{"id":"https://openalex.org/W4404932791","doi":"https://doi.org/10.1017/s026357472400119x","title":"Curriculum reinforcement learning-based drifting along a general path for autonomous vehicles","display_name":"Curriculum reinforcement learning-based drifting along a general path for autonomous vehicles","publication_year":2024,"publication_date":"2024-10-01","ids":{"openalex":"https://openalex.org/W4404932791","doi":"https://doi.org/10.1017/s026357472400119x"},"language":"en","primary_location":{"id":"doi:10.1017/s026357472400119x","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s026357472400119x","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/AABFB8F9D502370FCC0E4CD84EFAC52B/S026357472400119Xa.pdf/div-class-title-curriculum-reinforcement-learning-based-drifting-along-a-general-path-for-autonomous-vehicles-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/AABFB8F9D502370FCC0E4CD84EFAC52B/S026357472400119Xa.pdf/div-class-title-curriculum-reinforcement-learning-based-drifting-along-a-general-path-for-autonomous-vehicles-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101230939","display_name":"Kai Yu","orcid":"https://orcid.org/0009-0002-1128-3491"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Yu","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103345443","display_name":"Mengyin Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengyin Fu","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation, Nanjing University of Science and Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035647314","display_name":"Xiaohui Tian","orcid":"https://orcid.org/0000-0002-0709-7875"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohui Tian","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065832304","display_name":"Shuaicong Yang","orcid":"https://orcid.org/0009-0000-3369-369X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuaicong Yang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102207499","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0002-3761-5127"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yi Yang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102207499"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.0909,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.82537419,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"42","issue":"10","first_page":"3263","last_page":"3280"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9919000267982483,"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/T10524","display_name":"Traffic control and management","score":0.9902999997138977,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7685656547546387},{"id":"https://openalex.org/keywords/curriculum","display_name":"Curriculum","score":0.6577290892601013},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.599024772644043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48238077759742737},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.4665239751338959},{"id":"https://openalex.org/keywords/course","display_name":"Course (navigation)","score":0.41792556643486023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4038451313972473},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3625723719596863},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.299805223941803},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1363106667995453},{"id":"https://openalex.org/keywords/pedagogy","display_name":"Pedagogy","score":0.08938121795654297},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0709955096244812}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7685656547546387},{"id":"https://openalex.org/C47177190","wikidata":"https://www.wikidata.org/wiki/Q207137","display_name":"Curriculum","level":2,"score":0.6577290892601013},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.599024772644043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48238077759742737},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.4665239751338959},{"id":"https://openalex.org/C2777552389","wikidata":"https://www.wikidata.org/wiki/Q1962728","display_name":"Course (navigation)","level":2,"score":0.41792556643486023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4038451313972473},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3625723719596863},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.299805223941803},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1363106667995453},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.08938121795654297},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0709955096244812},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357472400119x","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s026357472400119x","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/AABFB8F9D502370FCC0E4CD84EFAC52B/S026357472400119Xa.pdf/div-class-title-curriculum-reinforcement-learning-based-drifting-along-a-general-path-for-autonomous-vehicles-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1017/s026357472400119x","