{"id":"https://openalex.org/W2979468304","doi":"https://doi.org/10.1109/iros40897.2019.8967615","title":"Jointly Learnable Behavior and Trajectory Planning for Self-Driving Vehicles","display_name":"Jointly Learnable Behavior and Trajectory Planning for Self-Driving Vehicles","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2979468304","doi":"https://doi.org/10.1109/iros40897.2019.8967615","mag":"2979468304"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967615","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.04586","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050973345","display_name":"Abbas Sadat","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Abbas Sadat","raw_affiliation_strings":["661 University Avenue, Suite 720,Uber Advanced Technologies Group,Toronto,Ontario,Canada"],"affiliations":[{"raw_affiliation_string":"661 University Avenue, Suite 720,Uber Advanced Technologies Group,Toronto,Ontario,Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112603339","display_name":"Mengye Ren","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mengye Ren","raw_affiliation_strings":["661 University Avenue, Suite 720,Uber Advanced Technologies Group,Toronto,Ontario,Canada"],"affiliations":[{"raw_affiliation_string":"661 University Avenue, Suite 720,Uber Advanced Technologies Group,Toronto,Ontario,Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110542053","display_name":"Andrei Pokrovsky","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139321","display_name":"Graphcore (United Kingdom)","ror":"https://ror.org/03b3h3q73","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210139321"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrei Pokrovsky","raw_affiliation_strings":["Uber,GraphCore"],"affiliations":[{"raw_affiliation_string":"Uber,GraphCore","institution_ids":["https://openalex.org/I4210139321"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101361764","display_name":"Yen-Chen Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yen-Chen Lin","raw_affiliation_strings":["Massachusetts Institute of Technology,Uber"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Uber","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028817790","display_name":"Ersin Yumer","orcid":"https://orcid.org/0000-0002-3245-5515"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ersin Yumer","raw_affiliation_strings":["661 University Avenue, Suite 720,Uber Advanced Technologies Group,Toronto,Ontario,Canada"],"affiliations":[{"raw_affiliation_string":"661 University Avenue, Suite 720,Uber Advanced Technologies Group,Toronto,Ontario,Canada","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058557954","display_name":"Raquel Urtasun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Raquel Urtasun","raw_affiliation_strings":["661 University Avenue, Suite 720,Uber Advanced Technologies Group,Toronto,Ontario,Canada"],"affiliations":[{"raw_affiliation_string":"661 University Avenue, Suite 720,Uber Advanced Technologies Group,Toronto,Ontario,Canada","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5050973345"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8912,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.77417708,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3949","last_page":"3956"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9828000068664551,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.982200026512146,"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/trajectory","display_name":"Trajectory","score":0.9130998849868774},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.892339825630188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.680446207523346},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5411076545715332},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5258684158325195},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.48767220973968506},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46704593300819397},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.4428398013114929},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43542882800102234},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33483922481536865},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3287825882434845},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3254093825817108},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.23674622178077698},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2025945782661438},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1784202754497528}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.9130998849868774},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.892339825630188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.680446207523346},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5411076545715332},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5258684158325195},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.48767220973968506},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46704593300819397},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.4428398013114929},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43542882800102234},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33483922481536865},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3287825882434845},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3254093825817108},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.23674622178077