{"id":"https://openalex.org/W4396982331","doi":"https://doi.org/10.1109/lra.2024.3401683","title":"Towards High Efficient Long-Horizon Planning With Expert-Guided Motion-Encoding Tree Search","display_name":"Towards High Efficient Long-Horizon Planning With Expert-Guided Motion-Encoding Tree Search","publication_year":2024,"publication_date":"2024-05-16","ids":{"openalex":"https://openalex.org/W4396982331","doi":"https://doi.org/10.1109/lra.2024.3401683"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3401683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3401683","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":["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/A5101548663","display_name":"Tong Zhou","orcid":"https://orcid.org/0000-0002-3874-3788"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tong Zhou","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-3874-3788","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024505736","display_name":"Erli Lyu","orcid":"https://orcid.org/0000-0002-4449-5426"},"institutions":[{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Erli Lyu","raw_affiliation_strings":["Faculty of Applied Science, Macao Polytechnic University, Macau, China"],"raw_orcid":"https://orcid.org/0000-0002-4449-5426","affiliations":[{"raw_affiliation_string":"Faculty of Applied Science, Macao Polytechnic University, Macau, China","institution_ids":["https://openalex.org/I49835588"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025834835","display_name":"Guangdu Cen","orcid":"https://orcid.org/0000-0001-8367-9925"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangdu Cen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8367-9925","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106403702","display_name":"Ziqi Zha","orcid":"https://orcid.org/0009-0002-7189-7858"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziqi Zha","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0002-7189-7858","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001647825","display_name":"Senmao Qi","orcid":"https://orcid.org/0009-0002-2101-3583"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Senmao Qi","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0002-2101-3583","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048709541","display_name":"Jiaole Wang","orcid":"https://orcid.org/0000-0002-0941-8003"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaole Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-0941-8003","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-5255-5898","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8175,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.71650882,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"9","issue":"7","first_page":"6272","last_page":"6279"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9993000030517578,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9947999715805054,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.6242961883544922},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.6038225293159485},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5660176277160645},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5553528070449829},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38384518027305603},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21898400783538818},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.11026915907859802},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0702713131904602}],"concepts":[{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.6242961883544922},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.6038225293159485},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5660176277160645},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5553528070449829},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38384518027305603},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21898400783538818},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.11026915907859802},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0702713131904602}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3401683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3401683","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5899999737739563},{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2031216055","https://openalex.org/W2163411428","https://openalex.org/W2766447205","https://openalex.org/W2895440838","https://openalex.org/W2963497136","https://openalex.org/W2982316857","https://openalex.org/W3045997105","https://openalex.org/W3164631379","https://openalex.org/W3203076355","https://openalex.org/W3206295144","https://openalex.org/W4200134104","https://openalex.org/W4226218507","https://openalex.org/W4389666640","https://openalex.org/W4390437998","https://openalex.org/W6755226837","https://openalex.org/W6788072495","https://openalex.org/W6794153505","https://openalex.org/W6796183756","https://openalex.org/W6803519892","https://openalex.org/W6845635442","https://openalex.org/W6846120591","https://openalex.org/W6857157353","https://openalex.org/W6859799122","https://openalex.org/W6922480057"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1],"holds":[2],"promise":[3],"for":[4],"increased":[5],"safety,":[6],"optimized":[7],"traffic":[8],"management,":[9],"and":[10,81,123,156],"a":[11,75],"new":[12],"level":[13],"of":[14,32,35,103,110,117,160],"convenience":[15],"in":[16,53,146],"transportation.":[17],"While":[18],"model-based":[19],"reinforcement":[20],"learning":[21],"approaches":[22],"such":[23],"as":[24,38],"MuZero":[25,68],"enables":[26,96],"long-term":[27],"planning,":[28],"the":[29,33,39,45,58,67,87,108,111,115,121,126,134,137,154,157,161],"exponentially":[30],"increase":[31],"number":[34],"search":[36,62,112,122],"nodes":[37],"tree":[40,61],"goes":[41],"deeper":[42],"significantly":[43],"effect":[44],"searching":[46,88,158],"efficiency.":[47,89],"To":[48],"deal":[49],"with":[50,74,142],"this":[51,54],"problem,":[52],"letter":[55],"we":[56],"proposed":[57,162],"expert-guided":[59],"motion-encoding":[60],"(EMTS)":[63],"algorithm.":[64,164],"EMTS":[65,97,127,138,163],"extends":[66],"algorithm":[69,128,139],"by":[70],"representing":[71],"possible":[72],"motions":[73],"comprehensive":[76,91],"motion":[77,92],"primitives":[78,93],"latent":[79,94],"space":[80,95],"incorporating":[82],"expert":[83,118],"policies":[84,119],"to":[85,98,106,129],"improve":[86],"The":[90,150],"sample":[99],"arbitrary":[100],"trajectories":[101],"instead":[102],"raw":[104],"action":[105],"reduce":[107],"depth":[109],"tree.":[113],"And":[114],"incorporation":[116],"guided":[120],"training":[124],"phases":[125],"enable":[130],"early":[131],"convergence.":[132],"In":[133],"experiment":[135,151],"section,":[136],"is":[140],"compared":[141],"other":[143],"four":[144],"algorithms":[145],"three":[147],"challenging":[148],"scenarios.":[149],"result":[152],"verifies":[153],"effectiveness":[155],"efficiency":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-11T05:44:25.926202","created_date":"2025-10-10T00:00:00"}