{"id":"https://openalex.org/W3197203826","doi":"https://doi.org/10.1109/rcar52367.2021.9517610","title":"Towards Autonomous Driving Decision by Combining Self-attention and Deep Reinforcement Learning","display_name":"Towards Autonomous Driving Decision by Combining Self-attention and Deep Reinforcement Learning","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3197203826","doi":"https://doi.org/10.1109/rcar52367.2021.9517610","mag":"3197203826"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-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/A5100748367","display_name":"Meiling Chen","orcid":"https://orcid.org/0000-0003-2803-6446"},"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":true,"raw_author_name":"Meiling Chen","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100677178","display_name":"Yanjie Li","orcid":"https://orcid.org/0000-0001-7890-9677"},"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":"Yanjie Li","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100453159","display_name":"Qi Liu","orcid":"https://orcid.org/0000-0001-7485-6344"},"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":"Qi Liu","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065660401","display_name":"Shaohua Lv","orcid":null},"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":"Shaohua Lv","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014818692","display_name":"Yunhong Xu","orcid":"https://orcid.org/0000-0002-0958-2188"},"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":"Yunhong Xu","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064580686","display_name":"Yuecheng Liu","orcid":"https://orcid.org/0000-0002-3683-7959"},"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":"Yuecheng Liu","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100748367"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.6415,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.68276511,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1110","last_page":"1115"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"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"}},"topics":[{"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9991999864578247,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9980000257492065,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8577892780303955},{"id":"https://openalex.org/keywords/interpretability","display_name":"Interpretability","score":0.8345366716384888},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7474175691604614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7125216126441956},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6577198505401611},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5506963133811951},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.45995035767555237},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1097126305103302},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08937615156173706}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8577892780303955},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.8345366716384888},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7474175691604614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7125216126441956},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6577198505401611},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5506963133811951},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.45995035767555237},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1097126305103302},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08937615156173706},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1757796397","https://openalex.org/W2017957151","https://openalex.org/W2115211925","https://openalex.org/W2121863487","https://openalex.org/W2173248099","https://openalex.org/W2201581102","https://openalex.org/W2342840547","https://openalex.org/W2740234467","https://openalex.org/W2806163172","https://openalex.org/W2899423466","https://openalex.org/W2913318911","https://openalex.org/W2919820522","https://openalex.org/W2936971746","https://openalex.org/W2939569248","https://openalex.org/W2962762260","https://openalex.org/W2962894046","https://openalex.org/W2963403868","https://openalex.org/W2963477884","https://openalex.org/W2963864421","https://openalex.org/W2963925437","https://openalex.org/W2977843878","https://openalex.org/W2981413347","https://openalex.org/W2990123902","https://openalex.org/W3026911476","https://openalex.org/W3028831193","https://openalex.org/W3034885317","https://openalex.org/W3118413682","https://openalex.org/W3145799606","https://openalex.org/W4214717370","https://openalex.org/W4298857966","https://openalex.org/W4385245566","https://openalex.org/W6637967152","https://openalex.org/W6677067356","https://openalex.org/W6684921986","https://openalex.org/W6687681856","https://openalex.org/W6704559304","https://openalex.org/W6739901393","https://openalex.org/W6751669119","https://openalex.org/W6772033386"],"related_works":["https://openalex.org/W2905433371","https://openalex.org/W4361193272","https://openalex.org/W4310278675","https://openalex.org/W2806259446","https://openalex.org/W2963326959","https://openalex.org/W4311431240","https://openalex.org/W4312407344","https://openalex.org/W1986582023","https://openalex.org/W2883749686","https://openalex.org/W4315864862"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1,40,68,100],"decision-making":[2,41,101],"is":[3],"a":[4],"challenging":[5],"task":[6,42],"for":[7],"the":[8,11,63,75,80,98,108,134,137,141,149,154,158,161],"complexity":[9],"of":[10,65,82,136,151,160],"environment.":[12],"The":[13,114],"existing":[14],"methods":[15,24],"are":[16],"rule-based":[17],"and":[18,59,84,127,140,156],"supervised":[19],"learning":[20],"methods,":[21],"but":[22],"these":[23],"can":[25,120,147],"only":[26],"get":[27,85],"suboptimal":[28],"strategies.":[29],"In":[30,47,129],"recent":[31],"years,":[32],"using":[33],"deep":[34,91],"reinforcement":[35],"learning(DRL)":[36],"to":[37,61,78,96],"complete":[38,97],"autonomous":[39,67,99],"has":[43],"gained":[44],"widely":[45],"attention.":[46],"this":[48],"paper,":[49],"we":[50,89,131],"propose":[51],"an":[52],"algorithm":[53,95],"framework":[54],"based":[55],"on":[56],"self-attention":[57,76,138],"model":[58,77,146],"DRL":[60],"solve":[62],"problem":[64],"vision-based":[66],"decision":[69],"in":[70,107,153],"complex":[71,109],"scenarios.":[72],"We":[73,103],"use":[74,90],"reduce":[79],"dimension":[81],"image":[83],"global":[86],"features.":[87],"Then":[88],"deterministic":[92],"policy":[93],"gradient(DDPG)":[94],"task.":[102],"evaluate":[104],"our":[105,118,145],"method":[106,119],"scenario":[110],"provided":[111],"by":[112],"Carla.":[113],"results":[115,142],"show":[116,143],"that":[117,144],"learn":[121],"better":[122],"strategies":[123],"with":[124],"higher":[125],"efficiency":[126],"reward.":[128],"addition,":[130],"also":[132],"visualize":[133],"output":[135],"model,":[139],"identify":[148],"position":[150],"obstacles":[152],"image,":[155],"improve":[157],"interpretability":[159],"model.":[162]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}