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s026357472400119x","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/AABFB8F9D502370FCC0E4CD84EFAC52B/S026357472400119Xa.pdf/div-class-title-curriculum-reinforcement-learning-based-drifting-along-a-general-path-for-autonomous-vehicles-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4404932791.pdf","grobid_xml":"https://content.openalex.org/works/W4404932791.grobid-xml"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1191599655","https://openalex.org/W1968665224","https://openalex.org/W1974358072","https://openalex.org/W2025986912","https://openalex.org/W2064924468","https://openalex.org/W2108871656","https://openalex.org/W2145175815","https://openalex.org/W2147524078","https://openalex.org/W2280298437","https://openalex.org/W2296073425","https://openalex.org/W2418627435","https://openalex.org/W2605102758","https://openalex.org/W2736601468","https://openalex.org/W2755111372","https://openalex.org/W2767050701","https://openalex.org/W2789604733","https://openalex.org/W2796775309","https://openalex.org/W2811282447","https://openalex.org/W2981761302","https://openalex.org/W2995742686","https://openalex.org/W2999762404","https://openalex.org/W3012544020","https://openalex.org/W3101442004","https://openalex.org/W3102621632","https://openalex.org/W3142849873","https://openalex.org/W3168526426","https://openalex.org/W3200962355","https://openalex.org/W4200199148","https://openalex.org/W4206171698","https://openalex.org/W4213286046","https://openalex.org/W4285102561","https://openalex.org/W4285209266","https://openalex.org/W4285228542","https://openalex.org/W4294936113","https://openalex.org/W4308068706","https://openalex.org/W4312382574","https://openalex.org/W4313886728","https://openalex.org/W4322730824","https://openalex.org/W4385834343","https://openalex.org/W4386285856","https://openalex.org/W4391092669","https://openalex.org/W4391171937","https://openalex.org/W4391748725","https://openalex.org/W4392389262","https://openalex.org/W4392763392","https://openalex.org/W4400644414","https://openalex.org/W6618867048","https://openalex.org/W6775683342","https://openalex.org/W6792244340","https://openalex.org/W6855794414","https://openalex.org/W6859447833","https://openalex.org/W6861143742"],"related_works":["https://openalex.org/W4318717247","https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W2267656092","https://openalex.org/W2317874921","https://openalex.org/W2736755255","https://openalex.org/W4362648715","https://openalex.org/W1977959518","https://openalex.org/W2038908348"],"abstract_inverted_index":{"Abstract":[0],"Expert":[1],"drivers":[2],"possess":[3],"the":[4,34,49,80,91,112,117,127,139,143,165,177],"ability":[5,141],"to":[6,18,65,93,115,124,137],"execute":[7,23],"high":[8,100],"sideslip":[9],"angle":[10],"maneuvers,":[11],"commonly":[12],"known":[13],"as":[14],"drifting,":[15],"during":[16,106],"racing":[17],"navigate":[19],"sharp":[20,107],"corners":[21],"and":[22,120,156,172,179],"rapid":[24],"turns.":[25],"However,":[26],"existing":[27],"model-based":[28],"controllers":[29],"encounter":[30],"challenges":[31],"in":[32,79,184],"handling":[33],"highly":[35],"nonlinear":[36],"dynamics":[37,114],"associated":[38],"with":[39,96],"drifting":[40,61,78,104,187],"along":[41,188],"general":[42,81,189],"paths.":[43,190],"While":[44],"reinforcement":[45,86],"learning-based":[46],"methods":[47],"alleviate":[48],"reliance":[50],"on":[51,84],"explicit":[52],"vehicle":[53,92,170],"models,":[54],"training":[55,128],"a":[56,73],"policy":[57],"directly":[58],"for":[59,76],"autonomous":[60,77,186],"remains":[62],"difficult":[63],"due":[64],"multiple":[66],"objectives.":[67],"In":[68],"this":[69],"paper,":[70],"we":[71,110,146],"propose":[72],"control":[74],"framework":[75,89,161,183],"case,":[82],"based":[83],"curriculum":[85,122],"learning.":[87],"The":[88,159,191],"empowers":[90],"follow":[94],"paths":[95],"varying":[97],"curvature":[98],"at":[99,195],"speeds,":[101],"while":[102],"executing":[103],"maneuvers":[105],"corners.":[108],"Specifically,":[109],"consider":[111],"vehicle\u2019s":[113],"decompose":[116],"overall":[118],"task":[119],"employ":[121],"learning":[123],"break":[125],"down":[126],"process":[129],"into":[130,149],"three":[131],"stages":[132],"of":[133,142,181],"increasing":[134],"complexity.":[135],"Additionally,":[136],"enhance":[138],"generalization":[140],"learned":[144],"policies,":[145],"introduce":[147],"randomization":[148],"sensor":[150],"observation":[151],"noise,":[152,155],"actuator":[153],"action":[154],"physical":[157],"parameters.":[158,173],"proposed":[160],"is":[162,193],"validated":[163],"using":[164],"CARLA":[166],"simulator,":[167],"encompassing":[168],"various":[169],"types":[171],"Experimental":[174],"results":[175],"demonstrate":[176],"effectiveness":[178],"efficiency":[180],"our":[182],"achieving":[185],"code":[192],"available":[194],"https://github.com/BIT-KaiYu/drifting":[196],".":[197]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
