{"id":"https://openalex.org/W3204990527","doi":"https://doi.org/10.1109/icra48506.2021.9561049","title":"Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning","display_name":"Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3204990527","doi":"https://doi.org/10.1109/icra48506.2021.9561049","mag":"3204990527"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561049","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5085971429","display_name":"Yunlong Song","orcid":"https://orcid.org/0000-0002-6352-3744"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Yunlong Song","raw_affiliation_strings":["University of Zurich,Robotics and Perception Group,Dep. of Informatics","Dep. of Neuroinformatics, University of Zurich and ETH, Zurich, Switzerland","Dep. of Informatics, Robotics and Perception Group, University of Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group,Dep. of Informatics","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Dep. of Neuroinformatics, University of Zurich and ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Dep. of Informatics, Robotics and Perception Group, University of Zurich","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086604475","display_name":"HaoChih Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"HaoChih Lin","raw_affiliation_strings":["Sony AI Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony AI Zurich","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003892206","display_name":"Elia Kaufmann","orcid":"https://orcid.org/0000-0001-6094-5901"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Elia Kaufmann","raw_affiliation_strings":["University of Zurich,Robotics and Perception Group,Dep. of Informatics","Dep. of Neuroinformatics, University of Zurich and ETH, Zurich, Switzerland","Dep. of Informatics, Robotics and Perception Group, University of Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group,Dep. of Informatics","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Dep. of Neuroinformatics, University of Zurich and ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Dep. of Informatics, Robotics and Perception Group, University of Zurich","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102884528","display_name":"Peter D\u00fcrr","orcid":"https://orcid.org/0000-0002-3840-5009"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peter Durr","raw_affiliation_strings":["Sony AI Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony AI Zurich","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["University of Zurich,Robotics and Perception Group,Dep. of Informatics","Dep. of Neuroinformatics, University of Zurich and ETH, Zurich, Switzerland","Dep. of Informatics, Robotics and Perception Group, University of Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group,Dep. of Informatics","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Dep. of Neuroinformatics, University of Zurich and ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Dep. of Informatics, Robotics and Perception Group, University of Zurich","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9403","last_page":"9409"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9961000084877014,"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":0.9961000084877014,"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":0.9861000180244446,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9760000109672546,"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/overtaking","display_name":"Overtaking","score":0.9755228161811829},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.767471194267273},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7014604806900024},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6830264329910278},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45247095823287964},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4348798394203186},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4212349057197571},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3335721492767334},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18869012594223022}],"concepts":[{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.9755228161811829},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.767471194267273},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7014604806900024},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6830264329910278},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45247095823287964},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4348798394203186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4212349057197571},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3335721492767334},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18869012594223022},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561049","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1931877416","https://openalex.org/W2012561930","https://openalex.org/W2027365137","https://openalex.org/W2041911815","https://openalex.org/W2051228319","https://openalex.org/W2082142320","https://openalex.org/W2095423036","https://openalex.org/W2103639171","https://openalex.org/W2167224731","https://openalex.org/W2242368318","https://openalex.org/W2343568200","https://openalex.org/W2772481138","https://openalex.org/W2787938642","https://openalex.org/W2793611744","https://openalex.org/W2869375357","https://openalex.org/W2900152462","https://openalex.org/W2904453761","https://openalex.org/W2938356935","https://openalex.org/W2951357333","https://openalex.org/W2952762354","https://openalex.org/W2962893524","https://openalex.org/W2962957031","https://openalex.org/W2963277051","https://openalex.org/W2963704132","https://openalex.org/W2963923407","https://openalex.org/W2978612180","https://openalex.org/W3022159334","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3135068795","https://openalex.org/W3210815045","https://openalex.org/W4287325598","https://openalex.org/W4289294484","https://openalex.org/W6640174482","https://openalex.org/W6684338915","https://openalex.org/W6718092244","https://openalex.org/W6748839928","https://openalex.org/W6756256016","https://openalex.org/W6757469721","https://openalex.org/W6790375019","https://openalex.org/W6791273953"],"related_works":["https://openalex.org/W2242368318","https://openalex.org/W2041225042","https://openalex.org/W4224436824","https://openalex.org/W3000586224","https://openalex.org/W2094175941","https://openalex.org/W2896066033","https://openalex.org/W2970811184","https://openalex.org/W4205893925","https://openalex.org/W2891441129","https://openalex.org/W3093339351"],"abstract_inverted_index":{"Professional":[0],"race-car":[1],"drivers":[2],"can":[3],"execute":[4],"extreme":[5],"overtaking":[6,13,75],"maneuvers.":[7],"However,":[8],"existing":[9,38],"algorithms":[10],"for":[11,93],"autonomous":[12,74],"either":[14],"rely":[15],"on":[16],"simplified":[17],"assumptions":[18],"about":[19],"the":[20,32,50,73,82,125,129],"vehicle":[21,33],"dynamics":[22],"or":[23,58],"try":[24],"to":[25,42,71,109,118],"solve":[26],"expensive":[27],"trajectory-optimization":[28],"problems":[29],"online.":[30],"When":[31],"approaches":[34],"its":[35,94],"physical":[36],"limits,":[37],"model-based":[39,131],"controllers":[40],"struggle":[41],"handle":[43],"highly":[44],"nonlinear":[45],"dynamics,":[46],"and":[47,100,134],"cannot":[48],"leverage":[49],"large":[51],"volume":[52],"of":[53,97],"data":[54],"generated":[55],"by":[56],"simulation":[57],"real-world":[59],"driving.":[60],"To":[61],"circumvent":[62],"these":[63],"limitations,":[64],"we":[65],"propose":[66],"a":[67,123],"new":[68],"learning-based":[69],"method":[70],"tackle":[72],"problem.":[76],"We":[77],"evaluate":[78],"our":[79,106],"approach":[80,107],"in":[81],"popular":[83],"car":[84],"racing":[85],"game":[86,132],"Gran":[87],"Turismo":[88],"Sport,":[89],"which":[90],"is":[91],"known":[92],"detailed":[95],"modeling":[96],"various":[98],"cars":[99],"tracks.":[101],"By":[102],"leveraging":[103],"curriculum":[104],"learning,":[105],"leads":[108],"faster":[110],"convergence":[111],"as":[112,114],"well":[113],"increased":[115],"performance":[116,138],"compared":[117],"vanilla":[119],"reinforcement":[120],"learning.":[121],"As":[122],"result,":[124],"trained":[126],"controller":[127],"outperforms":[128],"built-in":[130],"AI":[133],"achieves":[135],"comparable":[136],"over-taking":[137],"with":[139],"an":[140],"experienced":[141],"human":[142],"driver.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}