698},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2025945782661438},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1784202754497528},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros40897.2019.8967615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967615","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.04586","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.04586","pdf_url":"https://arxiv.org/pdf/1910.04586","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2979468304","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1910.04586","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1910.04586","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.04586","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.04586","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.04586","pdf_url":"https://arxiv.org/pdf/1910.04586","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2979468304.pdf","grobid_xml":"https://content.openalex.org/works/W2979468304.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1568248713","https://openalex.org/W1992157405","https://openalex.org/W2107338474","https://openalex.org/W2134765105","https://openalex.org/W2144293566","https://openalex.org/W2150355110","https://openalex.org/W2167224731","https://openalex.org/W2169498096","https://openalex.org/W2293313346","https://openalex.org/W2342840547","https://openalex.org/W2599174273","https://openalex.org/W2606508169","https://openalex.org/W2749747771","https://openalex.org/W2793753444","https://openalex.org/W2799017078","https://openalex.org/W2810677299","https://openalex.org/W2884634491","https://openalex.org/W2886616503","https://openalex.org/W2894978157","https://openalex.org/W2905173465","https://openalex.org/W2949354685","https://openalex.org/W2962696750","https://openalex.org/W2962894046","https://openalex.org/W2968008415","https://openalex.org/W3105834261","https://openalex.org/W4231761304","https://openalex.org/W6684338915","https://openalex.org/W6704559304","https://openalex.org/W6736482081","https://openalex.org/W6752818208","https://openalex.org/W6753596642","https://openalex.org/W6753882966","https://openalex.org/W6754877132","https://openalex.org/W6756871163","https://openalex.org/W6767069752"],"related_works":["https://openalex.org/W3004162282","https://openalex.org/W2049195806","https://openalex.org/W2991167008","https://openalex.org/W3096342673","https://openalex.org/W3000893460","https://openalex.org/W2958744321","https://openalex.org/W3006499365","https://openalex.org/W3166374391","https://openalex.org/W2565402511","https://openalex.org/W3127820998","https://openalex.org/W3113171483","https://openalex.org/W3045608587","https://openalex.org/W3095558228","https://openalex.org/W2467882958","https://openalex.org/W3089819400","https://openalex.org/W3173496395","https://openalex.org/W3004135535","https://openalex.org/W2149715406","https://openalex.org/W2962731062","https://openalex.org/W2266853061"],"abstract_inverted_index":{"The":[0],"motion":[1,119],"planners":[2,120],"used":[3],"in":[4,63,72,189],"self-driving":[5,179],"vehicles":[6],"need":[7],"to":[8,133,140,194,202],"generate":[9],"trajectories":[10],"that":[11,41,121,163,182,204],"are":[12,57],"safe,":[13],"comfortable,":[14],"and":[15,33,38,61,112,155,158,173,197,210],"obey":[16],"the":[17,48,51,64,69,76,81,88,92,100,135],"traffic":[18],"rules.":[19],"This":[20],"is":[21],"usually":[22],"achieved":[23],"by":[24,80,91,170],"two":[25],"modules:":[26],"behavior":[27,65,93,111,125,172,209],"planner,":[28,94],"which":[29],"handles":[30],"high-level":[31],"decisions":[32],"produces":[34],"a":[35,43,108,159,165],"coarse":[36],"trajectory,":[37],"trajectory":[39,46,70,78,82,113,174,211],"planner":[40,66,71,83,185],"generates":[42],"smooth,":[44],"feasible":[45],"for":[47],"duration":[49],"of":[50,152,191],"planning":[52],"horizon.":[53],"These":[54],"planners,":[55],"however,":[56],"typically":[58],"developed":[59],"separately,":[60],"changes":[62],"might":[67,84],"affect":[68],"unexpected":[73],"ways.":[74],"Furthermore,":[75],"final":[77],"outputted":[79],"differ":[85],"significantly":[86,187],"from":[87,138],"one":[89],"generated":[90],"as":[95],"they":[96],"do":[97,205],"not":[98,206],"share":[99],"same":[101],"objective.":[102],"In":[103],"this":[104],"paper,":[105],"we":[106],"propose":[107],"jointly":[109,183],"learnable":[110,118],"planner.":[114],"Unlike":[115],"most":[116],"existing":[117],"address":[122],"either":[123],"only":[124],"planning,":[126],"or":[127],"use":[128],"an":[129,146],"uninterpretable":[130],"neural":[131],"network":[132],"represent":[134],"entire":[136],"logic":[137],"sensors":[139],"driving":[141,196],"commands,":[142],"our":[143,171],"approach":[144],"features":[145],"interpretable":[147],"cost":[148,167],"function":[149,168],"on":[150,177],"top":[151],"perception,":[153],"prediction":[154],"vehicle":[156],"dynamics,":[157],"joint":[160,208],"learning":[161],"algorithm":[162],"learns":[164],"shared":[166],"employed":[169],"components.":[175],"Experiments":[176],"real-world":[178],"data":[180],"demonstrate":[181],"learned":[184],"performs":[186],"better":[188],"terms":[190],"both":[192],"similarity":[193],"human":[195],"other":[198],"safety":[199],"metrics,":[200],"compared":[201],"baselines":[203],"adopt":[207],"learning.":[212]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":7}],"updated_date":"2026-03-21T08:13:44.787528","created_date":"2022-07-19T00:00:00"}