{"id":"https://openalex.org/W4308080776","doi":"https://doi.org/10.1109/itsc55140.2022.9921880","title":"Learning to Obey Traffic Rules using Constrained Policy Optimization","display_name":"Learning to Obey Traffic Rules using Constrained Policy Optimization","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308080776","doi":"https://doi.org/10.1109/itsc55140.2022.9921880"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9921880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921880","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1684656","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101465691","display_name":"Xiao Wang","orcid":"https://orcid.org/0000-0003-4441-139X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Xiao Wang","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Garching,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040305244","display_name":"Christoph Pillmayer","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Pillmayer","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Garching,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005383495","display_name":"Matthias Althoff","orcid":"https://orcid.org/0000-0003-3733-842X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Althoff","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Garching,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101465691"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.649,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.62650211,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"18","issue":null,"first_page":"2415","last_page":"2421"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9667999744415283,"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":0.9667999744415283,"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/T13643","display_name":"Artificial Intelligence in Law","score":0.9484000205993652,"subfield":{"id":"https://openalex.org/subfields/3320","display_name":"Political Science and International Relations"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9171000123023987,"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":0.666231095790863},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6229919195175171},{"id":"https://openalex.org/keywords/liability","display_name":"Liability","score":0.45552098751068115},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4398013949394226},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.43649280071258545},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.43467336893081665},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.43122535943984985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27999669313430786},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08230641484260559},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07550424337387085}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.666231095790863},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6229919195175171},{"id":"https://openalex.org/C2777834853","wikidata":"https://www.wikidata.org/wiki/Q96776939","display_name":"Liability","level":2,"score":0.45552098751068115},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4398013949394226},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.43649280071258545},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.43467336893081665},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.43122535943984985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27999669313430786},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08230641484260559},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07550424337387085},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc55140.2022.9921880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921880","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1684656","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1684656","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1684656","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1684656","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.550000011920929}],"awards":[{"id":"https://openalex.org/G3956371721","display_name":null,"funder_award_id":"AL 1185/7-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1547925194","https://openalex.org/W1956142090","https://openalex.org/W2031188261","https://openalex.org/W2048563056","https://openalex.org/W2091682553","https://openalex.org/W2165364079","https://openalex.org/W2296733074","https://openalex.org/W2488157181","https://openalex.org/W2488996366","https://openalex.org/W2736601468","https://openalex.org/W2749567864","https://openalex.org/W2766447205","https://openalex.org/W2785700716","https://openalex.org/W2896642734","https://openalex.org/W2970963308","https://openalex.org/W2980133010","https://openalex.org/W2998619042","https://openalex.org/W3038904154","https://openalex.org/W3115648115","https://openalex.org/W3127590161","https://openalex.org/W3155735978","https://openalex.org/W3162902207","https://openalex.org/W3178194471","https://openalex.org/W3192551518","https://openalex.org/W3210646386","https://openalex.org/W4214664637","https://openalex.org/W4285813063","https://openalex.org/W4302566611","https://openalex.org/W6627932998","https://openalex.org/W6632901617","https://openalex.org/W6637967152","https://openalex.org/W6680484969","https://openalex.org/W6683300800","https://openalex.org/W6687063787","https://openalex.org/W6737893269","https://openalex.org/W6741002519","https://openalex.org/W6742134330","https://openalex.org/W6758924645","https://openalex.org/W6770012831","https://openalex.org/W6780587392","https://openalex.org/W6796690604","https://openalex.org/W6798202049","https://openalex.org/W6799966899"],"related_works":["https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W4380318855","https://openalex.org/W2138720691","https://openalex.org/W2031695474","https://openalex.org/W2389214306","https://openalex.org/W2586732548","https://openalex.org/W3049728571","https://openalex.org/W2024136090","https://openalex.org/W2964765435"],"abstract_inverted_index":{"When":[0],"planning":[1],"motions":[2],"for":[3,57],"autonomous":[4,58],"vehicles,":[5],"traffic":[6,29,51,63,108],"rules":[7,30,64],"must":[8],"be":[9],"obeyed":[10],"to":[11,49,101],"ensure":[12],"safety":[13],"and":[14,71,90],"reject":[15],"liability":[16],"claims.":[17],"However,":[18],"present":[19],"solutions":[20],"do":[21],"not":[22,73],"scale":[23],"well":[24],"with":[25],"the":[26,68,79,86],"complexity":[27],"of":[28,54,67,78],"or":[31],"even":[32],"consider":[33],"them.":[34],"To":[35],"solve":[36],"this":[37],"problem,":[38],"we":[39],"propose":[40],"a":[41,103],"scalable":[42],"approach":[43,61,84],"based":[44],"on":[45],"constrained":[46],"policy":[47],"optimization":[48,69],"improve":[50],"rule":[52],"compliance":[53],"motion":[55],"planners":[56],"vehicles.":[59],"Our":[60],"encodes":[62],"as":[65],"constraints":[66],"problem":[70],"does":[72],"require":[74],"an":[75],"explicit":[76],"model":[77],"environment.":[80],"We":[81],"evaluate":[82],"our":[83,96],"using":[85,95],"highway":[87],"dataset":[88],"highD":[89],"show":[91],"that":[92],"agents":[93],"trained":[94],"method":[97],"can":[98],"effectively":[99],"learn":[100],"reach":[102],"goal":[104],"region":[105],"while":[106],"following":[107],"rules.":[109]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}