{"id":"https://openalex.org/W4413213147","doi":"https://doi.org/10.1109/lra.2025.3597485","title":"Certificating Safety of Imitation Learning for Autonomous Driving With Learnable Weighted Control Barrier Functions","display_name":"Certificating Safety of Imitation Learning for Autonomous Driving With Learnable Weighted Control Barrier Functions","publication_year":2025,"publication_date":"2025-08-11","ids":{"openalex":"https://openalex.org/W4413213147","doi":"https://doi.org/10.1109/lra.2025.3597485"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3597485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597485","pdf_url":null,"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":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/A5100419624","display_name":"Jiayu Guo","orcid":"https://orcid.org/0009-0008-7015-6437"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayu Guo","raw_affiliation_strings":["Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0008-7015-6437","affiliations":[{"raw_affiliation_string":"Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067","https://openalex.org/I4210164150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112655147","display_name":"Mingyue Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyue Feng","raw_affiliation_strings":["Zhejiang Leapmotor Technology Corporation Ltd., Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0004-1662-5360","affiliations":[{"raw_affiliation_string":"Zhejiang Leapmotor Technology Corporation Ltd., Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013210761","display_name":"Jiachao Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiachao Liu","raw_affiliation_strings":["Zhejiang Leapmotor Technology Corporation Ltd., Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0002-3306-9349","affiliations":[{"raw_affiliation_string":"Zhejiang Leapmotor Technology Corporation Ltd., Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079696895","display_name":"Yaonong Wang","orcid":"https://orcid.org/0000-0002-4956-9009"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaonong Wang","raw_affiliation_strings":["Zhejiang Leapmotor Technology Corporation Ltd., Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4956-9009","affiliations":[{"raw_affiliation_string":"Zhejiang Leapmotor Technology Corporation Ltd., Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058626590","display_name":"Jian Pu","orcid":"https://orcid.org/0000-0002-0892-1213"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Pu","raw_affiliation_strings":["Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-0892-1213","affiliations":[{"raw_affiliation_string":"Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067","https://openalex.org/I4210164150"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.4423,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.60296425,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"10","issue":"10","first_page":"9702","last_page":"9709"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9718999862670898,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9718999862670898,"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":0.9488000273704529,"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/imitation","display_name":"Imitation","score":0.6032365560531616},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4574607312679291},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4016790986061096},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.3613627851009369},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32791584730148315},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.07868310809135437}],"concepts":[{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6032365560531616},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4574607312679291},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4016790986061096},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.3613627851009369},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32791584730148315},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.07868310809135437}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3597485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597485","pdf_url":null,"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":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":[{"display_name":"Zero hunger","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2024249108","https://openalex.org/W2560504659","https://openalex.org/W2620840602","https://openalex.org/W2841721725","https://openalex.org/W3119862069","https://openalex.org/W3195647294","https://openalex.org/W3214882770","https://openalex.org/W4250589301","https://openalex.org/W4285102592","https://openalex.org/W4285119237","https://openalex.org/W4352977012","https://openalex.org/W4386076400","https://openalex.org/W4387350709","https://openalex.org/W4389403307","https://openalex.org/W4400944508","https://openalex.org/W4401413933","https://openalex.org/W4405787114"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2899084033","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W2748952813","https://openalex.org/W1531601525"],"abstract_inverted_index":{"Imitation":[0],"learning":[1,47],"is":[2],"increasingly":[3],"utilized":[4],"to":[5,30,41,55,94,179,188],"improve":[6],"driving":[7],"performance":[8],"using":[9],"real-world":[10],"data,":[11],"yet":[12],"ensuring":[13,141],"the":[14,134,167],"safety":[15,32,164],"of":[16,33,76,136],"its":[17],"outputs":[18],"remains":[19],"a":[20,52,73,81,124],"fundamental":[21],"challenge.":[22],"While":[23],"differentiable":[24,125],"optimization-based":[25],"methods":[26],"are":[27,121],"widely":[28],"employed":[29],"enhance":[31],"imitation":[34,101],"planner,":[35],"their":[36],"joint":[37,157],"training":[38,148,158],"often":[39],"leads":[40],"overly":[42],"conservative":[43],"behaviors":[44],"and":[45,97,103,163,190],"limited":[46],"capacity.":[48],"This":[49,143],"letter":[50],"proposes":[51],"novel":[53],"approach":[54,171],"address":[56],"these":[57],"limitations":[58],"through":[59,111],"learnable":[60,119],"weighted":[61],"Control":[62],"Barrier":[63],"Functions":[64],"(wCBFs).":[65],"These":[66],"wCBFs":[67,120],"extend":[68],"predefined":[69],"collision":[70],"constraints":[71,139],"into":[72,123],"weight":[74,115],"composition":[75],"basis":[77,89],"functions,":[78],"thereby":[79],"constructing":[80],"more":[82],"expressive":[83],"constraint":[84],"space.":[85],"We":[86],"design":[87],"practical":[88],"functions":[90],"for":[91,160],"collisin":[92],"avoidance":[93,138],"balance":[95],"interpretability":[96],"flexibility":[98],"in":[99,175],"constrained":[100],"learning,":[102],"deal":[104],"with":[105,128],"potential":[106],"conflicts":[107],"among":[108],"CBF":[109,181],"components":[110],"auxiliary":[112],"task,":[113],"stabilizing":[114],"training.":[116],"The":[117],"proposed":[118],"integrated":[122],"QP":[126],"framework":[127,159],"one":[129],"compression":[130],"mechanism":[131,144],"that":[132],"reduces":[133],"number":[135],"obstacle":[137],"while":[140,183],"safety.":[142],"not":[145],"only":[146],"accelerates":[147],"but":[149],"also":[150],"maintains":[151],"feasibility.":[152],"Finally":[153],"we":[154],"test":[155],"our":[156],"planning":[161],"models":[162],"modules":[165],"on":[166],"nuPlan":[168],"benchmark.":[169],"Our":[170],"demonstrates":[172],"less":[173],"over-constrained":[174],"safety-critical":[176],"scenarios":[177],"compared":[178,187],"non-learnable":[180],"methods,":[182],"having":[184],"computational":[185],"efficiency":[186],"MPC":[189],"filtering-based":[191],"methods.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}