{"id":"https://openalex.org/W3040578939","doi":"https://doi.org/10.1109/tcds.2020.3006621","title":"VRDriving: A Virtual-to-Real Autonomous Driving Framework Based on Adversarial Learning","display_name":"VRDriving: A Virtual-to-Real Autonomous Driving Framework Based on Adversarial Learning","publication_year":2020,"publication_date":"2020-07-02","ids":{"openalex":"https://openalex.org/W3040578939","doi":"https://doi.org/10.1109/tcds.2020.3006621","mag":"3040578939"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2020.3006621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2020.3006621","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Transactions on Cognitive and Developmental Systems","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/A5081650208","display_name":"Wei Yuan","orcid":"https://orcid.org/0000-0003-4880-844X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Yuan","raw_affiliation_strings":["Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-4880-844X","affiliations":[{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009256880","display_name":"Ming Yang","orcid":"https://orcid.org/0000-0002-8679-9137"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Yang","raw_affiliation_strings":["Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8679-9137","affiliations":[{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048517656","display_name":"Chunxiang Wang","orcid":"https://orcid.org/0000-0002-6885-6740"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunxiang Wang","raw_affiliation_strings":["Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-6885-6740","affiliations":[{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100382568","display_name":"Bing Wang","orcid":"https://orcid.org/0000-0003-4945-7725"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Wang","raw_affiliation_strings":["Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.575,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.68342292,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"13","issue":"4","first_page":"912","last_page":"921"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","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/T10036","display_name":"Advanced Neural Network Applications","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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9955000281333923,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.992900013923645,"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/computer-science","display_name":"Computer science","score":0.8619072437286377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5650887489318848},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5494201183319092},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5421048998832703},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5347996950149536},{"id":"https://openalex.org/keywords/discriminator","display_name":"Discriminator","score":0.5346046686172485},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.519256591796875},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.4766886234283447},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39573174715042114}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8619072437286377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5650887489318848},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5494201183319092},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5421048998832703},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5347996950149536},{"id":"https://openalex.org/C2779803651","wikidata":"https://www.wikidata.org/wiki/Q5282088","display_name":"Discriminator","level":3,"score":0.5346046686172485},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.519256591796875},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.4766886234283447},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39573174715042114},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2020.3006621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2020.3006621","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G6959257340","display_name":null,"funder_award_id":"U1764264/61873165","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":33,"referenced_works":["https://openalex.org/W1882958252","https://openalex.org/W1966026565","https://openalex.org/W1982696459","https://openalex.org/W2031342017","https://openalex.org/W2119112357","https://openalex.org/W2167224731","https://openalex.org/W2331128040","https://openalex.org/W2342840547","https://openalex.org/W2483814582","https://openalex.org/W2559767995","https://openalex.org/W2562018939","https://openalex.org/W2589930967","https://openalex.org/W2593768305","https://openalex.org/W2605022719","https://openalex.org/W2740067745","https://openalex.org/W2740122176","https://openalex.org/W2786808285","https://openalex.org/W2798873012","https://openalex.org/W2799352588","https://openalex.org/W2891315523","https://openalex.org/W2962894046","https://openalex.org/W2962977206","https://openalex.org/W2963872524","https://openalex.org/W2970109502","https://openalex.org/W2999862950","https://openalex.org/W3036781519","https://openalex.org/W4295719664","https://openalex.org/W4300124531","https://openalex.org/W4301329587","https://openalex.org/W4320013936","https://openalex.org/W6639480849","https://openalex.org/W6684338915","https://openalex.org/W6745935785"],"related_works":["https://openalex.org/W4293202849","https://openalex.org/W1980965563","https://openalex.org/W1489300767","https://openalex.org/W4380714744","https://openalex.org/W2387995142","https://openalex.org/W4319453655","https://openalex.org/W2089959425","https://openalex.org/W2964074194","https://openalex.org/W2995777218","https://openalex.org/W2366944513"],"abstract_inverted_index":{"Due":[0],"to":[1,25,49,63,142,184],"the":[2,9,16,23,26,51,64,79,92,108,131,137,143,148,158,163,168,179,186],"high":[3],"cost":[4],"of":[5,53,70,167,189],"driving":[6,20,39,84,93,99,110,132,144],"testing":[7],"and":[8,31,101,174],"data":[10,61],"collection":[11],"for":[12,83,90,105],"autonomous":[13,191],"cars":[14],"in":[15],"real":[17,27,65,98,114,138],"world,":[18],"transferring":[19],"models":[21,56],"from":[22,96,136],"simulator":[24],"world":[28],"is":[29,47,182],"significant":[30],"urgent.":[32],"This":[33],"article":[34],"proposes":[35],"a":[36,103,127],"novel":[37,128],"virtual-to-real":[38],"(VRDriving)":[40],"framework":[41,68,161,181],"based":[42],"on":[43],"adversarial":[44,152],"learning,":[45],"which":[46],"able":[48],"transfer":[50],"ability":[52],"end-to-end":[54,75,149],"learning":[55,129,153],"trained":[57,123],"by":[58],"simulation":[59],"virtual":[60,109],"sets":[62],"world.":[66],"The":[67,117],"consists":[69],"three":[71,119],"parts:":[72],"1)":[73],"an":[74,88],"learning-based":[76],"estimator":[77,150],"with":[78],"cost-sensitive":[80],"loss":[81],"function":[82],"commands":[85],"estimation;":[86],"2)":[87],"encoder":[89],"extracting":[91],"domain":[94,111,133,145],"features":[95,112,134,146],"unlabeled":[97],"images;":[100],"3)":[102],"discriminator":[104],"distinguishing":[106],"whether":[107],"are":[113,140],"or":[115],"fake.":[116],"above":[118],"modules":[120],"can":[121],"be":[122],"simultaneously.":[124],"With":[125],"such":[126],"framework,":[130],"encoded":[135],"images":[139],"closer":[141],"inside":[147],"via":[151],"mechanism.":[154],"Three":[155],"experiments":[156],"show":[157],"proposed":[159],"VRDriving":[160,180],"performs":[162],"state-of-the-art":[164],"estimation":[165],"accuracy":[166],"steering":[169],"command":[170],"than":[171],"several":[172],"baselines":[173],"other":[175],"typical":[176],"frameworks.":[177],"Therefore,":[178],"promising":[183],"improve":[185],"development":[187],"efficiency":[188],"future":[190],"driving.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}