{"id":"https://openalex.org/W4400646074","doi":"https://doi.org/10.1109/iv55156.2024.10588681","title":"Scalable Traffic Simulation for Autonomous Driving via Multi-Agent Goal Assignment and Autoregressive Goal-Directed Planning","display_name":"Scalable Traffic Simulation for Autonomous Driving via Multi-Agent Goal Assignment and Autoregressive Goal-Directed Planning","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400646074","doi":"https://doi.org/10.1109/iv55156.2024.10588681"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5046347854","display_name":"Xiaoyu Mo","orcid":"https://orcid.org/0000-0002-8729-5037"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiaoyu Mo","raw_affiliation_strings":["Nanyang Technological University,School of Mechanical and Aerospace Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Mechanical and Aerospace Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007929452","display_name":"Haochen Liu","orcid":"https://orcid.org/0000-0002-3628-8777"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haochen Liu","raw_affiliation_strings":["Nanyang Technological University,School of Mechanical and Aerospace Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Mechanical and Aerospace Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012295217","display_name":"Zhiyu Huang","orcid":"https://orcid.org/0000-0003-1592-7215"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhiyu Huang","raw_affiliation_strings":["Nanyang Technological University,School of Mechanical and Aerospace Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Mechanical and Aerospace Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042245655","display_name":"Jianwu Fang","orcid":"https://orcid.org/0000-0002-0300-6892"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwu Fang","raw_affiliation_strings":["Xi’an Jiaotong University,Institute of Artificial Intelligence and Robotics,China,Xi\u2019An"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong University,Institute of Artificial Intelligence and Robotics,China,Xi\u2019An","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031934171","display_name":"Jianru Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianru Xue","raw_affiliation_strings":["Xi’an Jiaotong University,Institute of Artificial Intelligence and Robotics,China,Xi\u2019An"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong University,Institute of Artificial Intelligence and Robotics,China,Xi\u2019An","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072073374","display_name":"Chen Lv","orcid":"https://orcid.org/0000-0001-6897-4512"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chen Lv","raw_affiliation_strings":["Nanyang Technological University,School of Mechanical and Aerospace Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Mechanical and Aerospace Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"424","last_page":"429"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9890000224113464,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9890000224113464,"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":0.9811999797821045,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9587000012397766,"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/computer-science","display_name":"Computer science","score":0.7665225863456726},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7085549831390381},{"id":"https://openalex.org/keywords/goal-orientation","display_name":"Goal orientation","score":0.6120429635047913},{"id":"https://openalex.org/keywords/autoregressive-model","display_name":"Autoregressive model","score":0.5954396724700928},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38544830679893494},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34231793880462646},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.06413614749908447}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7665225863456726},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7085549831390381},{"id":"https://openalex.org/C84653758","wikidata":"https://www.wikidata.org/wiki/Q5575175","display_name":"Goal orientation","level":2,"score":0.6120429635047913},{"id":"https://openalex.org/C159877910","wikidata":"https://www.wikidata.org/wiki/Q2202883","display_name":"Autoregressive model","level":2,"score":0.5954396724700928},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38544830679893494},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34231793880462646},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.06413614749908447},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"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/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55156.2024.10588681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2967177252","https://openalex.org/W3034819467","https://openalex.org/W3156216502","https://openalex.org/W3171077607","https://openalex.org/W3179442871","https://openalex.org/W3181350748","https://openalex.org/W3207915602","https://openalex.org/W4210389721","https://openalex.org/W4224231583","https://openalex.org/W4225773298","https://openalex.org/W4229450941","https://openalex.org/W4285012713","https://openalex.org/W4289792821","https://openalex.org/W4291653325","https://openalex.org/W4292974216","https://openalex.org/W4297944254","https://openalex.org/W4312517780","https://openalex.org/W4313555010","https://openalex.org/W4313639409","https://openalex.org/W4366957398","https://openalex.org/W4367146684","https://openalex.org/W4377866264","https://openalex.org/W4383097675","https://openalex.org/W4383108225","https://openalex.org/W4383108456","https://openalex.org/W4383108499","https://openalex.org/W4387009990","https://openalex.org/W4387448538","https://openalex.org/W4389897667","https://openalex.org/W6796929002","https://openalex.org/W6843475265","https://openalex.org/W6853180023"],"related_works":["https://openalex.org/W2171218219","https://openalex.org/W1972271943","https://openalex.org/W2150410159","https://openalex.org/W1982914007","https://openalex.org/W2159583675","https://openalex.org/W1824242903","https://openalex.org/W1493858311","https://openalex.org/W2155470929","https://openalex.org/W2394465510","https://openalex.org/W2111125783"],"abstract_inverted_index":{"Simulation":[0],"provides":[1],"a":[2,22,28,44,59],"fast,":[3],"cost-effective,":[4],"and":[5,19,39,63,77,120],"secure":[6],"environment":[7],"for":[8,87,110,143,160],"developing":[9],"autonomous":[10],"driving":[11],"systems.":[12],"However,":[13],"mitigating":[14],"the":[15,52,68,92,115,121,127,151,165,168,177,180],"gap":[16],"between":[17,114],"simulation":[18,30,48,69],"reality":[20],"is":[21,33],"challenging":[23],"task":[24],"as":[25,141],"it":[26],"demands":[27],"behavior":[29],"method":[31,49,156],"that":[32,157],"human-like,":[34],"diverse,":[35],"controllable,":[36],"socially":[37],"consistent,":[38],"scalable.":[40],"This":[41],"work":[42],"proposes":[43],"data-driven":[45],"traffic":[46],"agent":[47,102,131],"to":[50,100],"address":[51],"aforementioned":[53],"challenges.":[54],"Our":[55],"approach":[56],"centers":[57],"around":[58],"graph-based":[60],"scene":[61],"representation":[62],"an":[64],"encoding":[65],"method,":[66],"dividing":[67],"into":[70],"two":[71],"stages:":[72],"Multi-Agent":[73],"Goal":[74],"assignment":[75],"(MAG)":[76],"Goal-Directed":[78,147],"Planning":[79],"(GDP).":[80],"Firstly,":[81],"we":[82,95,124],"create":[83],"joint":[84,117],"goal":[85,118],"sets":[86,119],"all":[88],"agents":[89],"involved":[90],"in":[91],"scenario.":[93],"Subsequently,":[94],"assign":[96],"target":[97],"centerlines":[98],"(TCLs)":[99],"each":[101,130],"based":[103],"on":[104,164],"their":[105,133],"predicted":[106,116],"goals.":[107],"To":[108],"account":[109],"any":[111],"potential":[112],"mismatch":[113],"road":[122],"structure,":[123],"further":[125],"align":[126],"goals":[128,139],"of":[129,154,167,179],"with":[132],"respective":[134],"assigned":[135],"TCLs.":[136],"These":[137],"on-TCL":[138],"serve":[140],"inputs":[142],"our":[144,155],"interactive":[145],"autoregressive":[146],"Planner":[148],"(AR-GDP),":[149],"constituting":[150],"second":[152],"stage":[153],"generates":[158],"roll-outs":[159],"simulations.":[161],"Evaluation":[162],"results":[163],"leaderboard":[166],"Waymo":[169],"Open":[170],"Sim":[171],"Agents":[172],"Challenge":[173],"(WOSAC)":[174],"2023":[175],"show":[176],"competitiveness":[178],"proposed":[181],"method.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}