{"id":"https://openalex.org/W3206914671","doi":"https://doi.org/10.1109/itsc48978.2021.9564785","title":"Safe Imitation Learning on Real-Life Highway Data for Human-like Autonomous Driving","display_name":"Safe Imitation Learning on Real-Life Highway Data for Human-like Autonomous Driving","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3206914671","doi":"https://doi.org/10.1109/itsc48978.2021.9564785","mag":"3206914671"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9564785","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564785","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2110.04052","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061690446","display_name":"Flavia Sofia Acerbo","orcid":"https://orcid.org/0000-0002-7880-2447"},"institutions":[{"id":"https://openalex.org/I4210145192","display_name":"Siemens (Belgium)","ror":"https://ror.org/04w702289","country_code":"BE","type":"company","lineage":["https://openalex.org/I1325886976","https://openalex.org/I4210145192"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Flavia Sofia Acerbo","raw_affiliation_strings":["Siemens Digital Industries Software, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Siemens Digital Industries Software, Leuven, Belgium","institution_ids":["https://openalex.org/I4210145192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070235275","display_name":"Mohsen Alirezaei","orcid":"https://orcid.org/0000-0002-2858-6408"},"institutions":[{"id":"https://openalex.org/I4210115710","display_name":"Siemens (Netherlands)","ror":"https://ror.org/02mt4w922","country_code":"NL","type":"company","lineage":["https://openalex.org/I1325886976","https://openalex.org/I4210115710"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mohsen Alirczaei","raw_affiliation_strings":["Siemens Industry Software and Services B.V., Helmond, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Siemens Industry Software and Services B.V., Helmond, The Netherlands","institution_ids":["https://openalex.org/I4210115710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053072036","display_name":"Herman Van der Auweraer","orcid":"https://orcid.org/0000-0003-1863-4928"},"institutions":[{"id":"https://openalex.org/I4210145192","display_name":"Siemens (Belgium)","ror":"https://ror.org/04w702289","country_code":"BE","type":"company","lineage":["https://openalex.org/I1325886976","https://openalex.org/I4210145192"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Herman Van Der Auweraer","raw_affiliation_strings":["Siemens Digital Industries Software, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Siemens Digital Industries Software, Leuven, Belgium","institution_ids":["https://openalex.org/I4210145192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031968749","display_name":"Tong Duy Son","orcid":"https://orcid.org/0000-0002-4680-3779"},"institutions":[{"id":"https://openalex.org/I4210145192","display_name":"Siemens (Belgium)","ror":"https://ror.org/04w702289","country_code":"BE","type":"company","lineage":["https://openalex.org/I1325886976","https://openalex.org/I4210145192"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Tong Duy Son","raw_affiliation_strings":["Siemens Digital Industries Software, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Siemens Digital Industries Software, Leuven, Belgium","institution_ids":["https://openalex.org/I4210145192"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.15085506,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3903","last_page":"3908"},"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/T10524","display_name":"Traffic control and management","score":0.9911999702453613,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9883000254631042,"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":0.5627813339233398},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5481671094894409},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.5235964059829712},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.4883131980895996},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4518336057662964},{"id":"https://openalex.org/keywords/driving-simulator","display_name":"Driving simulator","score":0.44591474533081055},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4450647830963135},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4326717257499695},{"id":"https://openalex.org/keywords/high-fidelity","display_name":"High fidelity","score":0.42378565669059753},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39440685510635376},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3340974748134613},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27957218885421753}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5627813339233398},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5481671094894409},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.5235964059829712},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.4883131980895996},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4518336057662964},{"id":"https://openalex.org/C2780689630","wikidata":"https://www.wikidata.org/wiki/Q2081815","display_name":"Driving