{"id":"https://openalex.org/W4200155925","doi":"https://doi.org/10.1109/iros51168.2021.9636525","title":"Self-Balancing Online Dataset for Incremental Driving Intelligence","display_name":"Self-Balancing Online Dataset for Incremental Driving Intelligence","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200155925","doi":"https://doi.org/10.1109/iros51168.2021.9636525"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636525","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":"conference-paper","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/A5084346572","display_name":"Hyung-Suk Yoon","orcid":"https://orcid.org/0000-0002-9976-139X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyung-Suk Yoon","raw_affiliation_strings":["Seoul National University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100728732","display_name":"Chan Kim","orcid":"https://orcid.org/0000-0003-1642-6789"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chan Kim","raw_affiliation_strings":["Seoul National University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101807134","display_name":"Seong-Woo Kim","orcid":"https://orcid.org/0000-0003-1633-573X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seong-Woo Kim","raw_affiliation_strings":["Seoul National University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048311228","display_name":"Seung\u2010Woo Seo","orcid":"https://orcid.org/0000-0003-4890-8563"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung-Woo Seo","raw_affiliation_strings":["Seoul National University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4941","last_page":"4946"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11652","display_name":"Imbalanced Data Classification Techniques","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T11652","display_name":"Imbalanced Data Classification Techniques","score":0.9988999962806702,"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/T12761","display_name":"Data Stream Mining Techniques","score":0.9969000220298767,"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/T12535","display_name":"Machine Learning and Data Classification","score":0.9959999918937683,"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/computer-science","display_name":"Computer science","score":0.7871288657188416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5702455639839172},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5422786474227905},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.46383723616600037},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.4493265748023987},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.44041121006011963},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4323374629020691},{"id":"https://openalex.org/keywords/retraining","display_name":"Retraining","score":0.41679713129997253},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1183834969997406}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7871288657188416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5702455639839172},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5422786474227905},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.46383723616600037},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.4493265748023987},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.44041121006011963},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4323374629020691},{"id":"https://openalex.org/C2778712577","wikidata":"https://www.wikidata.org/wiki/Q3505966","display_name":"Retraining","level":2,"score":0.41679713129997253},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1183834969997406},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C155202549","wikidata":"https://www.wikidata.org/wiki/Q178803","display_name":"International trade","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636525","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":0.4300000071525574,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W582134693","https://openalex.org/W1931877416","https://openalex.org/W1941659294","https://openalex.org/W2111959010","https://openalex.org/W2119168155","https://openalex.org/W2138621090","https://openalex.org/W2148143831","https://openalex.org/W2612634114","https://openalex.org/W2905333823","https://openalex.org/W2956805085","https://openalex.org/W2966994213","https://openalex.org/W3005680577","https://openalex.org/W3034552332","https://openalex.org/W3035342403","https://openalex.org/W3035471260","https://openalex.org/W3036224891","https://openalex.org/W3102961490","https://openalex.org/W4295719664","https://openalex.org/W6617145748","https://openalex.org/W6640174482","https://openalex.org/W6745935785","https://openalex.org/W6772033386","https://openalex.org/W6774314701","https://openalex.org/W6779679106","https://openalex.org/W6779997284"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2050078012","https://openalex.org/W2381242807","https://openalex.org/W2751208925","https://openalex.org/W2006651773","https://openalex.org/W2027050655","https://openalex.org/W3028244590","https://openalex.org/W2347541121","https://openalex.org/W2014369232","https://openalex.org/W4288804799"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1,15,40,53,129,140],"with":[2,54,66,120,132,170],"imitation":[3,55],"learning":[4],"is":[5,44],"vulnerable":[6],"to":[7,47],"the":[8,39,49,76,84,101,107,113,128,144,159,168],"quality":[9],"of":[10,51,79,88,146],"an":[11,36,71],"expert":[12],"dataset.":[13,73],"Typical":[14],"involves":[16],"situations":[17],"or":[18,31],"online":[19,68,89,122],"data":[20,69,90,108,134],"that":[21,109,162],"are":[22,110],"biased":[23,67],"toward":[24],"specific":[25],"scenarios":[26,172],"such":[27],"as":[28],"lane":[29],"following":[30],"stop.":[32],"This":[33],"property":[34],"causes":[35],"imbalance":[37],"in":[38,112,155],"dataset,":[41,81],"and":[42,70,86,91,116,152,173],"it":[43],"highly":[45],"likely":[46],"deteriorate":[48],"performance":[50],"autonomous":[52],"learning.":[56],"In":[57,98],"this":[58],"paper,":[59],"we":[60,82,105],"propose":[61],"a":[62,80,156],"dataset":[63,115,169],"self-balancing":[64],"system":[65,165],"imbalanced":[72],"By":[74],"estimating":[75],"probability":[77,85,103],"distribution":[78],"compute":[83],"novelty":[87],"then":[92,117],"filter":[93],"only":[94],"qualified":[95],"novel":[96,121],"data.":[97,123],"addition,":[99],"using":[100],"computed":[102],"distribution,":[104],"determine":[106],"non-informative":[111],"current":[114],"exchange":[118],"them":[119],"At":[124],"last,":[125],"by":[126],"retraining":[127],"neural":[130],"network":[131],"high-entropy":[133],"batches,":[135],"our":[136,147,163],"method":[137,148],"achieves":[138],"incremental":[139],"intelligence.":[141],"We":[142],"demonstrated":[143],"effectiveness":[145],"through":[149],"open-loop":[150],"evaluation":[151],"ablation":[153],"studies":[154],"CARLA":[157],"simulator;":[158],"results":[160],"show":[161],"proposed":[164],"effectively":[166],"balances":[167],"100":[171],"decreases":[174],"test":[175],"loss":[176],"over":[177],"time.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}