{"id":"https://openalex.org/W4389666829","doi":"https://doi.org/10.1109/iros55552.2023.10341506","title":"Scaling Vision-Based End-to-End Autonomous Driving with Multi-View Attention Learning","display_name":"Scaling Vision-Based End-to-End Autonomous Driving with Multi-View Attention Learning","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666829","doi":"https://doi.org/10.1109/iros55552.2023.10341506"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341506","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5107210127","display_name":"Yi Xiao","orcid":"https://orcid.org/0000-0003-0486-7472"},"institutions":[{"id":"https://openalex.org/I4387153096","display_name":"Computer Vision Center","ror":"https://ror.org/00s0nnj93","country_code":null,"type":"other","lineage":["https://openalex.org/I4387153040","https://openalex.org/I4387153096"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Yi Xiao","raw_affiliation_strings":["Universitat Autònoma de Barcelona (UAB),Department of Computer Science, Computer Vision Center (CVC),Spain"],"affiliations":[{"raw_affiliation_string":"Universitat Autònoma de Barcelona (UAB),Department of Computer Science, Computer Vision Center (CVC),Spain","institution_ids":["https://openalex.org/I4387153096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023877878","display_name":"Felipe Codevilla","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Felipe Codevilla","raw_affiliation_strings":["Montreal Institute for Learning Algorithms (MILA),Montreal,Canada","Montreal Institute for Learning Algorithms (MILA), Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"Montreal Institute for Learning Algorithms (MILA),Montreal,Canada","institution_ids":[]},{"raw_affiliation_string":"Montreal Institute for Learning Algorithms (MILA), Montreal, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073612197","display_name":"Diego Porres","orcid":null},"institutions":[{"id":"https://openalex.org/I4387153096","display_name":"Computer Vision Center","ror":"https://ror.org/00s0nnj93","country_code":null,"type":"other","lineage":["https://openalex.org/I4387153040","https://openalex.org/I4387153096"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Diego Porres","raw_affiliation_strings":["Universitat Autònoma de Barcelona (UAB),Department of Computer Science, Computer Vision Center (CVC),Spain"],"affiliations":[{"raw_affiliation_string":"Universitat Autònoma de Barcelona (UAB),Department of Computer Science, Computer Vision Center (CVC),Spain","institution_ids":["https://openalex.org/I4387153096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087248790","display_name":"Antonio M. L\u00f3pez","orcid":"https://orcid.org/0000-0002-6979-5783"},"institutions":[{"id":"https://openalex.org/I4387153096","display_name":"Computer Vision Center","ror":"https://ror.org/00s0nnj93","country_code":null,"type":"other","lineage":["https://openalex.org/I4387153040","https://openalex.org/I4387153096"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antonio M. L\u00f3pez","raw_affiliation_strings":["Universitat Autònoma de Barcelona (UAB),Department of Computer Science, Computer Vision Center (CVC),Spain"],"affiliations":[{"raw_affiliation_string":"Universitat Autònoma de Barcelona (UAB),Department of Computer Science, Computer Vision Center (CVC),Spain","institution_ids":["https://openalex.org/I4387153096"]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5107210127"],"corresponding_institution_ids":["https://openalex.org/I4387153096"],"apc_list":null,"apc_paid":null,"fwci":1.9447,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.85927929,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1586","last_page":"1593"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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":0.9998999834060669,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9970999956130981,"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/end-to-end-principle","display_name":"End-to-end principle","score":0.8455554246902466},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7152872681617737},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.5712343454360962},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5639636516571045},{"id":"https://openalex.org/keywords/driving-simulator","display_name":"Driving