{"id":"https://openalex.org/W3209324846","doi":"https://doi.org/10.1109/itsc48978.2021.9564464","title":"Multi-Objective End-to-End Self-Driving Based on Pareto-Optimal Actor-Critic Approach","display_name":"Multi-Objective End-to-End Self-Driving Based on Pareto-Optimal Actor-Critic Approach","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3209324846","doi":"https://doi.org/10.1109/itsc48978.2021.9564464","mag":"3209324846"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9564464","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564464","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","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/A5025583139","display_name":"Tinghan Wang","orcid":"https://orcid.org/0000-0002-5660-8889"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tinghan Wang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102846293","display_name":"Yugong Luo","orcid":"https://orcid.org/0009-0003-5198-7028"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yugong Luo","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100386972","display_name":"Jinxin Liu","orcid":"https://orcid.org/0000-0001-7217-3611"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinxin Liu","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031855986","display_name":"Keqiang Li","orcid":"https://orcid.org/0000-0002-9333-7416"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Keqiang Li","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"473","last_page":"478"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9976999759674072,"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":0.9976999759674072,"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":0.9958000183105469,"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/T10524","display_name":"Traffic control and management","score":0.9909999966621399,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.637382447719574},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6338660717010498},{"id":"https://openalex.org/keywords/pareto-principle","display_name":"Pareto principle","score":0.6017199754714966},{"id":"https://openalex.org/keywords/multi-objective-optimization","display_name":"Multi-objective optimization","score":0.5958168506622314},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5241701602935791},{"id":"https://openalex.org/keywords/pareto-optimal","display_name":"Pareto optimal","score":0.5039135813713074},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44995951652526855},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.44475623965263367},{"id":"https://openalex.org/keywords/convexity","display_name":"Convexity","score":0.4361562132835388},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2607113718986511},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18961834907531738},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16672641038894653}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.637382447719574},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6338660717010498},{"id":"https://openalex.org/C137635306","wikidata":"https://www.wikidata.org/wiki/Q182667","display_name":"Pareto principle","level":2,"score":0.6017199754714966},{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.5958168506622314},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5241701602935791},{"id":"https://openalex.org/C2986314615","wikidata":"https://www.wikidata.org/wiki/Q36829","display_name":"Pareto optimal","level":3,"score":0.5039135813713074},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44995951652526855},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.44475623965263367},{"id":"https://openalex.org/C72134830","wikidata":"https://www.wikidata.org/wiki/Q5166524","display_name":"Convexity","level":2,"score":0.4361562132835388},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2607113718986511},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18961834907531738},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16672641038894653},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc48978.2021.9564464","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564464","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4875710889","display_name":null,"funder_award_id":"51975310","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6732002363","display_name":null,"funder_award_id":"2016YFB0100905","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W72400652","https://openalex.org/W1480676279","https://openalex.org/W1482041209","https://openalex.org/W1564638059","https://openalex.org/W1872977731","https://openalex.org/W1974819972","https://openalex.org/W2084261982","https://openalex.org/W2117428849","https://openalex.org/W2117626647","https://openalex.org/W2165150801","https://openalex.org/W2167062306","https://openalex.org/W2167224731","https://openalex.org/W2186820913","https://openalex.org/W2342840547","https://openalex.org/W2625286567","https://openalex.org/W2797144698","https://openalex.org/W2806163172","https://openalex.org/W2887286974","https://openalex.org/W2897170223","https://openalex.org/W2969489701","https://openalex.org/W2990239702","https://openalex.org/W3133357200","https://openalex.org/W3139398491","https://openalex.org/W4287266177","https://openalex.org/W4302570325","https://openalex.org/W6602868551","https://openalex.org/W6628735244","https://openalex.org/W6628934745","https://openalex.org/W6639342017","https://openalex.org/W6671676952","https://openalex.org/W6677477198","https://openalex.org/W6684205842","https://openalex.org/W6684338915","https://openalex.org/W6754031341","https://openalex.org/W6755712586","https://openalex.org/W6766952794","https://openalex.org/W6791374625"],"related_works":["https://openalex.org/W1963790170","https://openalex.org/W2073298047","https://openalex.org/W2033790662","https://openalex.org/W2090178682","https://openalex.org/W2586328217","https://openalex.org/W2049264236","https://openalex.org/W2001591765","https://openalex.org/W4241467429","https://openalex.org/W2073147994","https://openalex.org/W1588199609"],"abstract_inverted_index":{"The":[0,103,133],"end-to-end":[1,14,65,130],"control":[2],"method":[3],"is":[4,47,106,136],"one":[5,20],"of":[6,57,88,115,120],"the":[7,51,58,64,74,80,86,98,101,113,116,121,129,143],"ways":[8],"to":[9,37,40,49,92,97,112],"realize":[10],"autonomous":[11],"driving.":[12],"Existing":[13],"self-driving":[15,66,131],"approaches":[16],"commonly":[17],"just":[18],"consider":[19],"objective,":[21],"for":[22],"instance,":[23],"safety":[24],"or":[25],"fuel":[26],"efficiency.":[27],"To":[28,68],"optimize":[29],"multiple":[30],"objectives":[31,94],"simultaneously,":[32],"Pareto-optimal":[33,52,75],"driving":[34,43,53],"policies":[35],"need":[36],"be":[38],"obtained":[39],"satisfy":[41],"different":[42,93],"requirements.":[44],"However,":[45],"it":[46,141],"difficult":[48],"obtain":[50],"policy":[54,81],"set":[55],"because":[56],"high-dimensional":[59],"and":[60,118,124,140,145],"complicated":[61],"input":[62],"in":[63,78],"task.":[67],"handle":[69],"this":[70],"problem,":[71],"we":[72],"propose":[73],"actor-critic":[76],"approach,":[77],"which":[79],"updating":[82],"rule":[83],"considers":[84],"whether":[85],"gradients":[87],"value":[89],"functions":[90],"corresponding":[91],"with":[95,108,128],"respect":[96],"action":[99],"are":[100],"same.":[102],"proposed":[104,134],"algorithm":[105,135],"independent":[107],"objective":[109],"preference,":[110],"unsusceptible":[111],"character":[114],"concavity":[117],"convexity":[119],"Pareto":[122],"front,":[123],"effective":[125],"when":[126],"dealing":[127],"problem.":[132],"evaluated":[137],"on":[138],"TORCS,":[139],"outperforms":[142],"classical":[144],"state-of-the-art":[146],"multi-objective":[147],"reinforcement":[148],"learning":[149],"approaches.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
