3436587","doi":"https://doi.org/10.1109/tiv.2024.3436587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3436587","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","norway-1","poland-20","russia-white-list-1"],"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 Transactions on Intelligent Vehicles","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2302.04823","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085537231","display_name":"Gustavo Cl\u00e1udio Karl Couto","orcid":"https://orcid.org/0000-0003-1850-1076","observed_orcids":["https://orcid.org/0000-0003-1850-1076"]},"institutions":[{"id":"https://openalex.org/I4104125","display_name":"Universidade Federal de Santa Catarina","ror":"https://ror.org/041akq887","country_code":"BR","type":"education","lineage":["https://openalex.org/I4104125"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gustavo Claudio Karl Couto","raw_affiliation_strings":["Automation and Systems Engineering Department, Federal University of Santa Catarina, Florianópolis, Brazil"],"raw_orcid":"https://orcid.org/0000-0003-1850-1076","affiliations":[{"raw_affiliation_string":"Automation and Systems Engineering Department, Federal University of Santa Catarina, Florianópolis, Brazil","institution_ids":["https://openalex.org/I4104125"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053429698","display_name":"Eric Aislan Antonelo","orcid":"https://orcid.org/0000-0002-7285-0974","observed_orcids":["https://orcid.org/0000-0002-7285-0974"]},"institutions":[{"id":"https://openalex.org/I4104125","display_name":"Universidade Federal de Santa Catarina","ror":"https://ror.org/041akq887","country_code":"BR","type":"education","lineage":["https://openalex.org/I4104125"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Eric Aislan Antonelo","raw_affiliation_strings":["Automation and Systems Engineering Department, Federal University of Santa Catarina, Florianópolis, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-7285-0974","affiliations":[{"raw_affiliation_string":"Automation and Systems Engineering Department, Federal University of Santa Catarina, Florianópolis, Brazil","institution_ids":["https://openalex.org/I4104125"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4104125"],"apc_list":{"value":2495,"currency":"USD","value_usd":2495},"apc_paid":null,"fwci":2.0529,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.88000951,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"10","issue":"3","first_page":"1841","last_page":"1854"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.8012999892234802,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.8012999892234802,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.1965000033378601,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.00019999999494757503,"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/generative-adversarial-imitation-learning","display_name":"generative adversarial imitation learning","score":0.953000009059906},{"id":"https://openalex.org/keywords/autonomous-driving","display_name":"autonomous driving","score":0.9610000252723694},{"id":"https://openalex.org/keywords/urban-navigation","display_name":"urban navigation","score":0.8240000009536743},{"id":"https://openalex.org/keywords/generative-adversarial-networks","display_name":"generative adversarial networks","score":0.7730000019073486},{"id":"https://openalex.org/keywords/carla-simulator","display_name":"CARLA simulator","score":0.6669999957084656},{"id":"https://openalex.org/keywords/intersection-navigation","display_name":"intersection navigation","score":0.3330000042915344}],"concepts":[{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.8291953206062317},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.7044081687927246},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.6646801829338074},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4592236876487732},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3524388074874878},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.3277384638786316},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.31088581681251526},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.10222554206848145}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tiv.2024.3436587","doi":"https://doi.org/10.1109/tiv.2024.3436587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3436587","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","norway-1","poland-20","russia-white-list-1"],"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 Transactions on Intelligent Vehicles","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2302.04823","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2302.04823","pdf_url":"https://arxiv.org/pdf/2302.04823","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2302.04823","doi":"https://doi.org/10.48550/arxiv.2302.04823","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2302.04823","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2302.04823","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2302.04823","pdf_url":"https://arxiv.org/pdf/2302.04823","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401246741.pdf","grobid_xml":"https://content.openalex.org/works/W4401246741.