{"id":"https://openalex.org/W4396910051","doi":"https://doi.org/10.1109/tro.2024.3400937","title":"Interactive Autonomous Navigation With Internal State Inference and Interactivity Estimation","display_name":"Interactive Autonomous Navigation With Internal State Inference and Interactivity Estimation","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4396910051","doi":"https://doi.org/10.1109/tro.2024.3400937"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3400937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3400937","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5100357070","display_name":"Jiachen Li","orcid":"https://orcid.org/0000-0002-4883-697X"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiachen Li","raw_affiliation_strings":["Stanford Intelligent Systems Laboratory (SISL), Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4883-697X","affiliations":[{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory (SISL), Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063634505","display_name":"David Isele","orcid":"https://orcid.org/0000-0001-9749-6951"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Isele","raw_affiliation_strings":["Honda Research Institute USA, San Jose, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9749-6951","affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, San Jose, CA, USA","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106407178","display_name":"Kanghoon Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kanghoon Lee","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-2195-798X","affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023509025","display_name":"Jinkyoo Park","orcid":"https://orcid.org/0000-0003-2620-1479"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Jinkyoo Park","raw_affiliation_strings":["Stanford Intelligent Systems Laboratory (SISL), Stanford University, Stanford, CA, USA","Korea Advanced Institute of Science and Technology, Korea"],"raw_orcid":"https://orcid.org/0000-0003-2620-1479","affiliations":[{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory (SISL), Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112249344","display_name":"Kikuo Fujimura","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kikuo Fujimura","raw_affiliation_strings":["Honda Research Institute USA, San Jose, CA, USA"],"raw_orcid":"https://orcid.org/0009-0008-8945-7889","affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, San Jose, CA, USA","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mykel J. Kochenderfer","raw_affiliation_strings":["Stanford Intelligent Systems Laboratory (SISL), Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7238-9663","affiliations":[{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory (SISL), Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1723,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.87144222,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"40","issue":null,"first_page":"2932","last_page":"2949"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9545000195503235,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13382","display_name":"Robotics and Automated Systems","score":0.9545000195503235,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11106","display_name":"Data Management and Algorithms","score":0.9143999814987183,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T12016","display_name":"Web Data Mining and Analysis","score":0.9049999713897705,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"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/interactivity","display_name":"Interactivity","score":0.7722986936569214},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6766065359115601},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6315321922302246},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5596607327461243},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5287306308746338},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5038649439811707},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.4850846827030182},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4127092957496643},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3860446512699127},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3583980202674866},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3066265881061554},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17508405447006226},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.14798575639724731},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13466209173202515}],"concepts":[{"id":"https://openalex.org/C144430266","wikidata":"https://www.wikidata.org/wiki/Q839721","display_name":"Interactivity","level":2,"score":0.7722986936569214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6766065359115601},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6315321922302246},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5596607327461243},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5287306308746338},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5038649439811707},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.4850846827030182},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4127092957496643},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3860446512699127},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3583980202674866},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3066265881061554},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17508405447006226},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.14798575639724731},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13466209173202515},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3400937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3400937","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":75,"referenced_works":["https://openalex.org/W1965455100","https://openalex.org/W1985574396","https://openalex