{"id":"https://openalex.org/W4285102570","doi":"https://doi.org/10.1109/icra46639.2022.9811912","title":"Deploying Traffic Smoothing Cruise Controllers Learned from Trajectory Data","display_name":"Deploying Traffic Smoothing Cruise Controllers Learned from Trajectory Data","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102570","doi":"https://doi.org/10.1109/icra46639.2022.9811912"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811912","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811912","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.osti.gov/biblio/1969511","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065799040","display_name":"Nathan Lichtl\u00e9","orcid":"https://orcid.org/0000-0002-5521-6517"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"other","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nathan Lichtle","raw_affiliation_strings":["ENS Paris-Saclay, Paris-Saclay University,Department of Computer Science","Department of Computer Science, ENS Paris-Saclay, Paris-Saclay University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ENS Paris-Saclay, Paris-Saclay University,Department of Computer Science","institution_ids":["https://openalex.org/I277688954"]},{"raw_affiliation_string":"Department of Computer Science, ENS Paris-Saclay, Paris-Saclay University","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I29607241"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015277482","display_name":"Eugene Vinitsky","orcid":"https://orcid.org/0000-0003-2372-4944"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eugene Vinitsky","raw_affiliation_strings":["UC Berkeley,Department of Mechanical Engineering","Department of Mechanical Engineering, UC Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley,Department of Mechanical Engineering","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Mechanical Engineering, UC Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047609775","display_name":"Matthew Nice","orcid":"https://orcid.org/0000-0003-3609-1760"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Nice","raw_affiliation_strings":["Vanderbilt University,Department of Civil and Environmental Engineering","Department of Civil and Environmental Engineering, Vanderbilt University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Civil and Environmental Engineering","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Civil and Environmental Engineering, Vanderbilt University","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027964433","display_name":"Benjamin Seibold","orcid":"https://orcid.org/0000-0003-2879-6402"},"institutions":[{"id":"https://openalex.org/I84392919","display_name":"Temple University","ror":"https://ror.org/00kx1jb78","country_code":"US","type":"education","lineage":["https://openalex.org/I84392919"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Seibold","raw_affiliation_strings":["Temple University,Department of Mathematics","Department of Mathematics, Temple University","Department of Physics, Temple University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Temple University,Department of Mathematics","institution_ids":["https://openalex.org/I84392919"]},{"raw_affiliation_string":"Department of Mathematics, Temple University","institution_ids":["https://openalex.org/I84392919"]},{"raw_affiliation_string":"Department of Physics, Temple University","institution_ids":["https://openalex.org/I84392919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012556136","display_name":"Daniel B. Work","orcid":"https://orcid.org/0000-0003-0565-2158"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dan Work","raw_affiliation_strings":["Vanderbilt University,Department of Civil and Environmental Engineering","Department of Civil and Environmental Engineering, Vanderbilt University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Civil and Environmental Engineering","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Civil and Environmental Engineering, Vanderbilt University","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021116704","display_name":"Alexandre M. Bayen","orcid":"https://orcid.org/0000-0002-6697-222X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexandre M. Bayen","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science at UC Berkeley","Institute for Transportation Studies, UC Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science at UC Berkeley","institution_ids":[]},{"raw_affiliation_string":"Institute for Transportation Studies, UC Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2884","last_page":"2890"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998999834060669,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/platoon","display_name":"Platoon","score":0.8508716821670532},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7938638925552368},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7262073755264282},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6772463917732239},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.647180438041687},{"id":"https://openalex.org/keywords/cruise-control","display_name":"Cruise