simulator","score":0.44217634201049805},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.43740198016166687},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.42846250534057617},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4209514856338501},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38343387842178345},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3499552607536316}],"concepts":[{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.8455554246902466},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7152872681617737},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.5712343454360962},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5639636516571045},{"id":"https://openalex.org/C2780689630","wikidata":"https://www.wikidata.org/wiki/Q2081815","display_name":"Driving simulator","level":2,"score":0.44217634201049805},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.43740198016166687},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.42846250534057617},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4209514856338501},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38343387842178345},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3499552607536316},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/iros55552.2023.10341506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341506","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2108598243","https://openalex.org/W2133233905","https://openalex.org/W2194775991","https://openalex.org/W2342840547","https://openalex.org/W2602024037","https://openalex.org/W2806163172","https://openalex.org/W2837605352","https://openalex.org/W2905173465","https://openalex.org/W2947630374","https://openalex.org/W2948153973","https://openalex.org/W2953303875","https://openalex.org/W2962858109","https://openalex.org/W2962894046","https://openalex.org/W2981207549","https://openalex.org/W3009593063","https://openalex.org/W3011462663","https://openalex.org/W3034445502","https://openalex.org/W3128782524","https://openalex.org/W3172863135","https://openalex.org/W3193987867","https://openalex.org/W3198460218","https://openalex.org/W4300172425","https://openalex.org/W4312862130","https://openalex.org/W6631190155","https://openalex.org/W6684338915","https://openalex.org/W6704559304","https://openalex.org/W6737454590","https://openalex.org/W6739901393","https://openalex.org/W6745935785","https://openalex.org/W6772033386","https://openalex.org/W6790684878","https://openalex.org/W6839043673","https://openalex.org/W6845636941","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/W2383111961"],"abstract_inverted_index":{"On":[0],"end-to-end":[1,45,102,174],"driving,":[2],"human":[3],"driving":[4,11,46,59,175],"demonstrations":[5],"are":[6,157],"used":[7,51],"to":[8,55,154,160,164],"train":[9],"perception-based":[10],"models":[12,65,155],"by":[13,71,77,130,178,184],"imitation":[14,186],"learning.":[15,187],"This":[16],"process":[17],"is":[18,49,96],"supervised":[19,177],"on":[20,128],"vehicle":[21,180],"signals":[22,181],"(e.g.,":[23],"steering":[24],"angle,":[25],"acceleration)":[26],"but":[27],"does":[28],"not":[29,97],"require":[30],"extra":[31],"costly":[32,159],"supervision":[33],"(human":[34],"labeling":[35],"of":[36,42,81],"sensor":[37,74],"data).":[38],"As":[39],"a":[40,53,136,145,170],"representative":[41],"such":[43],"vision-based":[44,100,172],"models,":[47],"CILRS":[48,70,129,166],"commonly":[50],"as":[52,139,169],"baseline":[54,176],"compare":[56],"with":[57,167],"new":[58],"models.":[60],"So":[61],"far,":[62],"some":[63],"latest":[64],"achieve":[66],"better":[67],"performance":[68,152],"than":[69],"using":[72,78,135],"expensive":[73],"suites":[75],"and/or":[76],"large":[79],"amounts":[80],"human-labeled":[82],"data":[83],"for":[84],"training.":[85],"Given":[86],"the":[87],"difference":[88],"in":[89],"performance,":[90],"one":[91],"may":[92],"think":[93],"that":[94,107],"it":[95],"worth":[98],"pursuing":[99],"pure":[101,173],"driving.":[103],"However,":[104],"we":[105,123],"argue":[106],"this":[108,121],"approach":[109],"still":[110],"has":[111],"great":[112],"value":[113],"and":[114,118,143,182],"potential":[115],"considering":[116],"cost":[117],"maintenance.":[119],"In":[120],"paper,":[122],"present":[124],"CIL++,":[125],"which":[126,156],"improves":[127],"both":[131],"processing":[132],"higher-resolution":[133],"images":[134],"human-inspired":[137],"HFOV":[138],"an":[140],"inductive":[141],"bias":[142],"incorporating":[144],"proper":[146],"attention":[147],"mechanism.":[148],"CIL++":[149,168],"achieves":[150],"competitive":[151],"compared":[153],"more":[158],"develop.":[161],"We":[162],"propose":[163],"replace":[165],"strong":[171],"only":[179],"trained":[183],"conditional":[185]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}