{"id":"https://openalex.org/W4383108473","doi":"https://doi.org/10.1109/icra48891.2023.10160992","title":"Safe Real-World Autonomous Driving by Learning to Predict and Plan with a Mixture of Experts","display_name":"Safe Real-World Autonomous Driving by Learning to Predict and Plan with a Mixture of Experts","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108473","doi":"https://doi.org/10.1109/icra48891.2023.10160992"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 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/A5030492021","display_name":"Stefano Pini","orcid":"https://orcid.org/0000-0001-9092-9144"},"institutions":[{"id":"https://openalex.org/I4210115535","display_name":"Planet Biotechnology (United States)","ror":"https://ror.org/022weqt39","country_code":"US","type":"company","lineage":["https://openalex.org/I4210115535"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Stefano Pini","raw_affiliation_strings":["Woven Planet Holdings, Inc"],"affiliations":[{"raw_affiliation_string":"Woven Planet Holdings, Inc","institution_ids":["https://openalex.org/I4210115535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069802999","display_name":"Christian S. Perone","orcid":"https://orcid.org/0000-0002-1894-6924"},"institutions":[{"id":"https://openalex.org/I4210115535","display_name":"Planet Biotechnology (United States)","ror":"https://ror.org/022weqt39","country_code":"US","type":"company","lineage":["https://openalex.org/I4210115535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christian S. Perone","raw_affiliation_strings":["Woven Planet Holdings, Inc"],"affiliations":[{"raw_affiliation_string":"Woven Planet Holdings, Inc","institution_ids":["https://openalex.org/I4210115535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051048224","display_name":"Aayush Ahuja","orcid":null},"institutions":[{"id":"https://openalex.org/I4210115535","display_name":"Planet Biotechnology (United States)","ror":"https://ror.org/022weqt39","country_code":"US","type":"company","lineage":["https://openalex.org/I4210115535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aayush Ahuja","raw_affiliation_strings":["Woven Planet Holdings, Inc"],"affiliations":[{"raw_affiliation_string":"Woven Planet Holdings, Inc","institution_ids":["https://openalex.org/I4210115535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006399909","display_name":"Ana Sofia Rufino Ferreira","orcid":null},"institutions":[{"id":"https://openalex.org/I4210115535","display_name":"Planet Biotechnology (United States)","ror":"https://ror.org/022weqt39","country_code":"US","type":"company","lineage":["https://openalex.org/I4210115535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ana Sofia Rufino Ferreira","raw_affiliation_strings":["Woven Planet Holdings, Inc"],"affiliations":[{"raw_affiliation_string":"Woven Planet Holdings, Inc","institution_ids":["https://openalex.org/I4210115535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054632305","display_name":"Moritz Niendorf","orcid":"https://orcid.org/0000-0002-6686-9767"},"institutions":[{"id":"https://openalex.org/I4210115535","display_name":"Planet Biotechnology (United States)","ror":"https://ror.org/022weqt39","country_code":"US","type":"company","lineage":["https://openalex.org/I4210115535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Moritz Niendorf","raw_affiliation_strings":["Woven Planet Holdings, Inc"],"affiliations":[{"raw_affiliation_string":"Woven Planet Holdings, Inc","institution_ids":["https://openalex.org/I4210115535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002668762","display_name":"Sergey Zagoruyko","orcid":"https://orcid.org/0000-0001-9684-5240"},"institutions":[{"id":"https://openalex.org/I4210115535","display_name":"Planet Biotechnology (United States)","ror":"https://ror.org/022weqt39","country_code":"US","type":"company","lineage":["https://openalex.org/I4210115535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sergey Zagoruyko","raw_affiliation_strings":["Woven Planet Holdings, Inc"],"affiliations":[{"raw_affiliation_string":"Woven Planet Holdings, Inc","institution_ids":["https://openalex.org/I4210115535"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5030492021"],"corresponding_institution_ids":["https://openalex.org/I4210115535"],"apc_list":null,"apc_paid":null,"fwci":3.3305,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.92362572,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"10069","last_page":"10075"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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":0.9995999932289124,"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/T10370","display_name":"Traffic and Road