{"id":"https://openalex.org/W4413918687","doi":"https://doi.org/10.1109/icra55743.2025.11127274","title":"Generalizing Motion Planners with Mixture of Experts for Autonomous Driving","display_name":"Generalizing Motion Planners with Mixture of Experts for Autonomous Driving","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918687","doi":"https://doi.org/10.1109/icra55743.2025.11127274"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5100377836","display_name":"Qiao Sun","orcid":"https://orcid.org/0009-0003-1060-2371"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiao Sun","raw_affiliation_strings":["Shanghai Qi Zhi Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute","institution_ids":["https://openalex.org/I4210122302"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100411010","display_name":"Huimin Wang","orcid":"https://orcid.org/0000-0001-8766-6101"},"institutions":[{"id":"https://openalex.org/I4210105359","display_name":"Shanghai Liangyou (China)","ror":"https://ror.org/029zp7d63","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210105359"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huimin Wang","raw_affiliation_strings":["LiAuto"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LiAuto","institution_ids":["https://openalex.org/I4210105359"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033450199","display_name":"Jiahao Zhan","orcid":"https://orcid.org/0009-0006-1128-3650"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Zhan","raw_affiliation_strings":["Shanghai Qi Zhi Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute","institution_ids":["https://openalex.org/I4210122302"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Fan Nie","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fan Nie","raw_affiliation_strings":["Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028379955","display_name":"Xin Wen","orcid":"https://orcid.org/0000-0003-1660-0759"},"institutions":[{"id":"https://openalex.org/I4210105359","display_name":"Shanghai Liangyou (China)","ror":"https://ror.org/029zp7d63","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210105359"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Wen","raw_affiliation_strings":["LiAuto"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LiAuto","institution_ids":["https://openalex.org/I4210105359"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054748492","display_name":"Ling Xu","orcid":"https://orcid.org/0000-0003-4716-6246"},"institutions":[{"id":"https://openalex.org/I4210105359","display_name":"Shanghai Liangyou (China)","ror":"https://ror.org/029zp7d63","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210105359"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Leimeng Xu","raw_affiliation_strings":["LiAuto"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LiAuto","institution_ids":["https://openalex.org/I4210105359"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007528778","display_name":"Kun Zhan","orcid":"https://orcid.org/0000-0003-4179-0347"},"institutions":[{"id":"https://openalex.org/I4210105359","display_name":"Shanghai Liangyou (China)","ror":"https://ror.org/029zp7d63","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210105359"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Zhan","raw_affiliation_strings":["LiAuto"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LiAuto","institution_ids":["https://openalex.org/I4210105359"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101753145","display_name":"Peng Jia","orcid":"https://orcid.org/0000-0002-6687-0346"},"institutions":[{"id":"https://openalex.org/I4210105359","display_name":"Shanghai Liangyou (China)","ror":"https://ror.org/029zp7d63","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210105359"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Jia","raw_affiliation_strings":["LiAuto"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LiAuto","institution_ids":["https://openalex.org/I4210105359"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113242248","display_name":"Xianpeng Lang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105359","display_name":"Shanghai Liangyou (China)","ror":"https://ror.org/029zp7d63","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210105359"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianpeng Lang","raw_affiliation_strings":["LiAuto"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LiAuto","institution_ids":["https://openalex.org/I4210105359"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101826600","display_name":"Hang Zhao","orcid":"https://orcid.org/0009-0002-8690-415X"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Zhao","raw_affiliation_strings":["Shanghai Qi Zhi Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute","institution_ids":["https://openalex.org/I4210122302"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5100377836"],"corresponding_institution_ids":["https://openalex.org/I4210122302"],"apc_list":null,"apc_paid":null,"fwci":2.0947,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.88562156,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6033","last_page":"6039"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9670000076293945,"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/T12290","display_name":"Human Motion and Animation","score":0.9670000076293945,"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/motion","display_name":"Motion (physics)","score":0.6539148688316345},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.544497013092041},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40249761939048767},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36171919107437134}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6539148688316345},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.544497013092041},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40249761939048767},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36171919107437134}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1965455100","https://openalex.org/W2343568200","https://openalex.org/W2905173465","https://openalex.org/W3035574168","https://openalex.org/W3123730522","https://openalex.org/W3135314352","https://openalex.org/W3156216502","https://openalex.org/W4312910992","https://openalex.org/W4390871698","https://openalex.org/W4401413933","https://openalex.org/W4401416666","https://openalex.org/W4402727673","https://openalex.org/W4403021210","https://openalex.org/W4405786382"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Large":[0],"real-world":[1,141],"driving":[2,143],"datasets":[3],"have":[4,47],"sparked":[5],"significant":[6],"research":[7],"into":[8],"various":[9],"aspects":[10],"of":[11,44,140],"learning-based":[12],"motion":[13,83],"planners":[14],"for":[15],"autonomous":[16],"driving.":[17],"These":[18],"include":[19],"data":[20,151],"augmentation,":[21],"model":[22,153],"architecture,":[23],"reward":[24,105],"design,":[25],"training":[26,60],"strategies,":[27],"and":[28,36,91,104,131,152],"planner":[29],"pipelines.":[30],"In":[31],"this":[32],"paper,":[33],"we":[34,76],"review":[35],"benchmark":[37],"previous":[38,125],"methods.":[39],"Experiments":[40,62],"show":[41,118],"that":[42,65,119],"many":[43,71],"these":[45],"approaches":[46,126],"limited":[48],"generalization":[49],"abilities":[50],"in":[51],"planning":[52],"performance":[53],"due":[54],"to":[55],"overly":[56],"complex":[57],"designs":[58,72],"or":[59],"paradigms.":[61],"further":[63],"reveal":[64],"as":[66,149],"models":[67],"are":[68],"appropriately":[69],"scaled,":[70],"become":[73],"redundant.":[74],"Therefore,":[75],"introduce":[77],"StateTransformer-2":[78],"(STR2),":[79],"a":[80,86,92],"scalable,":[81],"decoder-only":[82],"planner.":[84],"STR2uses":[85],"Vision":[87],"Transformer":[88],"(ViT)":[89],"encoder":[90],"mix-of-experts":[93],"(MoE)":[94],"causal":[95],"transformer":[96],"architecture.":[97],"The":[98],"MoE":[99],"backbone":[100],"addresses":[101],"modality":[102],"collapse":[103],"balancing":[106],"by":[107],"expert":[108],"routing":[109],"during":[110],"training.":[111],"Extensive":[112],"experiments":[113],"on":[114,138],"the":[115],"NuPlan":[116],"dataset":[117],"our":[120],"method":[121],"generalizes":[122],"better":[123],"than":[124],"across":[127],"different":[128],"test":[129],"sets":[130],"closed-loop":[132],"simulations.":[133],"We":[134],"evaluate":[135],"its":[136],"scalability":[137],"billions":[139],"urban":[142],"scenarios,":[144],"demonstrating":[145],"consistent":[146],"accuracy":[147],"improvements":[148],"both":[150],"size":[154],"grow.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}