{"id":"https://openalex.org/W4382203084","doi":"https://doi.org/10.1109/lra.2023.3289770","title":"Inverse Reinforcement Learning of Pedestrian\u2013Robot Coordination","display_name":"Inverse Reinforcement Learning of Pedestrian\u2013Robot Coordination","publication_year":2023,"publication_date":"2023-06-27","ids":{"openalex":"https://openalex.org/W4382203084","doi":"https://doi.org/10.1109/lra.2023.3289770"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3289770","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3289770","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10164266.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10164266.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075400526","display_name":"David Gonon","orcid":"https://orcid.org/0000-0002-9893-608X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"David Gonon","raw_affiliation_strings":["School of Engineering, EPFL, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-9893-608X","affiliations":[{"raw_affiliation_string":"School of Engineering, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["School of Engineering, EPFL, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7076-8010","affiliations":[{"raw_affiliation_string":"School of Engineering, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":2.0235,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.84954836,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":"8","first_page":"4815","last_page":"4822"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9993000030517578,"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":0.9977999925613403,"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/crowds","display_name":"Crowds","score":0.8051465153694153},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7279552221298218},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6657098531723022},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6354402899742126},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.6167967319488525},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6025373935699463},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5059449076652527},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4802718162536621},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4771798849105835},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4499562084674835},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4390344023704529},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4326384663581848},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20926666259765625}],"concepts":[{"id":"https://openalex.org/C2777852691","wikidata":"https://www.wikidata.org/wiki/Q13430821","display_name":"Crowds","level":2,"score":0.8051465153694153},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7279552221298218},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6657098531723022},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6354402899742126},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.6167967319488525},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6025373935699463},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5059449076652527},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4802718162536621},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4771798849105835},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4499562084674835},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4390344023704529},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4326384663581848},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20926666259765625},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3289770","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3289770","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10164266.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:304069","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/199706","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"}],"best_oa_location":{"id":"doi:10.1109/lra.2023.3289770","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3289770","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10164266.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.46000000834465027,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321942","display_name":"Hasler Stiftung","ror":"https://ror.org/04m3t9183"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4382203084.pdf","grobid_xml":"https://content.openalex.org/works/W4382203084.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W630739203","https://openalex.org/W1801976851","https://openalex.org/W1820081798","https://openalex.org/W1970085170","https://openalex.org/W2003258311","https://openalex.org/W2031040265","https://openalex.org/W2057134775","https://openalex.org/W2098774185","https://openalex.org/W2101821104","https://openalex.org/W2210721416","https://openalex.org/W2227909145","https://openalex.org/W2532516272","https://openalex.org/W2738232059","https://openalex.org/W2898461817","https://openalex.org/W2910123761","https://openalex.org/W2911028283","https://openalex.org/W3007237990","https://openalex.org/W3105219551","https://openalex.org/W4250696540","https://openalex.org/W6638440308","https://openalex.org/W6674884181"],"related_works":["https://openalex.org/W1749168706","https://openalex.org/W606709926","https://openalex.org/W2980347456","https://openalex.org/W1643071209","https://openalex.org/W4299159492","https://openalex.org/W422913495","https://openalex.org/W1580333079","https://openalex.org/W2148067325","https://openalex.org/W2033921269","https://openalex.org/W4376137772"],"abstract_inverted_index":{"We":[0,34,54,79,109],"apply":[1],"inverse":[2],"reinforcement":[3],"learning":[4],"(IRL)":[5],"with":[6,21],"a":[7,88,106],"novel":[8],"cost":[9,37,77,97],"feature":[10,29],"to":[11,71],"the":[12,28,56,62,75,82,93,144],"problem":[13],"of":[14,45,61,84],"robot":[15],"navigation":[16],"in":[17,39,113],"human":[18],"crowds.":[19],"Consistent":[20],"prior":[22],"empirical":[23],"work":[24],"on":[25,65],"pedestrian":[26],"behavior,":[27],"anticipates":[30],"collisions":[31],"between":[32,120],"agents.":[33],"efficiently":[35,142],"learn":[36],"functions":[38,98],"continuous":[40],"space":[41],"from":[42,92],"high-dimensional":[43],"examples":[44,67],"public":[46],"crowd":[47],"motion":[48,139],"data,":[49],"assuming":[50],"locally":[51],"optimal":[52,103],"examples.":[53],"evaluate":[55,110],"accuracy":[57],"and":[58],"predictive":[59],"power":[60],"learned":[63,76,96],"models":[64,86],"test":[66],"that":[68,81,133,141],"we":[69],"attempt":[70],"reproduce":[72],"by":[73],"optimizing":[74],"functions.":[78],"show":[80,132],"predictions":[83],"our":[85,134],"outperform":[87],"recent":[89],"related":[90],"approach":[91,135],"literature.":[94],"The":[95,130],"are":[99],"incorporated":[100],"into":[101],"an":[102,126],"controller":[104],"for":[105],"robotic":[107],"wheelchair.":[108],"its":[111],"performance":[112],"qualitative":[114],"experiments":[115],"where":[116],"it":[117,123],"autonomously":[118],"travels":[119],"pedestrians,":[121],"which":[122],"perceives":[124],"through":[125],"on-board":[127],"tracking":[128],"system.":[129],"results":[131],"often":[136],"generates":[137],"appropriate":[138],"plans":[140],"complement":[143],"pedestrians'":[145],"motions.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}