{"id":"https://openalex.org/W4413947152","doi":"https://doi.org/10.1109/icra55743.2025.11128070","title":"Gradient-Based Trajectory Optimization with Parallelized Differentiable Traffic Simulation","display_name":"Gradient-Based Trajectory Optimization with Parallelized Differentiable Traffic Simulation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413947152","doi":"https://doi.org/10.1109/icra55743.2025.11128070"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128070","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/A5000646618","display_name":"Sanghyun Son","orcid":"https://orcid.org/0000-0002-4810-8219"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sanghyun Son","raw_affiliation_strings":["University of Maryland,Department of Computer Science,College Park,MD,U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,Department of Computer Science,College Park,MD,U.S.A","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033905271","display_name":"Laura Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura Zheng","raw_affiliation_strings":["University of Maryland,Department of Computer Science,College Park,MD,U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,Department of Computer Science,College Park,MD,U.S.A","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063137015","display_name":"Brian Clipp","orcid":null},"institutions":[{"id":"https://openalex.org/I74786994","display_name":"Kitware (United States)","ror":"https://ror.org/02s2acn37","country_code":"US","type":"company","lineage":["https://openalex.org/I74786994"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian Clipp","raw_affiliation_strings":["Kitware"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kitware","institution_ids":["https://openalex.org/I74786994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005326254","display_name":"Connor Greenwell","orcid":null},"institutions":[{"id":"https://openalex.org/I74786994","display_name":"Kitware (United States)","ror":"https://ror.org/02s2acn37","country_code":"US","type":"company","lineage":["https://openalex.org/I74786994"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Connor Greenwell","raw_affiliation_strings":["Kitware"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kitware","institution_ids":["https://openalex.org/I74786994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115637725","display_name":"Sujin Philip","orcid":null},"institutions":[{"id":"https://openalex.org/I74786994","display_name":"Kitware (United States)","ror":"https://ror.org/02s2acn37","country_code":"US","type":"company","lineage":["https://openalex.org/I74786994"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sujin Philip","raw_affiliation_strings":["Kitware"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kitware","institution_ids":["https://openalex.org/I74786994"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102878981","display_name":"Ming C. Lin","orcid":"https://orcid.org/0000-0003-3736-6949"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ming C. Lin","raw_affiliation_strings":["University of Maryland,Department of Computer Science,College Park,MD,U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,Department of Computer Science,College Park,MD,U.S.A","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5000646618"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":0.8686,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.76742108,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"14497","last_page":"14504"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9909999966621399,"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"}},"topics":[{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9909999966621399,"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/T10524","display_name":"Traffic control and management","score":0.9887999892234802,"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/T11195","display_name":"Simulation Techniques and Applications","score":0.973800003528595,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.686474084854126},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.6735363006591797},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6583145260810852},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.47914689779281616},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3449503183364868},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13469907641410828},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0693722665309906}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.686474084854126},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.6735363006591797},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6583145260810852},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.47914689779281616},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3449503183364868},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13469907641410828},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0693722665309906},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128070","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":[{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W198912494","https://openalex.org/W1847191588","https://openalex.org/W1965455100","https://openalex.org/W1968719911","https://openalex.org/W1979690402","https://openalex.org/W2008039411","https://openalex.org/W2029465969","https://openalex.org/W2085603419","https://openalex.org/W2089080831","https://openalex.org/W2093921901","https://openalex.org/W2100995606","https://openalex.org/W2124298315","https://openalex.org/W2130448123","https://openalex.org/W2150623003","https://openalex.org/W2502764250","https://openalex.org/W2554989812","https://openalex.org/W2556096037","https://openalex.org/W2965843888","https://openalex.org/W3003257820","https://openalex.org/W3156216502","https://openalex.org/W3165116302","https://openalex.org/W3209892694","https://openalex.org/W3214950490","https://openalex.org/W4242591795","https://openalex.org/W4310447452","https://openalex.org/W4383097606","https://openalex.org/W4383172002","https://openalex.org/W4386076672","https://openalex.org/W4390788068","https://openalex.org/W4390872108","https://openalex.org/W4391309499","https://openalex.org/W4393149085","https://openalex.org/W4401415479","https://openalex.org/W4408696705"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2361427670","https://openalex.org/W2139910871","https://openalex.org/W2119925415"],"abstract_inverted_index":{"We":[0,74,113],"present":[1],"a":[2,14],"parallelized":[3],"differentiable":[4,44],"traffic":[5],"simulator":[6,26,81,116],"based":[7],"on":[8,119],"the":[9,54,66,80,86],"Intelligent":[10],"Driver":[11],"Model":[12],"(IDM),":[13],"car-following":[15],"framework":[16],"that":[17,33,76],"incorporates":[18],"driver":[19],"behavior":[20],"as":[21],"key":[22],"variables.":[23],"Our":[24],"vehicle":[25,29],"efficiently":[27],"models":[28],"motion,":[30],"generating":[31],"trajectories":[32,88,93,102,108],"can":[34,78],"be":[35],"supervised":[36],"to":[37,56,59,82,110],"fit":[38],"real-world":[39],"data.":[40],"By":[41],"leveraging":[42],"its":[43],"nature,":[45],"IDM":[46],"parameters":[47],"are":[48],"optimized":[49],"using":[50],"gradient-based":[51],"methods.":[52],"With":[53],"capability":[55],"simulate":[57],"up":[58],"2":[60],"million":[61],"vehicles":[62],"in":[63,85],"real":[64],"time,":[65],"system":[67],"is":[68,130],"scalable":[69],"for":[70],"large-scale":[71],"trajectory":[72],"optimization.":[73],"show":[75],"we":[77],"use":[79],"filter":[83],"noise":[84],"input":[87],"(trajectory":[89,97,103],"filtering),":[90],"reconstruct":[91],"dense":[92],"from":[94],"sparse":[95],"ones":[96],"reconstruction),":[98],"and":[99,117,124],"predict":[100],"future":[101],"prediction),":[104],"with":[105],"all":[106],"generated":[107],"adhering":[109],"physical":[111],"laws.":[112],"validate":[114],"our":[115],"algorithm":[118],"several":[120],"datasets":[121],"including":[122],"NGSIM":[123],"Waymo":[125],"Open":[126],"Dataset.":[127],"The":[128],"code":[129],"publicly":[131],"available":[132],"at:":[133],"https://github.com/SonSang/diffidm.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
