{"id":"https://openalex.org/W3133953828","doi":"https://doi.org/10.1109/iros51168.2021.9636266","title":"Diverse Critical Interaction Generation for Planning and Planner Evaluation","display_name":"Diverse Critical Interaction Generation for Planning and Planner Evaluation","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3133953828","doi":"https://doi.org/10.1109/iros51168.2021.9636266","mag":"3133953828"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636266","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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":"https://openalex.org/A5033893104","display_name":"Zhao-Heng Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhao-Heng Yin","raw_affiliation_strings":["Nanjing University, Nanjing, PRC"],"affiliations":[{"raw_affiliation_string":"Nanjing University, Nanjing, PRC","institution_ids":["https://openalex.org/I881766915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065597482","display_name":"Lingfeng Sun","orcid":"https://orcid.org/0000-0002-1134-4103"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lingfeng Sun","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087667477","display_name":"Liting Sun","orcid":"https://orcid.org/0000-0002-1248-2137"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liting Sun","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101770873","display_name":"Wei Zhan","orcid":"https://orcid.org/0000-0002-1474-1200"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Zhan","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5033893104"],"corresponding_institution_ids":["https://openalex.org/I881766915"],"apc_list":null,"apc_paid":null,"fwci":2.957,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.94333683,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7036","last_page":"7043"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9621999859809875,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9359999895095825,"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/planner","display_name":"Planner","score":0.8379481434822083},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7411944270133972},{"id":"https://openalex.org/keywords/adversary","display_name":"Adversary","score":0.6642891764640808},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.45978739857673645},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.4133695960044861},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36276042461395264},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3510296940803528},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33081167936325073},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.19065514206886292}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8379481434822083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7411944270133972},{"id":"https://openalex.org/C41065033","wikidata":"https://www.wikidata.org/wiki/Q2825412","display_name":"Adversary","level":2,"score":0.6642891764640808},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.45978739857673645},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.4133695960044861},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36276042461395264},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3510296940803528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33081167936325073},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.19065514206886292}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636266","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1959608418","https://openalex.org/W1965455100","https://openalex.org/W1969483458","https://openalex.org/W2113142300","https://openalex.org/W2116165149","https://openalex.org/W2123787681","https://openalex.org/W2145972539","https://openalex.org/W2188365844","https://openalex.org/W2424778531","https://openalex.org/W2468660406","https://openalex.org/W2596795616","https://openalex.org/W2607296803","https://openalex.org/W2798930779","https://openalex.org/W2890807499","https://openalex.org/W2898900571","https://openalex.org/W2905173465","https://openalex.org/W2955189650","https://openalex.org/W2962715980","https://openalex.org/W2963001155","https://openalex.org/W2963226019","https://openalex.org/W2963858432","https://openalex.org/W2967694753","https://openalex.org/W2967835402","https://openalex.org/W2970679500","https://openalex.org/W2980087597","https://openalex.org/W2990384329","https://openalex.org/W3017005290","https://openalex.org/W3028769608","https://openalex.org/W3033920763","https://openalex.org/W3090747022","https://openalex.org/W3090783937","https://openalex.org/W3096831136","https://openalex.org/W3099354210","https://openalex.org/W3106257603","https://openalex.org/W3114753236","https://openalex.org/W3130718496","https://openalex.org/W3133465684","https://openalex.org/W3196020871","https://openalex.org/W6640963894","https://openalex.org/W6687045409","https://openalex.org/W6718140377","https://openalex.org/W6755864109","https://openalex.org/W6768870957","https://openalex.org/W6769043036","https://openalex.org/W6776462180","https://openalex.org/W6783290480","https://openalex.org/W6784071224"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"Generating":[0],"diverse":[1,82,118],"and":[2,16,26,43,61],"comprehensive":[3],"interacting":[4],"agents":[5,40],"to":[6,24,32,47,57],"evaluate":[7,124],"the":[8,14,86,97],"decision-making":[9],"modules":[10],"is":[11],"essential":[12],"for":[13],"safe":[15],"robust":[17],"planning":[18],"of":[19,140],"autonomous":[20],"vehicles":[21,87],"(AV).":[22],"Due":[23],"efficiency":[25],"safety":[27,104],"concerns,":[28],"most":[29,53],"researchers":[30],"choose":[31],"train":[33],"interactive":[34],"adversary":[35],"(competitive":[36],"or":[37],"weakly":[38],"competitive)":[39],"in":[41,65,120,135],"simulators":[42],"generate":[44,100,117],"test":[45],"cases":[46],"interact":[48],"with":[49,89,102,127,137],"evaluated":[50],"AVs.":[51],"However,":[52],"existing":[54],"methods":[55],"fail":[56],"provide":[58],"both":[59],"natural":[60],"critical":[62,142],"interaction":[63,136],"behaviors":[64],"various":[66,121],"traffic":[67],"scenarios.":[68,122],"To":[69],"tackle":[70],"this":[71],"problem,":[72],"we":[73],"propose":[74],"a":[75],"styled":[76],"generative":[77],"model":[78,98,115,129],"RouteGAN":[79,138],"that":[80,113],"generates":[81],"interactions":[83,119],"by":[84,130],"controlling":[85],"separately":[88],"desired":[90],"styles.":[91],"By":[92],"altering":[93],"its":[94],"style":[95],"coefficients,":[96],"can":[99,116],"trajectories":[101],"different":[103,125],"levels":[105],"serve":[106],"as":[107],"an":[108],"online":[109],"planner.":[110],"Experiments":[111],"show":[112],"our":[114,128],"We":[123],"planners":[126,139],"testing":[131],"their":[132],"collision":[133],"rate":[134],"multiple":[141],"levels.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
