{"id":"https://openalex.org/W4415002967","doi":"https://doi.org/10.1109/lra.2025.3619848","title":"C2F-Planner: Interaction-Aware Coarse-to-Fine Planning for Autonomous Vehicles","display_name":"C2F-Planner: Interaction-Aware Coarse-to-Fine Planning for Autonomous Vehicles","publication_year":2025,"publication_date":"2025-10-09","ids":{"openalex":"https://openalex.org/W4415002967","doi":"https://doi.org/10.1109/lra.2025.3619848"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3619848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3619848","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/A5103151322","display_name":"Zheng Fu","orcid":"https://orcid.org/0000-0002-5166-1525"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Fu","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-5166-1525","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kun Jiang","orcid":"https://orcid.org/0000-0001-7282-172X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Jiang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China"],"raw_orcid":"https://orcid.org/0000-0001-7282-172X","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020028921","display_name":"Tuopu Wen","orcid":"https://orcid.org/0000-0002-3093-765X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tuopu Wen","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-3093-765X","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002721560","display_name":"H. Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Zhe Lim","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087389386","display_name":"Jin Huang","orcid":"https://orcid.org/0000-0001-8774-2936"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Huang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China"],"raw_orcid":"https://orcid.org/0000-0001-8774-2936","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014512074","display_name":"Mengmeng Yang","orcid":"https://orcid.org/0000-0002-3294-6437"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengmeng Yang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-3294-6437","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100740193","display_name":"Hao Gao","orcid":"https://orcid.org/0000-0003-0148-3713"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Gao","raw_affiliation_strings":["Nanjing University of Posts and Telecommunications, Nanjing, China","Nanjing University of Posts and Telecommunications, P. R. China"],"raw_orcid":"https://orcid.org/0000-0003-0148-3713","affiliations":[{"raw_affiliation_string":"Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]},{"raw_affiliation_string":"Nanjing University of Posts and Telecommunications, P. R. China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112411803","display_name":"Zhihua Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I40246663","display_name":"Chinese Academy of Engineering","ror":"https://ror.org/00z3yke57","country_code":"CN","type":"other","lineage":["https://openalex.org/I40246663"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihua Zhong","raw_affiliation_strings":["Chinese Academy of Engineering, Beijing, China","Chinese Academy of Engineering, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Engineering, Beijing, China","institution_ids":["https://openalex.org/I40246663"]},{"raw_affiliation_string":"Chinese Academy of Engineering, P. R. China","institution_ids":["https://openalex.org/I40246663"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100735948","display_name":"Diange Yang","orcid":"https://orcid.org/0000-0002-0074-2448"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Diange Yang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-0074-2448","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23524766,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"11","first_page":"12213","last_page":"12220"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"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":0.9980000257492065,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.993399977684021,"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9754999876022339,"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/bottleneck","display_name":"Bottleneck","score":0.7056000232696533},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5623999834060669},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4964999854564667},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4498000144958496},{"id":"https://openalex.org/keywords/autonomous-agent","display_name":"Autonomous agent","score":0.4383000135421753},{"id":"https://openalex.org/keywords/decoding-methods","display_name":"Decoding methods","score":0.3605000078678131},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.3458999991416931},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.3398999869823456}],"concepts":[{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.7056000232696533},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6198999881744385},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5623999834060669},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4964999854564667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4837999939918518},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4498000144958496},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.4383000135421753},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3822000026702881},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.3605000078678131},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.3458999991416931},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3398999869823456},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33809998631477356},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.3147999942302704},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.311599999666214},{"id":"https://openalex.org/C14911803","wikidata":"https://www.wikidata.org/wiki/Q7532148","display_name":"Situation