simulator","level":2,"score":0.44591474533081055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4450647830963135},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4326717257499695},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.42378565669059753},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39440685510635376},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3340974748134613},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27957218885421753},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/itsc48978.2021.9564785","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564785","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"},{"id":"pmh:oai:arXiv.org:2110.04052","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2110.04052","pdf_url":"https://arxiv.org/pdf/2110.04052","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3206914671","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2110.04052","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2110.04052","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2110.04052","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2110.04052","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2110.04052","pdf_url":"https://arxiv.org/pdf/2110.04052","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3206914671.pdf","grobid_xml":"https://content.openalex.org/works/W3206914671.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W1955305638","https://openalex.org/W2414919120","https://openalex.org/W2798069762","https://openalex.org/W2905173465","https://openalex.org/W2919820522","https://openalex.org/W2947731191","https://openalex.org/W2948153973","https://openalex.org/W2962957031","https://openalex.org/W2999862950","https://openalex.org/W3003329097","https://openalex.org/W3046145925","https://openalex.org/W3097323743","https://openalex.org/W3138383265","https://openalex.org/W6640174482","https://openalex.org/W6782042805"],"related_works":["https://openalex.org/W3210553745","https://openalex.org/W2972427700","https://openalex.org/W3013389369","https://openalex.org/W3199157630","https://openalex.org/W2972853172","https://openalex.org/W3091165146","https://openalex.org/W3125198865","https://openalex.org/W3028052741","https://openalex.org/W2565964811","https://openalex.org/W2903795257","https://openalex.org/W3211943196","https://openalex.org/W3179585679","https://openalex.org/W3150195918","https://openalex.org/W2997176276","https://openalex.org/W3210170023","https://openalex.org/W4226334652","https://openalex.org/W2921477522","https://openalex.org/W2990252108","https://openalex.org/W2961583188","https://openalex.org/W2741296383"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,39,62,119,126,133],"safe":[4,41],"imitation":[5,59,183],"learning":[6,60,95,184],"approach":[7],"for":[8,166],"autonomous":[9,33],"vehicle":[10],"driving,":[11],"with":[12,162,180],"attention":[13],"on":[14],"real-life":[15],"human":[16,66,120],"driving":[17,34,67,112,128],"data":[18],"and":[19,28,42,48,77,122,142,149,160,168,176,178],"experimental":[20,174],"validation.":[21],"In":[22,69],"order":[23],"to":[24,37,54,73,157,188],"increase":[25],"occupant's":[26],"acceptance":[27],"gain":[29],"drivers'":[30],"trust,":[31],"the":[32,83,94,99,106,137,163,181,190],"function":[35],"needs":[36],"provide":[38],"both":[40],"comfortable":[43],"behavior":[44,57,107],"such":[45,56],"as":[46],"risk-free":[47],"naturalistic":[49],"driving.":[50],"Our":[51],"goal":[52],"is":[53,89,108,115],"obtain":[55],"via":[58],"of":[61,93,101,136],"planning":[63],"policy":[64],"from":[65,110],"data.":[68,104],"particular,":[70],"we":[71,172],"propose":[72],"incorporate":[74],"barrier":[75],"functions":[76],"smooth":[78],"spline-based":[79],"motion":[80],"parametrization":[81],"in":[82],"training":[84,103],"loss":[85],"function.":[86],"The":[87],"advantage":[88],"twofold:":[90],"improving":[91],"safety":[92],"algorithm,":[96],"while":[97],"reducing":[98],"amount":[100],"needed":[102],"Moreover,":[105],"learned":[109],"highway":[111],"data,":[113],"which":[114],"collected":[116],"consistently":[117],"by":[118],"driver":[121],"then":[123],"processed":[124],"towards":[125],"specific":[127],"scenario.":[129],"For":[130],"development":[131],"validation,":[132],"digital":[134],"twin":[135],"real":[138],"test":[139],"vehicle,":[140],"sensors,":[141],"traffic":[143],"scenarios":[144],"are":[145,155],"reconstructed":[146],"toward":[147],"high-fidelity":[148],"physics-based":[150],"modeling":[151],"technologies.":[152],"These":[153],"models":[154],"imported":[156],"simulation":[158],"tools":[159],"co-simulated":[161],"proposed":[164,191],"algorithm":[165],"validation":[167],"further":[169],"testing.":[170],"Finally,":[171],"present":[173],"results":[175],"analyses,":[177],"compare":[179],"conventional":[182],"technique":[185],"(behavioral":[186],"cloning)":[187],"justify":[189],"development.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
