{"id":"https://openalex.org/W4398249471","doi":"https://doi.org/10.1109/tits.2024.3400227","title":"Enhance Sample Efficiency and Robustness of End-to-End Urban Autonomous Driving via Semantic Masked World Model","display_name":"Enhance Sample Efficiency and Robustness of End-to-End Urban Autonomous Driving via Semantic Masked World Model","publication_year":2024,"publication_date":"2024-05-23","ids":{"openalex":"https://openalex.org/W4398249471","doi":"https://doi.org/10.1109/tits.2024.3400227"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3400227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3400227","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation 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/A5013798655","display_name":"Zeyu Gao","orcid":"https://orcid.org/0000-0001-6771-5885"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zeyu Gao","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Science, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Science, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6771-5885","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Science, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Science, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020288245","display_name":"Yao Mu","orcid":null},"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":"Yao Mu","raw_affiliation_strings":["Department of Computer Science, The University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-0321-021X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046850281","display_name":"Chen Chen","orcid":"https://orcid.org/0000-0003-4310-8428"},"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":"Chen Chen","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4310-8428","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067909017","display_name":"Jingliang Duan","orcid":"https://orcid.org/0000-0002-3697-1576"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingliang Duan","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3697-1576","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100752686","display_name":"Ping Luo","orcid":"https://orcid.org/0000-0002-6685-7950"},"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":"Ping Luo","raw_affiliation_strings":["Department of Computer Science, The University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-6685-7950","affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002388053","display_name":"Yanfeng Lu","orcid":"https://orcid.org/0000-0003-4601-4996"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanfeng Lu","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Science, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Science, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4601-4996","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Science, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Science, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100747108","display_name":"Shengbo Eben Li","orcid":"https://orcid.org/0000-0003-4923-3633"},"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":"Shengbo Eben Li","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4923-3633","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5013798655"],"corresponding_institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I4210100255","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":5.1477,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.96065952,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"25","issue":"10","first_page":"13067","last_page":"13079"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9861000180244446,"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":0.9861000180244446,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9742000102996826,"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/robustness","display_name":"Robustness (evolution)","score":0.7613599300384521},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.7035799026489258},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5052962899208069},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.41556647419929504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3721443712711334},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3361557126045227},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14512211084365845},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.11928272247314453}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7613599300384521},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.7035799026489258},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5052962899208069},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.41556647419929504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3721443712711334},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3361557126045227},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14512211084365845},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.11928272247314453},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3400227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3400227","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.75}],"awards":[{"id":"https://openalex.org/G1425755500","display_name":null,"funder_award_id":"52072213","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G4203389090","display_name":null,"funder_award_id":"U20A20334","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6396445998","display_name":null,"funder_award_id":"91948303","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W107619411","https://openalex.org/W1191599655","https://openalex.org/W2145339207","https://openalex.org/W2147800946","https://openalex.org/W2155007355","https://openalex.org/W2157331557","https://openalex.org/W2342840547","https://openalex.org/W2739529772","https://openalex.org/W2741086815","https://openalex.org/W2766447205","https://openalex.org/W2806163172","https://openalex.org/W2924607344","https://openalex.org/W2948153973","https://openalex.org/W2962894046","https://openalex.org/W2963016445","https://openalex.org/W2963293783","https://openalex.org/W2964199920","https://openalex.org/W2981441441","https://openalex.org/W2990123902","https://openalex.org/W3015082424","https://openalex.org/W3118975573","https://openalex.org/W3128395826","https://openalex.org/W3132285497","https://openalex.org/W3133098797","https://openalex.org/W3135239772","https://openalex.org/W4224216677","https://openalex.org/W4226245271","https://openalex.org/W4285278949","https://openalex.org/W4323897042","https://openalex.org/W4394661925","https://openalex.org/W6627932998","https://openalex.org/W6682849425","https://openalex.org/W6685562342","https://openalex.org/W6704559304","https://openalex.org/W6745935785","https://openalex.org/W6747473740","https://openalex.org/W6754184789","https://openalex.org/W6756256016","https://openalex.org/W6756925679","https://openalex.org/W6757817989","https://openalex.org/W6765407481","https://openalex.org/W6771217966","https://openalex.org/W6783988234","https://openalex.org/W6784877098","https://openalex.org/W6790701872","https://openalex.org/W6922480057"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"End-to-end":[0],"autonomous":[1],"driving":[2,11,99],"provides":[3],"a":[4,21,31,60,108,127,146,160],"feasible":[5],"way":[6],"to":[7,24,35,74,91,130,163,186],"automatically":[8],"maximize":[9],"overall":[10],"system":[12],"performance":[13],"by":[14,50],"directly":[15],"mapping":[16],"the":[17,37,46,51,78,86,94,98,103,139,165,176],"raw":[18],"pixels":[19],"from":[20],"front-facing":[22],"camera":[23],"control":[25],"signals.":[26],"Recent":[27],"advanced":[28],"methods":[29],"construct":[30],"latent":[32,43,47],"world":[33,52,118],"model":[34,53,119],"map":[36],"high":[38],"dimensional":[39],"observations":[40],"into":[41],"compact":[42],"space.":[44],"However,":[45],"states":[48],"embedded":[49],"proposed":[54],"in":[55,67,159,179],"previous":[56],"works":[57],"may":[58],"contain":[59],"large":[61],"amount":[62],"of":[63,181],"task-irrelevant":[64],"information,":[65],"resulting":[66],"low":[68],"sampling":[69],"efficiency":[70,183],"and":[71,85,135,142,154,184],"poor":[72],"robustness":[73,185],"input":[75,187],"perturbations.":[76],"Meanwhile,":[77],"training":[79],"data":[80,148,153,158,166],"distribution":[81],"is":[82,89,143],"usually":[83],"unbalanced,":[84],"learned":[87],"policy":[88],"challenging":[90],"cope":[92],"with":[93,145],"corner":[95,156],"cases":[96],"during":[97],"process.":[100],"To":[101],"solve":[102],"above":[104],"challenges,":[105],"we":[106],"present":[107],"<bold":[109,113,121],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[110,114,122],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">SEM</b>":[111],"antic":[112],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">M</b>":[115],"asked":[116],"recurrent":[117],"(":[120],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">SEM2</b>":[123],"),":[124],"which":[125,150],"introduces":[126],"semantic":[128],"filter":[129],"extract":[131],"key":[132],"driving-relevant":[133],"features":[134],"make":[136],"decisions":[137],"via":[138],"filtered":[140],"features,":[141],"trained":[144],"multi-source":[147],"sampler,":[149],"aggregates":[151],"common":[152],"multiple":[155],"case":[157],"single":[161],"batch,":[162],"balance":[164],"distribution.":[167],"Extensive":[168],"experiments":[169],"on":[170],"CARLA":[171],"show":[172],"our":[173],"method":[174],"outperforms":[175],"state-of-the-art":[177],"approaches":[178],"terms":[180],"sample":[182],"permutations.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":5}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}