analysis","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.2919999957084656},{"id":"https://openalex.org/C2780806968","wikidata":"https://www.wikidata.org/wiki/Q6045196","display_name":"Interaction model","level":2,"score":0.2883000075817108},{"id":"https://openalex.org/C74072328","wikidata":"https://www.wikidata.org/wiki/Q1142726","display_name":"Intelligent agent","level":2,"score":0.2757999897003174},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2581999897956848}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3619848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3619848","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":[],"awards":[{"id":"https://openalex.org/G1913929480","display_name":null,"funder_award_id":"61931012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1929027860","display_name":null,"funder_award_id":"52394264","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5369562728","display_name":null,"funder_award_id":"52402499","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1965455100","https://openalex.org/W2560609797","https://openalex.org/W2990286629","https://openalex.org/W3007415647","https://openalex.org/W3048976565","https://openalex.org/W3091166409","https://openalex.org/W3099089609","https://openalex.org/W3108486966","https://openalex.org/W3132530365","https://openalex.org/W3203018838","https://openalex.org/W4210389721","https://openalex.org/W4313020423","https://openalex.org/W4313189526","https://openalex.org/W4327662239","https://openalex.org/W4386076672","https://openalex.org/W4390871698","https://openalex.org/W4390873034","https://openalex.org/W4391768851","https://openalex.org/W4391799362","https://openalex.org/W4401413933","https://openalex.org/W4401416666","https://openalex.org/W4413945710"],"related_works":[],"abstract_inverted_index":{"Ensuring":[0],"safe":[1],"and":[2,44,170,190,206],"socially":[3],"compliant":[4],"driving":[5,129,210],"is":[6,160],"essential":[7,51],"for":[8,35],"autonomous":[9,57,128,209],"vehicle":[10],"planning.":[11],"However,":[12],"one":[13],"of":[14,64,167,187,193,208],"the":[15,19,73,97,127,137,164,172,185,191,204],"significant":[16],"challenges":[17],"remains":[18],"performance":[20],"bottleneck":[21],"caused":[22],"by":[23,72],"interaction":[24,99,115,146,152,158,168,188],"uncertainty":[25],"in":[26,195],"complex":[27,98,196],"traffic":[28,37],"scenarios.":[29],"Traditional":[30],"planning":[31],"algorithms":[32],"typically":[33],"account":[34],"all":[36],"participants,":[38],"leading":[39],"to":[40,112,148,162,202],"overly":[41],"generalized":[42],"predictions":[43],"decisions":[45,134,141,175],"that":[46,95,180],"do":[47],"not":[48],"adequately":[49],"capture":[50],"interactive":[52],"dynamics.":[53],"In":[54],"real-world":[55],"driving,":[56],"vehicles":[58],"interact":[59],"primarily":[60],"with":[61,84,145],"a":[62,81,91,103,107,121,199],"subset":[63],"surrounding":[65],"agents,":[66],"whose":[67],"behaviors":[68,166],"are":[69,142],"dynamically":[70,108],"influenced":[71],"vehicle's":[74,174],"decisions.":[75],"To":[76],"address":[77],"this,":[78],"we":[79,89,119],"propose":[80],"novel":[82],"framework":[83],"two":[85],"key":[86],"innovations.":[87],"First,":[88],"introduce":[90],"supervised":[92],"learning-based":[93],"approach":[94],"simplifies":[96],"agents":[100,116,147,169],"recognition":[101],"into":[102],"classification":[104],"problem,":[105],"incorporating":[106],"weighted":[109],"attention":[110],"mechanism":[111],"identify":[113],"potential":[114],"accurately.":[117],"Secondly,":[118],"develop":[120],"coarse-to-fine":[122],"decision":[123],"decoding":[124],"strategy.":[125],"Initially,":[126],"system":[130],"makes":[131],"preliminary":[132],"coarse":[133],"based":[135],"on":[136],"scene":[138],"context.":[139],"These":[140],"then":[143],"integrated":[144],"form":[149],"multiple":[150],"cohesive":[151],"units.":[153],"Within":[154],"these":[155],"units,":[156],"fine-grained":[157],"reasoning":[159],"employed":[161],"predict":[163],"future":[165],"refine":[171],"ego":[173],"accordingly.":[176],"Experimental":[177],"results":[178],"indicate":[179],"our":[181],"method":[182],"significantly":[183],"enhances":[184],"accuracy":[186],"modelling":[189],"robustness":[192],"decision-making":[194],"scenarios,":[197],"providing":[198],"scalable":[200],"solution":[201],"improve":[203],"safety":[205],"intelligence":[207],"systems.":[211],"Code":[212],"available":[213],"at:":[214],"<uri":[215],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[216],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/JaneFo/C2F-Planner.git</uri>":[217]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