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1901129140","https://openalex.org/W1931877416","https://openalex.org/W2142641780","https://openalex.org/W2194775991","https://openalex.org/W2342840547","https://openalex.org/W2343568200","https://openalex.org/W2434014514","https://openalex.org/W2552465644","https://openalex.org/W2559767995","https://openalex.org/W2580495915","https://openalex.org/W2588221994","https://openalex.org/W2605135824","https://openalex.org/W2736601468","https://openalex.org/W2770884134","https://openalex.org/W2799017078","https://openalex.org/W2804117224","https://openalex.org/W2895915466","https://openalex.org/W2905173465","https://openalex.org/W2951360122","https://openalex.org/W2962894046","https://openalex.org/W2996998055","https://openalex.org/W2997956725","https://openalex.org/W3009593063","https://openalex.org/W3023098286","https://openalex.org/W3033375418","https://openalex.org/W3033836998","https://openalex.org/W3034552332","https://openalex.org/W3085605093","https://openalex.org/W3129260190","https://openalex.org/W3188004887","https://openalex.org/W3193987867","https://openalex.org/W3205738861","https://openalex.org/W3210735129","https://openalex.org/W4205144254","https://openalex.org/W4232512588","https://openalex.org/W4287327604","https://openalex.org/W4293682399","https://openalex.org/W4312270460","https://openalex.org/W4312769831","https://openalex.org/W4399369995","https://openalex.org/W6680724558","https://openalex.org/W6999953559"],"related_works":["https://openalex.org/W3205738861","https://openalex.org/W6893150437","https://openalex.org/W4312270460","https://openalex.org/W3034819467","https://openalex.org/W4309334386","https://openalex.org/W4226476367","https://openalex.org/W3209943843","https://openalex.org/W4324119698","https://openalex.org/W2837605352","https://openalex.org/W4309708480"],"abstract_inverted_index":{"Deriving":[0],"robust":[1],"control":[2,164],"policies":[3,19],"for":[4,68],"realistic":[5],"urban":[6],"navigation":[7,123],"scenarios":[8],"is":[9,73,92,147,178],"not":[10,243],"a":[11,70,106,125,134,240],"trivial":[12],"task.":[13],"In":[14],"an":[15,141],"end-to-end":[16],"approach,":[17],"these":[18],"must":[20],"map":[21],"high-dimensional":[22],"images":[23,88],"from":[24,55,86,115,152,172,210],"the":[25,61,116,121,148,153,156,159,165,169,173,183,186,191,195,201,218,237],"vehicle's":[26],"cameras":[27,211],"to":[28,75,94,119,163,180,215,230],"low-level":[29],"actions":[30],"such":[31,77],"as":[32,78,175,190],"steering":[33],"and":[34,97,158,185],"throttle.":[35],"While":[36],"pure":[37],"Reinforcement":[38],"Learning":[39,51],"(RL)":[40],"approaches":[41],"are":[42],"based":[43,167],"exclusively":[44,209,224],"on":[45,66,89,168,225],"engineered":[46],"rewards,":[47],"Generative":[48],"Adversarial":[49,137],"Imitation":[50],"(GAIL)":[52],"agents":[53],"learn":[54,181,217],"expert":[56],"demonstrations":[57],"while":[58,220],"interacting":[59],"with":[60,101,194],"environment,":[62],"which":[63,69,111,139,146,161],"favors":[64],"GAIL":[65,160,208],"tasks":[67,91],"reward":[71],"signal":[72],"difficult":[74],"derive,":[76],"autonomous":[79,122],"driving.":[80],"However,":[81],"training":[82,223,246],"deep":[83],"networks":[84],"directly":[85],"raw":[87],"RL":[90],"known":[93],"be":[95],"unstable":[96],"troublesome.":[98],"To":[99],"deal":[100],"that,":[102],"this":[103],"work":[104],"proposes":[105],"hierarchical":[107],"GAIL-based":[108],"architecture":[109,129],"(hGAIL)":[110],"decouples":[112],"representation":[113,188],"learning":[114],"driving":[117],"task":[118],"solve":[120],"of":[124,131,155,236,239],"vehicle.":[126],"The":[127],"proposed":[128],"consists":[130],"two":[132],"modules:":[133],"GAN":[135,174],"(Generative":[136],"Net)":[138],"generates":[140],"abstract":[142],"mid-level":[143,187],"input":[144],"representation,":[145],"Bird's-Eye":[149],"View":[150],"(BEV)":[151],"surroundings":[154],"vehicle;":[157],"learns":[162],"vehicle":[166],"BEV":[170],"predictions":[171],"input.":[176],"hGAIL":[177],"able":[179,229],"both":[182],"policy":[184],"simultaneously":[189],"agent":[192],"interacts":[193],"environment.":[196],"Our":[197],"experiments":[198],"made":[199],"in":[200,234,245],"CARLA":[202],"simulation":[203],"environment":[204],"have":[205],"shown":[206],"that":[207],"(without":[212],"BEV)":[213],"fails":[214],"even":[216],"task,":[219],"hGAIL,":[221],"after":[222],"one":[226],"city,":[227],"was":[228],"autonomously":[231],"navigate":[232],"successfully":[233],"98%":[235],"intersections":[238],"new":[241],"city":[242],"used":[244],"phase.":[247]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":3}],"updated_date":"2026-11-03T10:50:19.383937","created_date":"2024-08-03T00:00:00"}