{"id":"https://openalex.org/W3010475463","doi":"https://doi.org/10.1109/iros45743.2020.9341222","title":"BARK: Open Behavior Benchmarking in Multi-Agent Environments","display_name":"BARK: Open Behavior Benchmarking in Multi-Agent Environments","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3010475463","doi":"https://doi.org/10.1109/iros45743.2020.9341222","mag":"3010475463"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.02604","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Julian Bernhard","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Julian Bernhard","raw_affiliation_strings":["Research Institute of the Free State of Bavaria,fortiss GmbH,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Research Institute of the Free State of Bavaria,fortiss GmbH,Munich,Germany","institution_ids":["https://openalex.org/I4210134795"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Klemens Esterle","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klemens Esterle","raw_affiliation_strings":["Research Institute of the Free State of Bavaria,fortiss GmbH,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Research Institute of the Free State of Bavaria,fortiss GmbH,Munich,Germany","institution_ids":["https://openalex.org/I4210134795"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Patrick Hart","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Patrick Hart","raw_affiliation_strings":["Research Institute of the Free State of Bavaria,fortiss GmbH,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Research Institute of the Free State of Bavaria,fortiss GmbH,Munich,Germany","institution_ids":["https://openalex.org/I4210134795"]}]},{"author_position":"last","author":{"id":null,"display_name":"Tobias Kessler","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias Kessler","raw_affiliation_strings":["Research Institute of the Free State of Bavaria,fortiss GmbH,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Research Institute of the Free State of Bavaria,fortiss GmbH,Munich,Germany","institution_ids":["https://openalex.org/I4210134795"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210134795"],"apc_list":null,"apc_paid":null,"fwci":1.7307,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.83926126,"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":"6201","last_page":"6208"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.998199999332428,"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":0.998199999332428,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9760000109672546,"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"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9670000076293945,"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/benchmarking","display_name":"Benchmarking","score":0.8683000206947327},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6955000162124634},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.6934000253677368},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4823000133037567},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.45899999141693115},{"id":"https://openalex.org/keywords/cover","display_name":"Cover (algebra)","score":0.376800000667572}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.8683000206947327},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6955000162124634},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.6934000253677368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6757000088691711},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4823000133037567},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.45899999141693115},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.376800000667572},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.36309999227523804},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33379998803138733},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32989999651908875},{"id":"https://openalex.org/C117035363","wikidata":"https://www.wikidata.org/wiki/Q3769299","display_name":"Human behavior","level":2,"score":0.2773999869823456},{"id":"https://openalex.org/C144072006","wikidata":"https://www.wikidata.org/wiki/Q4462116","display_name":"Travel behavior","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C2778391309","wikidata":"https://www.wikidata.org/wiki/Q7832527","display_name":"Traffic simulation","level":3,"score":0.25929999351501465},{"id":"https://openalex.org/C202033279","wikidata":"https://www.wikidata.org/wiki/Q1931373","display_name":"Scenario planning","level":2,"score":0.2567000091075897}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros45743.2020.9341222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.02604","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.02604","pdf_url":"https://arxiv.org/pdf/2003.02604","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":"pmh:oai:mediatum.ub.tum.de:node/1554718","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1554718","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.02604","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.02604","pdf_url":"https://arxiv.org/pdf/2003.02604","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322835","display_name":"Ministry of Economic Affairs","ror":"https://ror.org/042ge0913"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1965455100","https://openalex.org/W2009303086","https://openalex.org/W2056877664","https://openalex.org/W2077197253","https://openalex.org/W2126316555","https://openalex.org/W2152374007","https://openalex.org/W2281287867","https://openalex.org/W2599174273","https://openalex.org/W2740508249","https://openalex.org/W2896093746","https://openalex.org/W2896642734","https://openalex.org/W2903709398","https://openalex.org/W2905173465","https://openalex.org/W2905513778","https://openalex.org/W2921180939","https://openalex.org/W2943804188","https://openalex.org/W2967503332","https://openalex.org/W2970605246","https://openalex.org/W2970857152","https://openalex.org/W2991126425","https://openalex.org/W6741002519","https://openalex.org/W6745046248","https://openalex.org/W6747473740","https://openalex.org/W6762512168","https://openalex.org/W6768870957","https://openalex.org/W6770410529"],"related_works":[],"abstract_inverted_index":{"Predicting":[0],"and":[1,30,43,50,59,69,76,115,129,139,162],"planning":[2],"interactive":[3,85],"behaviors":[4],"in":[5,14,150],"complex":[6],"traffic":[7,18,74],"situations":[8,29],"presents":[9],"a":[10,136,177,181],"challenging":[11,44],"task.":[12],"Especially":[13],"scenarios":[15,45],"involving":[16],"multiple":[17],"participants":[19,75],"that":[20,174],"interact":[21],"densely,":[22],"autonomous":[23],"vehicles":[24],"still":[25],"struggle":[26],"to":[27,31,48,56,100,143],"interpret":[28],"eventually":[32],"achieve":[33],"their":[34],"own":[35],"mission":[36],"goal.":[37],"As":[38],"driving":[39],"tests":[40],"are":[41,46,110,166],"costly":[42],"hard":[47],"find":[49],"reproduce,":[51],"simulation":[52],"is":[53,121],"widely":[54],"used":[55,158],"develop,":[57],"test,":[58],"benchmark":[60],"behavior":[61,71,96,108,132,148,169,185],"models.":[62,133,170,186],"However,":[63],"most":[64],"simulations":[65],"rely":[66],"on":[67],"datasets":[68],"simplistic":[70],"models":[72,109,120,149,157],"for":[73,112,180],"do":[77],"not":[78],"cover":[79],"the":[80,102,145,156],"full":[81],"variety":[82],"of":[83,119,147,184],"real-world,":[84],"human":[86],"behaviors.":[87],"In":[88,106],"this":[89],"work,":[90],"we":[91],"introduce":[92],"BARK,":[93,107],"an":[94],"open-source":[95],"benchmarking":[97],"environment":[98],"designed":[99],"mitigate":[101],"shortcomings":[103],"stated":[104],"above.":[105],"(re-)used":[111],"planning,":[113],"prediction,":[114],"simulation.":[116],"A":[117],"range":[118],"currently":[122],"available,":[123],"such":[124],"as":[125],"MonteCarlo":[126],"Tree":[127],"Search":[128],"Reinforcement":[130],"Learning-based":[131],"We":[134,152],"use":[135],"public":[137],"dataset":[138],"sampling-based":[140],"scenario":[141],"generation":[142],"show":[144],"inter-exchangeability":[146],"BARK.":[151],"evaluate":[153],"how":[154,163],"well":[155],"cope":[159],"with":[160],"interactions":[161],"robust":[164],"they":[165],"towards":[167],"exchanging":[168],"Our":[171],"evaluation":[172],"shows":[173],"BARK":[175],"provides":[176],"suitable":[178],"framework":[179],"systematic":[182],"development":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2020-03-13T00:00:00"}