{"id":"https://openalex.org/W4385322538","doi":"https://doi.org/10.1109/iv55152.2023.10186744","title":"Residual Policy Learning for Vehicle Control of Autonomous Racing Cars","display_name":"Residual Policy Learning for Vehicle Control of Autonomous Racing Cars","publication_year":2023,"publication_date":"2023-06-04","ids":{"openalex":"https://openalex.org/W4385322538","doi":"https://doi.org/10.1109/iv55152.2023.10186744"},"language":"en","primary_location":{"id":"doi:10.1109/iv55152.2023.10186744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5049788861","display_name":"Raphael Trumpp","orcid":"https://orcid.org/0000-0003-3902-7916"},"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":"Raphael Trumpp","raw_affiliation_strings":["Technical University of Munich,TUM School of Engineering and Design,Germany","TUM School of Engineering and Design, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,TUM School of Engineering and Design,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073127978","display_name":"Denis Hoornaert","orcid":"https://orcid.org/0009-0009-7419-549X"},"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":"Denis Hoornaert","raw_affiliation_strings":["Technical University of Munich,TUM School of Engineering and Design,Germany","TUM School of Engineering and Design, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,TUM School of Engineering and Design,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060442004","display_name":"Marco Caccamo","orcid":"https://orcid.org/0000-0003-2328-044X"},"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":"Marco Caccamo","raw_affiliation_strings":["Technical University of Munich,TUM School of Engineering and Design,Germany","TUM School of Engineering and Design, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,TUM School of Engineering and Design,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049788861"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.5844,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.86401807,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9945999979972839,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9945999979972839,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9873999953269958,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9706000089645386,"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/residual","display_name":"Residual","score":0.6560710668563843},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5281161069869995},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5186620950698853},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.508155345916748},{"id":"https://openalex.org/keywords/vehicle-safety","display_name":"Vehicle safety","score":0.4677845239639282},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.44283413887023926},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.34761303663253784},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25661492347717285},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2402808964252472}],"concepts":[{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.6560710668563843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5281161069869995},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5186620950698853},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.508155345916748},{"id":"https://openalex.org/C2986542766","wikidata":"https://www.wikidata.org/wiki/Q2090494","display_name":"Vehicle safety","level":2,"score":0.4677845239639282},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.44283413887023926},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.34761303663253784},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25661492347717285},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2402808964252472},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55152.2023.10186744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1191599655","https://openalex.org/W2120179083","https://openalex.org/W2736601468","https://openalex.org/W2740508249","https://openalex.org/W2951357333","https://openalex.org/W2963092423","https://openalex.org/W2967727187","https://openalex.org/W3068678661","https://openalex.org/W3117216233","https://openalex.org/W3129896193","https://openalex.org/W3202635380","https://openalex.org/W3213774989","https://openalex.org/W4285102517","https://openalex.org/W4285228542","https://openalex.org/W4286374783","https://openalex.org/W4311725599","https://openalex.org/W6627932998","https://openalex.org/W6678081342","https://openalex.org/W6741002519","https://openalex.org/W6764205057","https://openalex.org/W6788080385","https://openalex.org/W6803914020","https://openalex.org/W7047190309"],"related_works":["https://openalex.org/W2560215812","https://openalex.org/W2949601986","https://openalex.org/W2788972299","https://openalex.org/W1497199146","https://openalex.org/W563278945","https://openalex.org/W2994819277","https://openalex.org/W4396506299","https://openalex.org/W2004723857","https://openalex.org/W3143025831","https://openalex.org/W2040170473"],"abstract_inverted_index":{"The":[0,65,126],"development":[1],"of":[2,33,68,102,111,120,144],"vehicle":[3,86],"controllers":[4,60,70],"for":[5,23,88,99,116,128],"autonomous":[6,26,89,123],"racing":[7,11,27,90,103,124],"is":[8,46,71],"challenging":[9],"because":[10],"cars":[12,91],"operate":[13],"at":[14],"their":[15,43,72],"physical":[16],"driving":[17],"limit.":[18],"Prompted":[19],"by":[20,57,141],"the":[21,31,77,100,121,135],"demand":[22],"improved":[24],"performance,":[25,42],"research":[28],"has":[29],"seen":[30],"proliferation":[32],"machine":[34],"learning-based":[35],"controllers.":[36,64],"While":[37],"these":[38],"approaches":[39],"show":[40],"competitive":[41],"practical":[44],"applicability":[45],"often":[47],"limited.":[48],"Residual":[49],"policy":[50],"learning":[51],"promises":[52],"to":[53,76,94,148],"mitigate":[54],"this":[55],"drawback":[56],"combining":[58],"classical":[59,78,97,150],"with":[61],"learned":[62],"residual":[63,69,85,136],"critical":[66],"advantage":[67],"high":[73],"adaptability":[74],"parallel":[75],"controller\u2019s":[79],"stable":[80],"behavior.":[81],"We":[82],"propose":[83],"a":[84,96,117,149],"controller":[87,98,137,151],"that":[92,134],"learns":[93],"amend":[95],"path-following":[101],"lines.":[104],"In":[105],"an":[106,142],"extensive":[107],"study,":[108],"performance":[109],"gains":[110,157],"our":[112],"approach":[113],"are":[114],"evaluated":[115],"simulated":[118],"car":[119],"F1TENTH":[122],"series.":[125],"evaluation":[127],"twelve":[129],"replicated":[130],"real-world":[131],"racetracks":[132],"shows":[133],"reduces":[138],"lap":[139,155],"times":[140],"average":[143],"4.55":[145],"%":[146],"compared":[147],"and":[152],"even":[153],"enables":[154],"time":[156],"on":[158],"unknown":[159],"racetracks.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
