{"id":"https://openalex.org/W3201979180","doi":"https://doi.org/10.1109/iv51971.2022.9827405","title":"How To Not Drive: Learning Driving Constraints from Demonstration","display_name":"How To Not Drive: Learning Driving Constraints from Demonstration","publication_year":2022,"publication_date":"2022-06-05","ids":{"openalex":"https://openalex.org/W3201979180","doi":"https://doi.org/10.1109/iv51971.2022.9827405","mag":"3201979180"},"language":"en","primary_location":{"id":"doi:10.1109/iv51971.2022.9827405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv51971.2022.9827405","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","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 Intelligent Vehicles Symposium (IV)","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/A5078758172","display_name":"Kasra Rezaee","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Kasra Rezaee","raw_affiliation_strings":["Huawei Noah&#x2019;s Ark Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah&#x2019;s Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031841551","display_name":"Peyman Yadmellat","orcid":"https://orcid.org/0000-0001-9722-3873"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Peyman Yadmellat","raw_affiliation_strings":["Huawei Noah&#x2019;s Ark Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah&#x2019;s Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8515,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.67335058,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1297","last_page":"1302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10370","display_name":"Traffic and Road Safety","score":0.9746000170707703,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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":0.65029376745224},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.615294873714447},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6146119832992554},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5790627002716064},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5477345585823059},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5369133353233337},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.5302003622055054},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5045689344406128},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5000953674316406},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4876345694065094},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48163050413131714},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4588821828365326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41534921526908875},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.41074544191360474},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4076415002346039},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.407627671957016},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.38234031200408936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23453381657600403},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1191522479057312}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.65029376745224},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.615294873714447},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6146119832992554},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5790627002716064},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5477345585823059},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5369133353233337},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.5302003622055054},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5045689344406128},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5000953674316406},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4876345694065094},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48163050413131714},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4588821828365326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41534921526908875},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.41074544191360474},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4076415002346039},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.407627671957016},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.38234031200408936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23453381657600403},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1191522479057312},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical 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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv51971.2022.9827405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv51971.2022.9827405","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","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 Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1527702126","https://openalex.org/W1975463331","https://openalex.org/W2155098712","https://openalex.org/W2342840547","https://openalex.org/W2515486452","https://openalex.org/W2565719461","https://openalex.org/W2783963507","https://openalex.org/W2909906617","https://openalex.org/W2924334974","https://openalex.org/W2951543502","https://openalex.org/W2951670304","https://openalex.org/W2962762260","https://openalex.org/W2963219401","https://openalex.org/W2963508354","https://openalex.org/W2968008415","https://openalex.org/W2972981152","https://openalex.org/W2991135057","https://openalex.org/W2991138762","https://openalex.org/W2995634437","https://openalex.org/W3023096123","https://openalex.org/W3034819467","https://openalex.org/W3037606473","https://openalex.org/W3040858909","https://openalex.org/W3047548613","https://openalex.org/W3101830905","https://openalex.org/W3165911406","https://openalex.org/W3172477795","https://openalex.org/W3206704105","https://openalex.org/W4287692910","https://openalex.org/W4311696644","https://openalex.org/W6704559304","https://openalex.org/W6745347688","https://openalex.org/W6763918015","https://openalex.org/W6784685041","https://openalex.org/W6796372990"],"related_works":["https://openalex.org/W2133480300","https://openalex.org/W2434137915","https://openalex.org/W2107501891","https://openalex.org/W3004073771","https://openalex.org/W2757773682","https://openalex.org/W2142969240","https://openalex.org/W2209116470","https://openalex.org/W4312941588","https://openalex.org/W2962728842","https://openalex.org/W1999479501"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,58,73,88,171],"new":[3],"scheme":[4,70,212],"to":[5,37,52,61,71,80,87,105,156,180,206],"learn":[6,162],"motion":[7,16,48,238],"planning":[8,17,29,166],"constraints":[9,91,187,232],"from":[10,93,121],"human":[11,122],"driving":[12,25,123,146,159],"trajectories.":[13],"Behavioral":[14],"and":[15,41,83,85,99,111,198,224],"are":[18,65,178,188],"the":[19,94,108,118,127,163,165,184,193,200,207,230],"key":[20],"components":[21],"in":[22,136,235],"an":[23,68,153,236],"autonomous":[24,137,158],"system.":[26],"The":[27,47,63,186,210],"behavioral":[28],"is":[30,51,104,133,168,213,233],"responsible":[31],"for":[32,57],"high-level":[33],"decision":[34],"making":[35],"required":[36],"follow":[38],"traffic":[39],"rules":[40],"interact":[42],"with":[43],"other":[44],"road":[45,227],"participants.":[46],"planner":[49],"role":[50],"generate":[53],"feasible,":[54],"safe":[55],"trajectories":[56,64,197,204],"self-driving":[59],"vehicle":[60],"follow.":[62],"generated":[66],"through":[67],"optimization":[69],"optimize":[72],"cost":[74,109,119],"function":[75,110,120],"based":[76],"on":[77,144],"metrics":[78],"related":[79],"smoothness,":[81],"movability,":[82],"comfort,":[84],"subject":[86],"set":[89],"of":[90,130,195,202,226],"derived":[92],"planned":[95],"behavior,":[96],"safety":[97],"considerations,":[98],"feasibility.":[100],"A":[101],"common":[102],"practice":[103],"manually":[106],"design":[107],"constraints.":[112,185],"Recent":[113],"work":[114],"has":[115],"investigated":[116],"learning":[117,145,192],"demonstrations.":[124],"While":[125],"effective,":[126],"practical":[128],"application":[129],"such":[131],"approaches":[132],"still":[134],"questionable":[135],"driving.":[138],"In":[139],"contrast,":[140],"this":[141],"paper":[142],"focuses":[143],"constraints,":[147],"which":[148],"can":[149],"be":[150,181],"used":[151,234],"as":[152,170],"add-on":[154],"module":[155],"existing":[157],"solutions.":[160],"To":[161],"constraint,":[164],"problem":[167],"formulated":[169],"constrained":[172],"Markov":[173],"Decision":[174],"Process,":[175],"whose":[176],"elements":[177],"assumed":[179],"known":[182],"except":[183],"then":[189],"learned":[190,208,231],"by":[191],"distribution":[194],"expert":[196],"estimating":[199],"probability":[201],"optimal":[203],"belonging":[205],"distribution.":[209],"proposed":[211],"evaluated":[214],"using":[215],"NGSIM":[216],"dataset,":[217],"yielding":[218],"less":[219],"than":[220],"1%":[221],"collision":[222],"rate":[223],"out":[225],"maneuvers":[228],"when":[229],"optimization-based":[237],"planner.":[239]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