.org/W2016589492","https://openalex.org/W2025927214","https://openalex.org/W2119717200","https://openalex.org/W2128582898","https://openalex.org/W2149822156","https://openalex.org/W2163042598","https://openalex.org/W2567854370","https://openalex.org/W2736601468","https://openalex.org/W2756203131","https://openalex.org/W2766836212","https://openalex.org/W2805516822","https://openalex.org/W2806163172","https://openalex.org/W2913367279","https://openalex.org/W2962894046","https://openalex.org/W2963065757","https://openalex.org/W2963113620","https://openalex.org/W2963625099","https://openalex.org/W2963915700","https://openalex.org/W2964344294","https://openalex.org/W2969076652","https://openalex.org/W2969811230","https://openalex.org/W2973183361","https://openalex.org/W2991653934","https://openalex.org/W2999862950","https://openalex.org/W3083764925","https://openalex.org/W3090027660","https://openalex.org/W3091516903","https://openalex.org/W3100366369","https://openalex.org/W3103720336","https://openalex.org/W3105200428","https://openalex.org/W3107164117","https://openalex.org/W3109323072","https://openalex.org/W3122447121","https://openalex.org/W3183449896","https://openalex.org/W3184258555","https://openalex.org/W3193987867","https://openalex.org/W3198460218","https://openalex.org/W3200438282","https://openalex.org/W3202546816","https://openalex.org/W3204219722","https://openalex.org/W3204431142","https://openalex.org/W3204875639","https://openalex.org/W3205301818","https://openalex.org/W3205373118","https://openalex.org/W3205850983","https://openalex.org/W3208617162","https://openalex.org/W3210065386","https://openalex.org/W3210289792","https://openalex.org/W4224216677","https://openalex.org/W4226245271","https://openalex.org/W4250730679","https://openalex.org/W4287685696","https://openalex.org/W4289656284","https://openalex.org/W4308080863","https://openalex.org/W4383097409","https://openalex.org/W4391768956","https://openalex.org/W4391793354","https://openalex.org/W6638018090","https://openalex.org/W6726873649","https://openalex.org/W6738964360","https://openalex.org/W6741002519","https://openalex.org/W6748203849","https://openalex.org/W6748320467","https://openalex.org/W6751796012","https://openalex.org/W6758763022","https://openalex.org/W6765361892","https://openalex.org/W6782088249","https://openalex.org/W6784071224","https://openalex.org/W6785871430","https://openalex.org/W6787266491","https://openalex.org/W6788735329","https://openalex.org/W6803581605","https://openalex.org/W6809592804"],"related_works":["https://openalex.org/W2319020389","https://openalex.org/W2001821990","https://openalex.org/W2272707781","https://openalex.org/W2747851897","https://openalex.org/W1975913006","https://openalex.org/W1513662110","https://openalex.org/W2063506784","https://openalex.org/W4240086805","https://openalex.org/W2521348551","https://openalex.org/W2013411520"],"abstract_inverted_index":{"Deep":[0],"reinforcement":[1],"learning":[2],"(DRL)":[3],"provides":[4,80,242],"a":[5,31,149],"promising":[6],"way":[7],"for":[8,44,252],"intelligent":[9],"agents":[10,98],"(e.g.,":[11,99],"autonomous":[12,45],"vehicles)":[13],"to":[14,16,86,105,129,154],"learn":[15],"navigate":[17],"complex":[18],"scenarios.":[19],"However,":[20],"DRL":[21,71],"with":[22,34,61,113],"neural":[23,152],"networks":[24],"as":[25,102,104],"function":[26],"approximators":[27],"is":[28],"typically":[29],"considered":[30],"black":[32],"box":[33],"little":[35],"explainability":[36],"and":[37,65,79,94,114,166,226,232,241,249],"often":[38],"suffers":[39],"from":[40],"suboptimal":[41],"performance,":[42],"especially":[43],"navigation":[46],"in":[47,110,187,235],"highly":[48],"interactive":[49,136],"multi-agent":[50],"environments.":[51],"To":[52,204],"address":[53],"these":[54,188],"issues,":[55],"we":[56,174,209],"propose":[57,85,175],"three":[58],"auxiliary":[59,123],"tasks":[60,124],"spatio-temporal":[62,150],"relational":[63],"reasoning":[64],"integrate":[66],"them":[67],"into":[68],"the":[69,75,89,111,116,131,170,182,193,198,206,217],"standard":[70,238],"framework,":[72],"which":[73,160,191],"improves":[74],"decision":[76,167,253],"making":[77,168],"performance":[78,234],"explainable":[81,243],"intermediate":[82,244],"indicators.":[83],"We":[84,146],"explicitly":[87],"infer":[88,130],"internal":[90,163,247],"states":[91],"(i.e.,":[92,246],"traits":[93],"intentions)":[95],"of":[96,134,140,169,195,197,237],"surrounding":[97],"human":[100],"drivers)":[101],"well":[103],"predict":[106],"their":[107],"future":[108],"trajectories":[109,186],"situations":[112],"without":[115],"ego":[117,171,199],"agent":[118,200],"through":[119],"counterfactual":[120],"reasoning.":[121],"These":[122],"provide":[125],"additional":[126],"supervision":[127],"signals":[128],"behavior":[132],"patterns":[133],"other":[135,202],"agents.":[137,203],"Multiple":[138],"variants":[139],"framework":[141],"integration":[142],"strategies":[143],"are":[144],"compared.":[145],"also":[147],"employ":[148],"graph":[151],"network":[153],"encode":[155],"relations":[156],"between":[157,184],"dynamic":[158],"entities,":[159],"enhances":[161],"both":[162],"state":[164],"inference":[165],"agent.":[172],"Moreover,":[173],"an":[176,211],"interactivity":[177,250],"estimation":[178],"mechanism":[179],"based":[180,215],"on":[181,201,216],"difference":[183],"predicted":[185],"two":[189],"situations,":[190],"indicates":[192],"degree":[194],"influence":[196],"validate":[205],"proposed":[207],"method,":[208],"design":[210],"intersection":[212],"driving":[213],"simulator":[214],"Intelligent":[218],"Intersection":[219],"Driver":[220],"Model":[221],"(IIDM)":[222],"that":[223],"simulates":[224],"vehicles":[225],"pedestrians.":[227],"Our":[228],"approach":[229],"achieves":[230],"robust":[231],"state-of-the-art":[233],"terms":[236],"evaluation":[239],"metrics":[240],"indicators":[245],"states,":[248],"scores)":[251],"making.":[254]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
