{"id":"https://openalex.org/W4391769151","doi":"https://doi.org/10.1109/itsc57777.2023.10422525","title":"Maximum Entropy Inverse Reinforcement Learning Based on Frenet Frame Sampling for Human-Like Autonomous Driving","display_name":"Maximum Entropy Inverse Reinforcement Learning Based on Frenet Frame Sampling for Human-Like Autonomous Driving","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391769151","doi":"https://doi.org/10.1109/itsc57777.2023.10422525"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","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/A5009484245","display_name":"Tangyike Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tangyike Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications,Shaanxi,China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications,Shaanxi,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100343241","display_name":"Shuo Sun","orcid":"https://orcid.org/0000-0002-8432-0452"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shuo Sun","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore","Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010936276","display_name":"Jiamin Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiamin Shi","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications,Shaanxi,China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications,Shaanxi,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100774271","display_name":"Shitao Chen","orcid":"https://orcid.org/0000-0002-9422-3058"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shitao Chen","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications,Shaanxi,China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications,Shaanxi,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore","Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031227866","display_name":"Jingmin Xin","orcid":"https://orcid.org/0000-0003-1906-2327"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingmin Xin","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications,Shaanxi,China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications,Shaanxi,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047405956","display_name":"Nanning Zheng","orcid":"https://orcid.org/0000-0003-1608-8257"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanning Zheng","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications,Shaanxi,China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications,Shaanxi,China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5009484245"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":0.1748,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.60102595,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1820","last_page":"1827"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.770799994468689,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.770799994468689,"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":0.7591000199317932,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.7203999757766724,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/frenet\u2013serret-formulas","display_name":"Frenet\u2013Serret formulas","score":0.8198374509811401},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6183013916015625},{"id":"https://openalex.org/keywords/principle-of-maximum-entropy","display_name":"Principle of maximum entropy","score":0.6119229197502136},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5602620244026184},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5105224847793579},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.5039328932762146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4989025592803955},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4716167747974396},{"id":"https://openalex.org/keywords/inverse-problem","display_name":"Inverse problem","score":0.445929616689682},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3338679373264313},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32229912281036377},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26301705837249756},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1943623125553131},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.15036028623580933},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.07565450668334961}],"concepts":[{"id":"https://openalex.org/C162546045","wikidata":"https://www.wikidata.org/wiki/Q947922","display_name":"Frenet\u2013Serret formulas","level":3,"score":0.8198374509811401},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6183013916015625},{"id":"https://openalex.org/C9679016","wikidata":"https://www.wikidata.org/wiki/Q1417473","display_name":"Principle of maximum entropy","level":2,"score":0.6119229197502136},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5602620244026184},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5105224847793579},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.5039328932762146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4989025592803955},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4716167747974396},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.445929616689682},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3338679373264313},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32229912281036377},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26301705837249756},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1943623125553131},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.15036028623580933},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.07565450668334961},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/itsc57777.2023.10422525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1656056944","display_name":null,"funder_award_id":"2022YFB2502900","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G314463636","display_name":null,"funder_award_id":"202106280252","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G3833898155","display_name":null,"funder_award_id":"62088102","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"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1999874108","https://openalex.org/W2107338474","https://openalex.org/W2559655401","https://openalex.org/W2564091245","https://openalex.org/W2741222326","https://openalex.org/W2896642734","https://openalex.org/W2955189650","https://openalex.org/W2968983352","https://openalex.org/W2971116204","https://openalex.org/W2980087597","https://openalex.org/W2989730386","https://openalex.org/W3000383034","https://openalex.org/W3037058446","https://openalex.org/W3037434189","https://openalex.org/W3037606473","https://openalex.org/W3121045039","https://openalex.org/W3147079603","https://openalex.org/W3164005523","https://openalex.org/W3176912151","https://openalex.org/W3201755685","https://openalex.org/W4285820969","https://openalex.org/W4287115177","https://openalex.org/W4308080967","https://openalex.org/W6604948569","https://openalex.org/W6635261211","https://openalex.org/W6638088447","https://openalex.org/W6674884181","https://openalex.org/W6718092244"],"related_works":["https://openalex.org/W2609788161","https://openalex.org/W2890994448","https://openalex.org/W4312766700","https://openalex.org/W1967787111","https://openalex.org/W4312713068","https://openalex.org/W2331917905","https://openalex.org/W2284383958","https://openalex.org/W3155039083","https://openalex.org/W251497191","https://openalex.org/W1970914699"],"abstract_inverted_index":{"Ensuring":[0],"social":[1],"acceptability":[2],"is":[3,18,51],"a":[4,31,90,102],"key":[5],"factor":[6],"in":[7,67,93,143],"the":[8,58,83,94,99,110,134],"successful":[9],"operation":[10],"of":[11,60,86,101],"autonomous":[12,118],"vehicles.":[13],"To":[14],"achieve":[15],"this,":[16],"it":[17],"important":[19],"to":[20,53,109,120],"extract":[21,158],"driving":[22,72,107,128,160],"habits":[23,163],"from":[24,70],"expert":[25],"human":[26,61,71,106,127,140,159],"drivers.":[27],"This":[28],"paper":[29],"proposes":[30],"method":[32,50,156],"for":[33,57,98],"training":[34],"reward":[35,55,84,136],"functions":[36,56],"using":[37],"maximum":[38],"entropy":[39],"inverse":[40],"reinforcement":[41],"learning":[42],"based":[43,77],"on":[44,78],"Frenet":[45],"frame":[46,80],"sampling.":[47,81],"The":[48,154],"proposed":[49,155],"applied":[52],"learn":[54],"replication":[59],"driver's":[62],"lane-changing":[63],"and":[64,150,162],"velocity-keeping":[65],"behaviors":[66],"multi-lane":[68,144],"scenarios":[69,145],"dataset,":[73],"outperforming":[74],"traditional":[75],"methods":[76],"Cartesian":[79],"Converting":[82],"value":[85],"each":[87],"sample":[88,95],"into":[89],"probability":[91],"distribution":[92],"space":[96,104],"allows":[97],"provision":[100],"convex":[103],"with":[105,126],"characteristics":[108],"lower-level":[111],"trajectory":[112],"planner.":[113],"These":[114],"enhancements":[115],"will":[116],"help":[117],"vehicles":[119],"select":[121],"trajectories":[122],"that":[123,133],"align":[124],"more":[125],"habits.":[129],"Experimental":[130],"results":[131],"show":[132],"learned":[135],"function":[137],"can":[138],"characterize":[139],"drivers'":[141],"tendencies":[142],"across":[146],"multiple":[147],"optimization":[148],"metrics":[149],"exhibit":[151],"strong":[152],"interpretability.":[153],"effectively":[157],"behavior":[161],"under":[164],"test":[165],"conditions.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}