{"id":"https://openalex.org/W2955249977","doi":"https://doi.org/10.1109/itsc.2019.8916924","title":"Cooperation-Aware Reinforcement Learning for Merging in Dense Traffic","display_name":"Cooperation-Aware Reinforcement Learning for Merging in Dense Traffic","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2955249977","doi":"https://doi.org/10.1109/itsc.2019.8916924","mag":"2955249977"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2019.8916924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8916924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1906.11021","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003495895","display_name":"Maxime Bouton","orcid":"https://orcid.org/0000-0002-9151-1513"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maxime Bouton","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","Stanford University ()"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050227531","display_name":"Alireza Nakhaei","orcid":"https://orcid.org/0000-0001-9318-9372"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alireza Nakhaei","raw_affiliation_strings":["Honda Research Institute, Mountain View, CA, USA","Stanford University ()"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute, Mountain View, CA, USA","institution_ids":["https://openalex.org/I4210145184"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112249344","display_name":"Kikuo Fujimura","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kikuo Fujimura","raw_affiliation_strings":["Honda Research Institute, Mountain View, CA, USA","Honda Research Institute,Mountain View,CA,USA,94043"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute, Mountain View, CA, USA","institution_ids":["https://openalex.org/I4210145184"]},{"raw_affiliation_string":"Honda Research Institute,Mountain View,CA,USA,94043","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mykel J. Kochenderfer","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","Stanford University,,Department of Aeronautics and Astronautics,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University,,Department of Aeronautics and Astronautics,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5756,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.58517932,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3441","last_page":"3447"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9987000226974487,"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":0.9987000226974487,"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":0.9961000084877014,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8833986520767212},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.8245391845703125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6843744516372681},{"id":"https://openalex.org/keywords/deadlock","display_name":"Deadlock","score":0.5999528169631958},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41592225432395935},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.22765827178955078}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8833986520767212},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.8245391845703125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6843744516372681},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.5999528169631958},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41592225432395935},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.22765827178955078}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/itsc.2019.8916924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8916924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1906.11021","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1906.11021","pdf_url":"https://arxiv.org/pdf/1906.11021","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"doi:10.48550/arxiv.1906.11021","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1906.11021","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"},{"id":"mag:2955249977","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1906.11021","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1906.11021","pdf_url":"https://arxiv.org/pdf/1906.11021","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":[{"score":0.7300000190734863,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2955249977.pdf","grobid_xml":"https://content.openalex.org/works/W2955249977.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W6242441","https://openalex.org/W107054272","https://openalex.org/W1948031799","https://openalex.org/W1965455100","https://openalex.org/W2082585576","https://openalex.org/W2145339207","https://openalex.org/W2336416123","https://openalex.org/W2411577903","https://openalex.org/W2545546008","https://openalex.org/W2594201198","https://openalex.org/W2739238433","https://openalex.org/W2801128564","https://openalex.org/W2885898465","https://openalex.org/W2897752552","https://openalex.org/W2904937669","https://openalex.org/W2963322416","https://openalex.org/W2964147651","https://openalex.org/W2969076652","https://openalex.org/W2970787054","https://openalex.org/W3004268170","https://openalex.org/W3148740559","https://openalex.org/W6600231840","https://openalex.org/W6687681856"],"related_works":["https://openalex.org/W2989964169","https://openalex.org/W2939449863","https://openalex.org/W3182848845","https://openalex.org/W2896733904","https://openalex.org/W3124225140","https://openalex.org/W3205861136","https://openalex.org/W3129622220","https://openalex.org/W3206066055","https://openalex.org/W3039262868","https://openalex.org/W2787739227","https://openalex.org/W1994700836","https://openalex.org/W3132311446","https://openalex.org/W3003753682","https://openalex.org/W3089591632","https://openalex.org/W2899629811","https://openalex.org/W2754974177","https://openalex.org/W3003285662","https://openalex.org/W3049691496","https://openalex.org/W2945095794","https://openalex.org/W3212257828"],"abstract_inverted_index":{"Decision":[0,57],"making":[1,58],"in":[2],"dense":[3,128],"traffic":[4],"can":[5],"be":[6],"challenging":[7],"for":[8],"autonomous":[9,12],"vehicles.":[10],"An":[11],"system":[13],"only":[14],"relying":[15],"on":[16],"predefined":[17],"road":[18],"priorities":[19],"and":[20,33,50,68],"considering":[21],"other":[22,43,66,115],"drivers":[23,38,44,67,91],"as":[24],"moving":[25],"objects":[26],"will":[27],"cause":[28],"the":[29,35,40,63,98,110],"vehicle":[30],"to":[31,45,53,85,88,125],"freeze":[32],"fail":[34],"maneuver.":[36],"Human":[37],"leverage":[39],"cooperation":[41,94,113],"of":[42,73,100,112,114],"avoid":[46],"such":[47],"deadlock":[48],"situations":[49],"convince":[51],"others":[52],"change":[54],"their":[55],"behavior.":[56],"algorithms":[59,104],"must":[60],"reason":[61],"about":[62],"interaction":[64],"with":[65,90,92,131,135],"anticipate":[69],"a":[70,81,107,127],"broad":[71],"range":[72],"driver":[74],"behaviors.":[75],"In":[76],"this":[77],"work,":[78],"we":[79],"present":[80],"reinforcement":[82,102],"learning":[83,103],"approach":[84],"learn":[86],"how":[87,124],"interact":[89],"different":[93],"levels.":[95],"We":[96,117],"enhanced":[97],"performance":[99],"traditional":[101],"by":[105],"maintaining":[106],"belief":[108],"over":[109],"level":[111],"drivers.":[116],"show":[118],"that":[119],"our":[120],"agent":[121],"successfully":[122],"learns":[123],"navigate":[126],"merging":[129],"scenario":[130],"less":[132],"deadlocks":[133],"than":[134],"online":[136],"planning":[137],"methods.":[138]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}