{"id":"https://openalex.org/W4391768460","doi":"https://doi.org/10.1109/itsc57777.2023.10421993","title":"MTD-GPT: A Multi-Task Decision-Making GPT Model for Autonomous Driving at Unsignalized Intersections","display_name":"MTD-GPT: A Multi-Task Decision-Making GPT Model for Autonomous Driving at Unsignalized Intersections","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391768460","doi":"https://doi.org/10.1109/itsc57777.2023.10421993"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10421993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10421993","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","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/A5028854703","display_name":"Jiaqi Liu","orcid":"https://orcid.org/0000-0002-6171-6155"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiaqi Liu","raw_affiliation_strings":["Tongji University,Key Laboratory of Road and Traffic Engineering, Ministry of Education,Department of Traffic Engineering,Shanghai,China,201804"],"affiliations":[{"raw_affiliation_string":"Tongji University,Key Laboratory of Road and Traffic Engineering, Ministry of Education,Department of Traffic Engineering,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055911707","display_name":"Peng Hang","orcid":"https://orcid.org/0000-0002-5843-0594"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Hang","raw_affiliation_strings":["Tongji University,Key Laboratory of Road and Traffic Engineering, Ministry of Education,Department of Traffic Engineering,Shanghai,China,201804"],"affiliations":[{"raw_affiliation_string":"Tongji University,Key Laboratory of Road and Traffic Engineering, Ministry of Education,Department of Traffic Engineering,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114321181","display_name":"Xiao Qi","orcid":"https://orcid.org/0009-0002-3430-2325"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Qi","raw_affiliation_strings":["Tongji University,Key Laboratory of Road and Traffic Engineering, Ministry of Education,Department of Traffic Engineering,Shanghai,China,201804"],"affiliations":[{"raw_affiliation_string":"Tongji University,Key Laboratory of Road and Traffic Engineering, Ministry of Education,Department of Traffic Engineering,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100436368","display_name":"Jianqiang Wang","orcid":"https://orcid.org/0000-0003-4363-6108"},"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":"Jianqiang Wang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062319704","display_name":"Jian Sun","orcid":"https://orcid.org/0000-0001-5031-4938"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Sun","raw_affiliation_strings":["Tongji University,Key Laboratory of Road and Traffic Engineering, Ministry of Education,Department of Traffic Engineering,Shanghai,China,201804"],"affiliations":[{"raw_affiliation_string":"Tongji University,Key Laboratory of Road and Traffic Engineering, Ministry of Education,Department of Traffic Engineering,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5028854703"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":5.3731,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.96428406,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5154","last_page":"5161"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9745000004768372,"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/task","display_name":"Task (project management)","score":0.7049484252929688},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5917409658432007},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.4239354133605957},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3245857357978821},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1911630928516388},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.12091243267059326}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7049484252929688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5917409658432007},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.4239354133605957},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3245857357978821},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1911630928516388},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.12091243267059326}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc57777.2023.10421993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10421993","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.4000000059604645,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G8253126015","display_name":null,"funder_award_id":"52232015,25125208","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation 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/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2056877664","https://openalex.org/W2152374007","https://openalex.org/W2616635592","https://openalex.org/W2736601468","https://openalex.org/W2739874989","https://openalex.org/W2769471004","https://openalex.org/W3090027660","https://openalex.org/W3105200428","https://openalex.org/W3121095832","https://openalex.org/W3169291081","https://openalex.org/W3200613065","https://openalex.org/W3208486690","https://openalex.org/W3208891370","https://openalex.org/W3209562871","https://openalex.org/W4206706211","https://openalex.org/W4221163778","https://openalex.org/W4226170924","https://openalex.org/W4229034661","https://openalex.org/W4281740565","https://openalex.org/W4287126489","https://openalex.org/W4308612409","https://openalex.org/W4323304729","https://openalex.org/W4385245566","https://openalex.org/W4401148544","https://openalex.org/W6741002519","https://openalex.org/W6796289742","https://openalex.org/W6804244202","https://openalex.org/W6809809871","https://openalex.org/W6810745647","https://openalex.org/W6846380606","https://openalex.org/W6884887093"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W2350741829","https://openalex.org/W2530322880","https://openalex.org/W1596801655"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1,79,127],"technology":[2],"is":[3,73,136,147],"poised":[4],"to":[5,35,75,152],"transform":[6],"transportation":[7],"systems.":[8],"However,":[9],"achieving":[10],"safe":[11],"and":[12,58,87,107,138],"accurate":[13],"multi-task":[14,112,122],"decision-making":[15,123,142,157],"in":[16,104,125],"complex":[17],"scenarios,":[18],"such":[19,81],"as":[20,82,128],"unsignalized":[21,91],"intersections,":[22],"remains":[23],"a":[24,32,42,96,110,129],"challenge":[25],"for":[26,114],"autonomous":[27,126],"vehicles.":[28],"This":[29,118],"paper":[30],"presents":[31],"novel":[33],"approach":[34,119],"this":[36],"issue":[37],"with":[38],"the":[39,51,59,65,70,105,121],"development":[40],"of":[41,54,64,154],"Multi-Task":[43],"Decision-Making":[44],"Generative":[45,66],"Pre-trained":[46,67],"Transformer":[47,68],"(MTD-GPT)":[48],"model.":[49],"Leveraging":[50],"inherent":[52],"strengths":[53],"reinforcement":[55],"learning":[56],"(RL)":[57],"sophisticated":[60],"sequence":[61,130],"modeling":[62,131],"capabilities":[63],"(GPT),":[69],"MTD-GPT":[71,134],"model":[72,135],"designed":[74],"simultaneously":[76],"manage":[77],"multiple":[78],"tasks,":[80,143],"left":[83],"turns,":[84],"straight-ahead":[85],"driving,":[86],"right":[88],"turns":[89],"at":[90],"intersections.":[92],"We":[93],"initially":[94],"train":[95],"single-task":[97,156],"RL":[98],"expert":[99,102],"model,":[100],"sample":[101],"data":[103],"environment,":[106],"subsequently":[108],"utilize":[109],"mixed":[111],"dataset":[113],"offline":[115],"GPT":[116],"training.":[117],"abstracts":[120],"problem":[124],"task.":[132],"The":[133],"trained":[137],"evaluated":[139],"across":[140],"several":[141],"demonstrating":[144],"performance":[145],"that":[146,153],"either":[148],"superior":[149],"or":[150],"comparable":[151],"state-of-the-art":[155],"models.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}