control","score":0.5335783362388611},{"id":"https://openalex.org/keywords/cruise","display_name":"Cruise","score":0.5268339514732361},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5021834373474121},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.49264270067214966},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40058356523513794},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.382476806640625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3414171636104584},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3213106691837311},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1885744035243988},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1524912416934967},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.10476478934288025}],"concepts":[{"id":"https://openalex.org/C2777735972","wikidata":"https://www.wikidata.org/wiki/Q1061967","display_name":"Platoon","level":3,"score":0.8508716821670532},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7938638925552368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7262073755264282},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6772463917732239},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.647180438041687},{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.5335783362388611},{"id":"https://openalex.org/C2778821358","wikidata":"https://www.wikidata.org/wiki/Q2063640","display_name":"Cruise","level":2,"score":0.5268339514732361},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5021834373474121},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.49264270067214966},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40058356523513794},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.382476806640625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3414171636104584},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3213106691837311},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1885744035243988},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1524912416934967},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.10476478934288025},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra46639.2022.9811912","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811912","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"},{"id":"pmh:oai:osti.gov:1969511","is_oa":true,"landing_page_url":"https://www.osti.gov/biblio/1969511","pdf_url":null,"source":{"id":"https://openalex.org/S4306402487","display_name":"OSTI OAI (U.S. Department of Energy Office of Scientific and Technical Information)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139351228","host_organization_name":"Office of Scientific and Technical Information","host_organization_lineage":["https://openalex.org/I139351228"],"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":null}],"best_oa_location":{"id":"pmh:oai:osti.gov:1969511","is_oa":true,"landing_page_url":"https://www.osti.gov/biblio/1969511","pdf_url":null,"source":{"id":"https://openalex.org/S4306402487","display_name":"OSTI OAI (U.S. Department of Energy Office of Scientific and Technical Information)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139351228","host_organization_name":"Office of Scientific and Technical Information","host_organization_lineage":["https://openalex.org/I139351228"],"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":null},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1544016679","https://openalex.org/W1819561190","https://openalex.org/W2067530543","https://openalex.org/W2119567691","https://openalex.org/W2122415581","https://openalex.org/W2152170081","https://openalex.org/W2152374007","https://openalex.org/W2167340365","https://openalex.org/W2334963336","https://openalex.org/W2593159012","https://openalex.org/W2611350544","https://openalex.org/W2736601468","https://openalex.org/W2800992156","https://openalex.org/W2943934820","https://openalex.org/W2951679309","https://openalex.org/W3010174734","https://openalex.org/W3037320068","https://openalex.org/W3134627745","https://openalex.org/W3140035367","https://openalex.org/W3163713777","https://openalex.org/W3181607911","https://openalex.org/W3193464862","https://openalex.org/W4285457312","https://openalex.org/W4287079558","https://openalex.org/W6741002519","https://openalex.org/W6761703549","https://openalex.org/W6764482130","https://openalex.org/W6791558360","https://openalex.org/W6799251605","https://openalex.org/W6800189807","https://openalex.org/W6803472046"],"related_works":["https://openalex.org/W4286572054","https://openalex.org/W3171462553","https://openalex.org/W2555207388","https://openalex.org/W4389240635","https://openalex.org/W2983996496","https://openalex.org/W3189590538","https://openalex.org/W2461853023","https://openalex.org/W2136133395","https://openalex.org/W2969429360","https://openalex.org/W2157011519"],"abstract_inverted_index":{"Autonomous":[0],"vehicle-based":[1],"traffic":[2,18],"smoothing":[3],"con-trollers":[4],"are":[5,41,105],"often":[6],"not":[7],"transferred":[8],"to":[9,13,24,97,107,122],"real-world":[10],"use":[11],"due":[12],"challenges":[14],"in":[15,75,113,135,150],"calibrating":[16],"many-agent":[17],"simulators.":[19],"We":[20,48,61,118],"show":[21,102],"a":[22,50,64,78,123,136],"pipeline":[23],"sidestep":[25],"such":[26],"calibration":[27],"issues":[28],"by":[29,111],"collecting":[30],"trajectory":[31,38],"data":[32,39],"and":[33,86,131,139,164],"learning":[34],"controllers":[35],"directly":[36],"from":[37],"that":[40,103,141],"then":[42,62],"deployed":[43],"zero-shot":[44],"onto":[45],"the":[46,59,68,72,99,142,146,151,158,162,165],"highway.":[47],"construct":[49,63],"dataset":[51,160],"of":[52,55,77,82,126,145],"772.3":[53],"kilometers":[54],"recorded":[56,69],"drives":[57,70],"on":[58,115],"I\u201324.":[60],"simple":[65],"simulator":[66],"using":[67],"as":[71],"lead":[73],"vehicle":[74,85],"front":[76],"simulated":[79],"platoon":[80,125],"consisting":[81],"one":[83],"autonomous":[84,128],"five":[87],"human":[88,133],"followers.":[89],"Using":[90],"policy-gradient":[91],"methods":[92],"with":[93],"an":[94],"asymmetric":[95],"critic":[96],"learn":[98],"controller,":[100],"we":[101,104,156],"able":[106],"improve":[108],"average":[109],"MPG":[110],"11%":[112],"simulation":[114],"congested":[116],"trajectories.":[117],"deploy":[119],"this":[120],"controller":[121,147,167],"mixed":[124],"4":[127],"Toyota":[129],"RAV-4's":[130],"7":[132],"drivers":[134],"validation":[137],"experiment":[138],"demonstrate":[140],"expected":[143],"time-gap":[144],"is":[148],"maintained":[149],"real":[152],"world":[153],"test.":[154],"Finally,":[155],"release":[157],"driving":[159],"[1],":[161],"simulator,":[163],"trained":[166],"at":[168],"https://github.com/nathanlct/trajectory-training-icra.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}
