{"id":"https://openalex.org/W4401415981","doi":"https://doi.org/10.1109/icra57147.2024.10611115","title":"UniGen: Unified Modeling of Initial Agent States and Trajectories for Generating Autonomous Driving Scenarios","display_name":"UniGen: Unified Modeling of Initial Agent States and Trajectories for Generating Autonomous Driving Scenarios","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415981","doi":"https://doi.org/10.1109/icra57147.2024.10611115"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611115","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611115","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5097357165","display_name":"Reza Mahjourian","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Reza Mahjourian","raw_affiliation_strings":["Waymo"],"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102663136","display_name":"Rongbing Mu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rongbing Mu","raw_affiliation_strings":["Waymo"],"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097335680","display_name":"Valerii Likhosherstov","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Valerii Likhosherstov","raw_affiliation_strings":["Waymo"],"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091007693","display_name":"Paul Mougin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Paul Mougin","raw_affiliation_strings":["Waymo"],"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097335681","display_name":"Xiukun Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiukun Huang","raw_affiliation_strings":["Waymo"],"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076409021","display_name":"Jo\u00e3o Messias","orcid":"https://orcid.org/0000-0002-7352-9146"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joao Messias","raw_affiliation_strings":["Waymo"],"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056879203","display_name":"Shimon Whiteson","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shimon Whiteson","raw_affiliation_strings":["Waymo"],"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5097357165"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6502,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.66960963,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"16367","last_page":"16373"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9990000128746033,"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":0.9990000128746033,"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/T10524","display_name":"Traffic control and management","score":0.9878000020980835,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9786999821662903,"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/computer-science","display_name":"Computer science","score":0.6419115662574768},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5682939291000366},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12621146440505981}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6419115662574768},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5682939291000366},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12621146440505981},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611115","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611115","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":36,"referenced_works":["https://openalex.org/W2164943005","https://openalex.org/W2519091744","https://openalex.org/W2896457183","https://openalex.org/W2903709398","https://openalex.org/W2955189650","https://openalex.org/W2964334375","https://openalex.org/W2967177252","https://openalex.org/W2968296999","https://openalex.org/W2985936292","https://openalex.org/W3000176874","https://openalex.org/W3028769608","https://openalex.org/W3034722190","https://openalex.org/W3035671534","https://openalex.org/W3109633872","https://openalex.org/W3156216502","https://openalex.org/W3171087525","https://openalex.org/W3173280621","https://openalex.org/W3207915602","https://openalex.org/W3214950490","https://openalex.org/W4205481600","https://openalex.org/W4220795836","https://openalex.org/W4281685999","https://openalex.org/W4313156423","https://openalex.org/W4361861254","https://openalex.org/W4377866264","https://openalex.org/W4378942459","https://openalex.org/W4383097675","https://openalex.org/W4383172002","https://openalex.org/W4384644126","https://openalex.org/W6745935785","https://openalex.org/W6755207826","https://openalex.org/W6769043036","https://openalex.org/W6796931752","https://openalex.org/W6852425029","https://openalex.org/W6853180023","https://openalex.org/W6853903263"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"UniGen,":[3],"a":[4,29,54],"novel":[5],"approach":[6,22],"to":[7,104],"generating":[8],"new":[9,35,94],"traffic":[10],"scenarios":[11,106],"for":[12],"evaluating":[13],"and":[14,40,89,100],"improving":[15],"autonomous":[16],"driving":[17,25],"software":[18],"through":[19],"simulation.":[20],"Our":[21,77,111],"models":[23],"all":[24,50,70,97],"scenario":[26,57,65],"elements":[27],"in":[28,73],"unified":[30,78],"model:":[31],"the":[32,47,62,74,87,121,124],"position":[33],"of":[34,49,92,120],"agents,":[36],"their":[37,41,101],"initial":[38],"state,":[39],"future":[42],"motion":[43,90],"trajectories.":[44],"By":[45],"predicting":[46],"distributions":[48],"these":[51],"variables":[52],"from":[53],"shared":[55],"global":[56],"embedding,":[58],"we":[59],"ensure":[60],"that":[61,115],"final":[63],"generated":[64],"is":[66],"fully":[67],"conditioned":[68],"on":[69,96,123],"available":[71],"context":[72],"existing":[75,98],"scene.":[76],"modeling":[79],"approach,":[80],"combined":[81],"with":[82,107],"autoregressive":[83],"agent":[84,95],"injection,":[85],"conditions":[86],"placement":[88],"trajectory":[91],"every":[93],"agents":[99],"trajectories,":[102],"leading":[103],"realistic":[105],"low":[108],"collision":[109],"rates.":[110],"experimental":[112],"results":[113],"show":[114],"UniGen":[116],"outperforms":[117],"prior":[118],"state":[119],"art":[122],"Waymo":[125],"Open":[126],"Motion":[127],"Dataset.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
