{"id":"https://openalex.org/W4416381351","doi":"https://doi.org/10.1109/lra.2025.3632616","title":"ARTEMIS: Autoregressive End-to-End Trajectory Planning With Mixture of Experts for Autonomous Driving","display_name":"ARTEMIS: Autoregressive End-to-End Trajectory Planning With Mixture of Experts for Autonomous Driving","publication_year":2025,"publication_date":"2025-11-14","ids":{"openalex":"https://openalex.org/W4416381351","doi":"https://doi.org/10.1109/lra.2025.3632616"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3632616","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632616","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/A5120605297","display_name":"Renju Feng","orcid":"https://orcid.org/0009-0007-5753-3448"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renju Feng","raw_affiliation_strings":["Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0007-5753-3448","affiliations":[{"raw_affiliation_string":"Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008747668","display_name":"Ning Xi","orcid":"https://orcid.org/0009-0005-7740-4155"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Xi","raw_affiliation_strings":["Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0005-7740-4155","affiliations":[{"raw_affiliation_string":"Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041423958","display_name":"Duanfeng Chu","orcid":"https://orcid.org/0000-0001-5225-9143"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Duanfeng Chu","raw_affiliation_strings":["Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-5225-9143","affiliations":[{"raw_affiliation_string":"Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087671743","display_name":"Rukang Wang","orcid":"https://orcid.org/0000-0002-3647-8247"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rukang Wang","raw_affiliation_strings":["Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-3647-8247","affiliations":[{"raw_affiliation_string":"Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024182112","display_name":"Zejian Deng","orcid":"https://orcid.org/0000-0002-2765-3162"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zejian Deng","raw_affiliation_strings":["Department of Data and Systems Engineering, The University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-2765-3162","affiliations":[{"raw_affiliation_string":"Department of Data and Systems Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030836137","display_name":"Anzheng Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anzheng Wang","raw_affiliation_strings":["Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059371844","display_name":"LU Li-ping","orcid":"https://orcid.org/0000-0001-8710-4221"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liping Lu","raw_affiliation_strings":["School of Computer Science and Artificial Intelligence, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-8710-4221","affiliations":[{"raw_affiliation_string":"School of Computer Science and Artificial Intelligence, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100328624","display_name":"Jinxiang Wang","orcid":"https://orcid.org/0000-0003-4039-8001"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinxiang Wang","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-4039-8001","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003126186","display_name":"Yanjun Huang","orcid":"https://orcid.org/0000-0003-3133-8031"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjun Huang","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-3133-8031","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8494,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.75920798,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"11","issue":"1","first_page":"226","last_page":"233"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.5877000093460083,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.5877000093460083,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.2558000087738037,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.01810000091791153,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/trajectory","display_name":"Trajectory","score":0.7519999742507935},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6241000294685364},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5974000096321106},{"id":"https://openalex.org/keywords/autoregressive-model","display_name":"Autoregressive model","score":0.536899983882904},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.32429999113082886}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7519999742507935},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7519999742507935},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6241000294685364},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5974000096321106},{"id":"https://openalex.org/C159877910","wikidata":"https://www.wikidata.org/wiki/Q2202883","display_name":"Autoregressive model","level":2,"score":0.536899983882904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4650000035762787},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3903000056743622},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.32429999113082886},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3089999854564667},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.27230000495910645}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3632616","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632616","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/G5449290440","display_name":null,"funder_award_id":"52472438","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2150884987","https://openalex.org/W2894978157","https://openalex.org/W3139491754","https://openalex.org/W3169575318","https://openalex.org/W4292347911","https://openalex.org/W4386076400","https://openalex.org/W4390872423","https://openalex.org/W4402671950","https://openalex.org/W4402727317","https://openalex.org/W4402727673","https://openalex.org/W4405219754","https://openalex.org/W4406856912","https://openalex.org/W4413145448","https://openalex.org/W4413147287"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"ARTEMIS,":[3],"an":[4],"end-to-end":[5,26],"autonomous":[6],"driving":[7,92],"framework":[8],"that":[9,34,102],"combines":[10],"autoregressive":[11],"trajectory":[12,50,69],"planning":[13],"with":[14,129],"Mixture-of-Experts":[15,110],"(MoE).":[16],"Traditional":[17],"modular":[18],"methods":[19],"suffer":[20],"from":[21],"error":[22],"propagation,":[23],"while":[24,57],"existing":[25],"models":[27],"typically":[28],"employ":[29],"static":[30],"one-shot":[31],"inference":[32],"paradigms":[33],"inadequately":[35],"capture":[36],"the":[37,41,81,105,109,115],"dynamic":[38],"changes":[39],"of":[40,85,108],"environment.":[42],"ARTEMIS":[43,118],"takes":[44],"a":[45,97],"different":[46],"method":[47],"by":[48],"generating":[49],"waypoints":[51],"sequentially,":[52],"preserves":[53],"critical":[54],"temporal":[55],"dependencies":[56],"dynamically":[58],"routing":[59],"scene-specific":[60],"queries":[61],"to":[62],"specialized":[63],"expert":[64],"networks.":[65],"It":[66],"effectively":[67],"relieves":[68],"quality":[70],"degradation":[71],"issues":[72],"encountered":[73],"when":[74,89],"guidance":[75],"information":[76],"is":[77],"ambiguous,":[78],"and":[79,126],"overcomes":[80],"inherent":[82],"representational":[83],"limitations":[84],"singular":[86],"network":[87],"architectures":[88],"processing":[90],"diverse":[91],"scenarios.":[93],"Additionally,":[94],"we":[95],"use":[96],"lightweight":[98],"batch":[99],"reallocation":[100],"strategy":[101],"significantly":[103],"improves":[104],"training":[106],"speed":[107],"model.":[111],"Through":[112],"experiments":[113],"on":[114,135],"NAVSIM":[116],"dataset,":[117],"exhibits":[119],"superior":[120],"competitive":[121],"performance,":[122],"achieving":[123],"86.9":[124],"PDMS":[125],"83.1":[127],"EPDMS":[128],"ResNet-34":[130],"backbone,":[131],"demonstrates":[132],"state-of-the-art":[133],"performance":[134],"multiple":[136],"metrics.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2025-11-28T12:37:31.617178","created_date":"2025-11-14T00:00:00"}