{"id":"https://openalex.org/W3003454091","doi":"https://doi.org/10.1109/lra.2020.2970620","title":"A Probabilistic Framework for Imitating Human Race Driver Behavior","display_name":"A Probabilistic Framework for Imitating Human Race Driver Behavior","publication_year":2020,"publication_date":"2020-01-31","ids":{"openalex":"https://openalex.org/W3003454091","doi":"https://doi.org/10.1109/lra.2020.2970620","mag":"3003454091"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2970620","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2970620","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2001.08255","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Stefan Lockel","orcid":"https://orcid.org/0000-0003-3227-2601"},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]},{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Stefan Lockel","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","Motorsport, Dr. Ing. h.c. F. Porsche AG, Weissach, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Motorsport, Dr. Ing. h.c. F. Porsche AG, Weissach, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","Max-Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Max-Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":null,"display_name":"Peter van Vliet","orcid":"https://orcid.org/0000-0002-2148-0328"},"institutions":[{"id":"https://openalex.org/I2801120862","display_name":"General Motors (India)","ror":"https://ror.org/05g5nrw43","country_code":"IN","type":"company","lineage":["https://openalex.org/I118136607","https://openalex.org/I2801120862"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Peter van Vliet","raw_affiliation_strings":["Motorsport Department of Dr. Ing. h.c. F. Porsche AG, Weissach, Germany"],"affiliations":[{"raw_affiliation_string":"Motorsport Department of Dr. Ing. h.c. F. Porsche AG, Weissach, Germany","institution_ids":["https://openalex.org/I2801120862"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I31512782","https://openalex.org/I891521709"],"apc_list":null,"apc_paid":null,"fwci":1.4837,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.81385598,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"5","issue":"2","first_page":"2086","last_page":"2093"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.4180000126361847,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.4180000126361847,"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":0.2578999996185303,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.09200000017881393,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6949999928474426},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6621000170707703},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6248999834060669},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.444599986076355},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.42750000953674316},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.36899998784065247},{"id":"https://openalex.org/keywords/statistical-model","display_name":"Statistical model","score":0.35659998655319214},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.32989999651908875}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6949999928474426},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6621000170707703},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6491000056266785},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6248999834060669},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6083999872207642},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5094000101089478},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.444599986076355},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.42750000953674316},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.36899998784065247},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.35659998655319214},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.32989999651908875},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.31859999895095825},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.31290000677108765},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3109999895095825},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29910001158714294},{"id":"https://openalex.org/C2781121602","wikidata":"https://www.wikidata.org/wiki/Q3504403","display_name":"Modular neural network","level":4,"score":0.29820001125335693},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2903999984264374},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.2888000011444092},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.2597000002861023},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.258899986743927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2563999891281128},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.2508000135421753}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2020.2970620","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2970620","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2001.08255","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.08255","pdf_url":"https://arxiv.org/pdf/2001.08255","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:122304","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/122304/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Artikel"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2001.08255","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.08255","pdf_url":"https://arxiv.org/pdf/2001.08255","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W107233025","https://openalex.org/W1527702126","https://openalex.org/W2001771035","https://openalex.org/W2053918437","https://openalex.org/W2072016475","https://openalex.org/W2140018923","https://openalex.org/W2163712044","https://openalex.org/W2172244602","https://openalex.org/W2306644740","https://openalex.org/W2580495915","https://openalex.org/W2735021678","https://openalex.org/W2737449574","https://openalex.org/W2740034659","https://openalex.org/W2747978387","https://openalex.org/W2767676582","https://openalex.org/W2905173465","https://openalex.org/W6640174482","https://openalex.org/W6642990224","https://openalex.org/W6680971464","https://openalex.org/W6718092244","https://openalex.org/W6735738130","https://openalex.org/W6745381014","https://openalex.org/W6763738911"],"related_works":[],"abstract_inverted_index":{"Understanding":[0],"and":[1,18,27,79,104,126],"modeling":[2,57],"human":[3],"driver":[4,55],"behavior":[5,45,56],"is":[6,66,85],"crucial":[7],"for":[8,75,132],"advanced":[9],"vehicle":[10],"development.":[11],"However,":[12],"unique":[13],"driving":[14,123],"styles,":[15],"inconsistent":[16],"behavior,":[17],"complex":[19],"decision":[20],"processes":[21],"render":[22],"it":[23],"a":[24,47,88,93],"challenging":[25],"task,":[26],"existing":[28],"approaches":[29],"often":[30],"lack":[31],"variability":[32],"or":[33],"robustness.":[34],"To":[35],"approach":[36],"this":[37],"problem,":[38],"we":[39],"propose":[40],"Probabilistic":[41,69],"Modeling":[42],"of":[43,54,83,115,128],"Driver":[44],"(ProMoD),":[46],"modular":[48,113],"framework":[49,118],"which":[50],"splits":[51],"the":[52,80,116],"task":[53],"into":[58],"multiple":[59,129],"modules.":[60],"A":[61],"global":[62],"target":[63],"trajectory":[64],"distribution":[65],"learned":[67],"with":[68],"Movement":[70],"Primitives,":[71],"clothoids":[72],"are":[73],"utilized":[74],"local":[76],"path":[77],"generation,":[78],"corresponding":[81],"choice":[82],"actions":[84],"performed":[86],"by":[87],"neural":[89],"network.":[90],"Experiments":[91],"in":[92,101,122],"simulated":[94],"car":[95],"racing":[96],"setting":[97],"show":[98],"considerable":[99],"advantages":[100],"imitation":[102,109],"accuracy":[103],"robustness":[105],"compared":[106],"to":[107],"other":[108],"learning":[110],"algorithms.":[111],"The":[112],"architecture":[114],"proposed":[117],"facilitates":[119],"straightforward":[120],"extensibility":[121],"line":[124],"adaptation":[125],"sequencing":[127],"movement":[130],"primitives":[131],"future":[133],"research.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2020-02-07T00:00:00"}
