{"id":"https://openalex.org/W3004264147","doi":"https://doi.org/10.1109/iros40897.2019.8968307","title":"Visual-based Autonomous Driving Deployment from a Stochastic and Uncertainty-aware Perspective","display_name":"Visual-based Autonomous Driving Deployment from a Stochastic and Uncertainty-aware Perspective","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004264147","doi":"https://doi.org/10.1109/iros40897.2019.8968307","mag":"3004264147"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968307","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":"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":null,"display_name":"Lei Tai","orcid":null},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Lei Tai","raw_affiliation_strings":["The Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085942352","display_name":"Yun Peng","orcid":"https://orcid.org/0000-0002-8163-267X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Peng Yun","raw_affiliation_strings":["The Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707062","display_name":"Yuying Chen","orcid":"https://orcid.org/0000-0003-4954-8192"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yuying Chen","raw_affiliation_strings":["The Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100663033","display_name":"Congcong Liu","orcid":"https://orcid.org/0000-0002-1749-1075"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Congcong Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101780377","display_name":"Haoyang Ye","orcid":"https://orcid.org/0000-0003-1744-0902"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Haoyang Ye","raw_affiliation_strings":["The Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7287,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.8833042,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2622","last_page":"2628"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/stylized-fact","display_name":"Stylized fact","score":0.8873938918113708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7954007387161255},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6370371580123901},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6283060312271118},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6050292253494263},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5738123059272766},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.5418736338615417},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5122057795524597},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.49570930004119873},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.49381980299949646},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.44276660680770874},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.4219527840614319}],"concepts":[{"id":"https://openalex.org/C38935604","wikidata":"https://www.wikidata.org/wiki/Q4330363","display_name":"Stylized fact","level":2,"score":0.8873938918113708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7954007387161255},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6370371580123901},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6283060312271118},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6050292253494263},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5738123059272766},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.5418736338615417},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5122057795524597},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.49570930004119873},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.49381980299949646},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.44276660680770874},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.4219527840614319},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C139719470","wikidata":"https://www.wikidata.org/wiki/Q39680","display_name":"Macroeconomics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros40897.2019.8968307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968307","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:repository.hkust.edu.hk:1783.1-102817","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-102817","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Conference paper"},{"id":"pmh:oai:repository.ust.hk:1783.1-102817","is_oa":false,"landing_page_url":"http://www.scopus.com/record/display.url?eid=2-s2.0-85081160378&origin=inward","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2119112357","https://openalex.org/W2296673577","https://openalex.org/W2565555125","https://openalex.org/W2586067474","https://openalex.org/W2600383743","https://openalex.org/W2787928077","https://openalex.org/W2799017078","https://openalex.org/W2837605352","https://openalex.org/W2891315523","https://openalex.org/W2898045695","https://openalex.org/W2910781732","https://openalex.org/W2962696750","https://openalex.org/W2962730596","https://openalex.org/W2962793481","https://openalex.org/W2962867954","https://openalex.org/W2962894046","https://openalex.org/W2962954724","https://openalex.org/W2962977206","https://openalex.org/W2963019567","https://openalex.org/W2963184124","https://openalex.org/W2963677766","https://openalex.org/W2963890275","https://openalex.org/W2968104655","https://openalex.org/W3159890710","https://openalex.org/W4295719664","https://openalex.org/W6733118196","https://openalex.org/W6735443497","https://openalex.org/W6736482081","https://openalex.org/W6738279954","https://openalex.org/W6745935785","https://openalex.org/W6748733227","https://openalex.org/W6750298367","https://openalex.org/W6752961934","https://openalex.org/W6755017452","https://openalex.org/W6758417531","https://openalex.org/W6795104053","https://openalex.org/W6999953559"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2529311304"],"abstract_inverted_index":{"End-to-end":[0],"visual-based":[1,15],"imitation":[2,101,123],"learning":[3,102,124],"has":[4],"been":[5],"widely":[6],"applied":[7,24,42],"in":[8,43,142,155],"autonomous":[9],"driving.":[10],"When":[11],"deploying":[12],"the":[13,27,30,44,52,58,64,69,73,87,98,107,111,116,121,130,134,138,143],"trained":[14,70,99],"driving":[16],"policy,":[17,125],"a":[18,76],"deterministic":[19],"command":[20],"is":[21,79],"usually":[22],"directly":[23],"without":[25],"considering":[26],"uncertainty":[28,113,136],"of":[29,35],"input":[31],"data.":[32],"Such":[33],"kind":[34],"policies":[36],"may":[37],"bring":[38],"dramatical":[39],"damage":[40],"when":[41,67],"real":[45],"world.":[46],"In":[47,72],"this":[48],"paper,":[49],"we":[50,126],"follow":[51],"recent":[53],"real-to-sim":[54],"pipeline":[55],"by":[56,115],"translating":[57,74],"testing":[59],"world":[60],"image":[61],"back":[62],"to":[63,81],"training":[65,88],"domain":[66,89],"using":[68],"policy.":[71],"process,":[75],"stochastic":[77],"generator":[78],"used":[80],"generate":[82],"various":[83],"images":[84],"stylized":[85],"under":[86],"randomly":[90],"or":[91],"directionally.":[92],"Based":[93],"on":[94],"those":[95],"translated":[96],"images,":[97],"uncertainty-aware":[100,122],"policy":[103],"would":[104],"output":[105],"both":[106],"predicted":[108],"action":[109],"and":[110],"data":[112],"motivated":[114],"aleatoric":[117],"loss":[118],"function.":[119],"Through":[120],"can":[127],"easily":[128],"choose":[129],"safest":[131],"one":[132],"with":[133],"lowest":[135],"among":[137],"generated":[139],"images.":[140],"Experiments":[141],"Carla":[144],"navigation":[145],"benchmark":[146],"show":[147],"that":[148],"our":[149],"strategy":[150],"outperforms":[151],"previous":[152],"methods,":[153],"especially":[154],"dynamic":[156],"environments.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}