{"id":"https://openalex.org/W3203018838","doi":"https://doi.org/10.1109/icra46639.2022.9811576","title":"SafetyNet: Safe Planning for Real-World Self-Driving Vehicles Using Machine-Learned Policies","display_name":"SafetyNet: Safe Planning for Real-World Self-Driving Vehicles Using Machine-Learned Policies","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3203018838","doi":"https://doi.org/10.1109/icra46639.2022.9811576","mag":"3203018838"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811576","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811576","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5009893506","display_name":"Matt Vitelli","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Matt Vitelli","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113964339","display_name":"Yan Chang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan Chang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055852137","display_name":"Yawei Ye","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yawei Ye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040081734","display_name":"Ana Ferreira","orcid":"https://orcid.org/0000-0002-0953-9411"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ana Ferreira","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025503042","display_name":"Maciej Wo\u0142czyk","orcid":"https://orcid.org/0000-0002-3933-9971"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Maciej Wolczyk","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027640416","display_name":"B\u0142a\u017cej Osi\u0144ski","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Blazej Osinski","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054632305","display_name":"Moritz Niendorf","orcid":"https://orcid.org/0000-0002-6686-9767"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Moritz Niendorf","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027150082","display_name":"Hugo Grimmett","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hugo Grimmett","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011461720","display_name":"Qiangui Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiangui Huang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101187528","display_name":"Ashesh Jain","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ashesh Jain","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5090610298","display_name":"Peter Ondr\u00fa\u0161ka","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peter Ondruska","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5009893506"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.0562,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.99320828,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"897","last_page":"904"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9925000071525574,"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/self-driving","display_name":"Self driving","score":0.6260911226272583},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6184669733047485},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.3485264778137207},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2153177261352539}],"concepts":[{"id":"https://openalex.org/C3018391801","wikidata":"https://www.wikidata.org/wiki/Q741490","display_name":"Self driving","level":2,"score":0.6260911226272583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6184669733047485},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.3485264778137207},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2153177261352539}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811576","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811576","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W155097506","https://openalex.org/W1929981607","https://openalex.org/W1931877416","https://openalex.org/W1971086298","https://openalex.org/W1983948265","https://openalex.org/W2021667711","https://openalex.org/W2098774185","https://openalex.org/W2141664020","https://openalex.org/W2144304287","https://openalex.org/W2152422164","https://openalex.org/W2167224731","https://openalex.org/W2219970372","https://openalex.org/W2342840547","https://openalex.org/W2343568200","https://openalex.org/W2394607849","https://openalex.org/W2505763307","https://openalex.org/W2530849036","https://openalex.org/W2560609797","https://openalex.org/W2749747771","https://openalex.org/W2793753444","https://openalex.org/W2884634491","https://openalex.org/W2905173465","https://openalex.org/W2947630374","https://openalex.org/W2950642167","https://openalex.org/W2962957031","https://openalex.org/W2963403868","https://openalex.org/W2963645756","https://openalex.org/W2967969632","https://openalex.org/W2968008415","https://openalex.org/W2968983352","https://openalex.org/W2989897153","https://openalex.org/W3022566517","https://openalex.org/W3028769608","https://openalex.org/W3034722190","https://openalex.org/W3038822267","https://openalex.org/W3062588417","https://openalex.org/W3090153548","https://openalex.org/W3090202852","https://openalex.org/W3097323743","https://openalex.org/W3105834261","https://openalex.org/W3171077607","https://openalex.org/W3172477795","https://openalex.org/W3179951534","https://openalex.org/W3186259020","https://openalex.org/W3207915602","https://openalex.org/W4287073825","https://openalex.org/W4287750003","https://openalex.org/W4297781990","https://openalex.org/W4301501993","https://openalex.org/W4385245566","https://openalex.org/W6640174482","https://openalex.org/W6640443443","https://openalex.org/W6674884181","https://openalex.org/W6684338915","https://openalex.org/W6739901393","https://openalex.org/W6753596642","https://openalex.org/W6763422710","https://openalex.org/W6769043036","https://openalex.org/W6776438516","https://openalex.org/W6780856455","https://openalex.org/W6782468546","https://openalex.org/W6785476987","https://openalex.org/W6796929002"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W3047375952","https://openalex.org/W4288634015","https://openalex.org/W3138110502","https://openalex.org/W2909676666","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433"],"abstract_inverted_index":{"In":[0],"this":[1,46],"paper":[2],"we":[3],"present":[4],"the":[5,42,53,56,124,152],"first":[6],"safe":[7],"system":[8],"for":[9,32],"full":[10],"control":[11,163],"of":[12,58,140,164,173],"self-driving":[13],"vehicles":[14],"trained":[15],"from":[16],"human":[17],"demonstrations":[18,143],"and":[19,79,147,168],"deployed":[20],"in":[21,39,155],"challenging,":[22],"real-world,":[23],"urban":[24,175],"environments.":[25],"Current":[26],"industry-standard":[27],"solutions":[28,62],"use":[29],"rule-based":[30,93],"systems":[31],"planning.":[33],"Although":[34],"they":[35],"perform":[36],"reasonably":[37],"well":[38],"common":[40],"scenarios,":[41],"engineering":[43],"complexity":[44],"renders":[45],"approach":[47,87],"incompatible":[48],"with":[49,151],"human-level":[50],"performance.":[51],"On":[52],"other":[54],"hand,":[55],"performance":[57],"machine-learned":[59],"(ML)":[60],"planning":[61],"can":[63],"be":[64],"improved":[65],"by":[66,130],"simply":[67],"adding":[68],"more":[69],"exemplar":[70],"data.":[71],"However,":[72],"ML":[73,102,116,127,135],"methods":[74],"cannot":[75],"offer":[76],"safety":[77],"guarantees":[78],"sometimes":[80],"behave":[81],"unpredictably.":[82],"To":[83],"combat":[84],"this,":[85],"our":[86,134],"uses":[88],"a":[89,165,170],"simple":[90],"yet":[91],"effective":[92],"fallback":[94,153],"layer":[95,154],"that":[96],"performs":[97],"sanity":[98],"checks":[99],"on":[100,137],"an":[101],"planner's":[103],"decisions":[104],"(e.g.":[105],"avoiding":[106],"collision,":[107],"assuring":[108,123],"physical":[109],"feasibility).":[110],"This":[111],"allows":[112],"us":[113],"to":[114,117],"leverage":[115],"handle":[118],"complex":[119],"situations":[120],"while":[121],"still":[122],"safety,":[125],"reducing":[126],"planner-only":[128],"collisions":[129],"95%.":[131],"We":[132],"train":[133],"planner":[136],"300":[138],"hours":[139],"expert":[141],"driving":[142,176],"using":[144],"imitation":[145],"learning":[146],"deploy":[148],"it":[149,160],"along":[150],"downtown":[156],"San":[157],"Francisco,":[158],"where":[159],"takes":[161],"complete":[162],"real":[166],"vehicle":[167],"navigates":[169],"wide":[171],"variety":[172],"challenging":[174],"scenarios.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":10}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2025-10-10T00:00:00"}