Safety","score":0.9735000133514404,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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":0.9595000147819519,"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/trajectory","display_name":"Trajectory","score":0.7967319488525391},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7273094058036804},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.6104589104652405},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5993422269821167},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4711512327194214},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.454077810049057},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.44534555077552795},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43667739629745483},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41364413499832153},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3322795033454895},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15249508619308472}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7967319488525391},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7273094058036804},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.6104589104652405},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5993422269821167},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4711512327194214},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.454077810049057},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.44534555077552795},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43667739629745483},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41364413499832153},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3322795033454895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15249508619308472},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1983948265","https://openalex.org/W2144304287","https://openalex.org/W2150884987","https://openalex.org/W2167224731","https://openalex.org/W2174803659","https://openalex.org/W2342840547","https://openalex.org/W2343568200","https://openalex.org/W2534225927","https://openalex.org/W2744369598","https://openalex.org/W2905173465","https://openalex.org/W2967177252","https://openalex.org/W2967975754","https://openalex.org/W2968008415","https://openalex.org/W3034722190","https://openalex.org/W3035671534","https://openalex.org/W3090153548","https://openalex.org/W3096609285","https://openalex.org/W3106944564","https://openalex.org/W3109791956","https://openalex.org/W3116651890","https://openalex.org/W3123730522","https://openalex.org/W3159893765","https://openalex.org/W3199947090","https://openalex.org/W3203018838","https://openalex.org/W3205301818","https://openalex.org/W3207915602","https://openalex.org/W3214950490","https://openalex.org/W4214717370","https://openalex.org/W4234552385","https://openalex.org/W4250589301","https://openalex.org/W4301501993","https://openalex.org/W4385245566","https://openalex.org/W6640174482","https://openalex.org/W6684338915","https://openalex.org/W6726497184","https://openalex.org/W6728155968","https://openalex.org/W6763422710","https://openalex.org/W6780503301","https://openalex.org/W6794902541"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2383578611","https://openalex.org/W2987583674"],"abstract_inverted_index":{"The":[0,177],"goal":[1],"of":[2,193],"autonomous":[3],"vehicles":[4],"is":[5,131],"to":[6,23,39,58,133,152],"navigate":[7],"public":[8,167,187],"roads":[9],"safely":[10,173],"and":[11,36,50,78,90,107,130,144,181,190],"comfortably.":[12],"To":[13],"enforce":[14],"safety,":[15],"traditional":[16],"planning":[17,97],"approaches":[18],"rely":[19],"on":[20,29,116,161,165,185],"handcrafted":[21],"rules":[22],"generate":[24],"trajectories.":[25],"Machine":[26],"learning-based":[27],"systems,":[28],"the":[30,75,96,108,147,191,194],"other":[31,79],"hand,":[32],"scale":[33],"with":[34,126],"data":[35,129],"are":[37,197],"able":[38],"learn":[40],"more":[41,127],"complex":[42],"behaviors.":[43],"However,":[44],"they":[45],"often":[46],"ignore":[47],"that":[48,99,146,170],"agents":[49],"self-driving":[51,76,163],"vehicle":[52,77,164],"trajectory":[53,98,121,149],"distributions":[54],"can":[55],"be":[56],"leveraged":[57],"improve":[59],"safety.":[60],"In":[61],"this":[62],"paper,":[63],"we":[64,94],"propose":[65],"modeling":[66],"a":[67,83,101,141,162,186],"distribution":[68,150],"over":[69],"multiple":[70],"future":[71],"trajectories":[72],"for":[73,88,120,179],"both":[74],"road":[80,195],"agents,":[81],"using":[82],"unified":[84],"neural":[85],"network":[86],"architecture":[87],"prediction":[89,188],"planning.":[91],"During":[92],"inference,":[93],"select":[95],"minimizes":[100],"cost":[102],"taking":[103],"into":[104],"account":[105],"safety":[106],"predicted":[109,148],"probabilities.":[110],"Our":[111],"approach":[112],"does":[113],"not":[114],"depend":[115],"any":[117],"rule-based":[118],"planners":[119],"generation":[122],"or":[123],"optimization,":[124],"improves":[125],"training":[128,180],"simple":[132],"implement.":[134],"We":[135,156],"extensively":[136],"evaluate":[137],"our":[138,183],"method":[139],"through":[140],"realistic":[142],"simulator":[143],"show":[145],"corresponds":[151],"different":[153],"driving":[154],"profiles.":[155],"also":[157],"successfully":[158],"deploy":[159],"it":[160,171],"urban":[166],"roads,":[168],"confirming":[169],"drives":[172],"without":[174],"compromising":[175],"comfort.":[176],"code":[178],"testing":[182],"model":[184],"dataset":[189],"video":[192],"test":[196],"available":[198],"at":[199],"https://woven.mobi/safepathnet.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":9}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
