{"id":"https://openalex.org/W4387846539","doi":"https://doi.org/10.1145/3583780.3615454","title":"A Hierarchical Imitation Learning-based Decision Framework for Autonomous Driving","display_name":"A Hierarchical Imitation Learning-based Decision Framework for Autonomous Driving","publication_year":2023,"publication_date":"2023-10-21","ids":{"openalex":"https://openalex.org/W4387846539","doi":"https://doi.org/10.1145/3583780.3615454"},"language":"en","primary_location":{"id":"doi:10.1145/3583780.3615454","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3583780.3615454","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 32nd ACM International Conference on Information and Knowledge Management","raw_type":"proceedings-article"},"type":"conference-paper","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/A5073349738","display_name":"Hebin Liang","orcid":"https://orcid.org/0009-0000-8371-2297"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hebin Liang","raw_affiliation_strings":["Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0000-8371-2297","affiliations":[{"raw_affiliation_string":"Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072588922","display_name":"Zibin Dong","orcid":"https://orcid.org/0000-0002-2986-6022"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zibin Dong","raw_affiliation_strings":["Harbin Institution of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-2986-6022","affiliations":[{"raw_affiliation_string":"Harbin Institution of Technology (Shenzhen), Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028605963","display_name":"Yi Ma","orcid":"https://orcid.org/0000-0001-9375-6605"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Ma","raw_affiliation_strings":["Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-9375-6605","affiliations":[{"raw_affiliation_string":"Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103137659","display_name":"Xiaotian Hao","orcid":"https://orcid.org/0000-0002-3084-8366"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaotian Hao","raw_affiliation_strings":["Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-3084-8366","affiliations":[{"raw_affiliation_string":"Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058179613","display_name":"Yan Zheng","orcid":"https://orcid.org/0000-0002-5016-6549"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Zheng","raw_affiliation_strings":["Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-5016-6549","affiliations":[{"raw_affiliation_string":"Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047509839","display_name":"Jianye Hao","orcid":"https://orcid.org/0000-0002-0422-8235"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianye Hao","raw_affiliation_strings":["Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-0422-8235","affiliations":[{"raw_affiliation_string":"Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4695","last_page":"4701"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9973999857902527,"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/T10524","display_name":"Traffic control and management","score":0.9732999801635742,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7436364889144897},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7173095941543579},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.516258716583252},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3978712558746338}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7436364889144897},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7173095941543579},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.516258716583252},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3978712558746338}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3583780.3615454","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3583780.3615454","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 32nd ACM International Conference on Information and Knowledge Management","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G8734799983","display_name":null,"funder_award_id":"62106172","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":12,"referenced_works":["https://openalex.org/W2107537851","https://openalex.org/W2145339207","https://openalex.org/W2363637015","https://openalex.org/W2559767995","https://openalex.org/W2752236613","https://openalex.org/W2806373172","https://openalex.org/W2898818580","https://openalex.org/W2903683378","https://openalex.org/W2962894046","https://openalex.org/W2970517549","https://openalex.org/W3102270594","https://openalex.org/W3106247689"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W3046775127","https://openalex.org/W3107602296","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W4364306694","https://openalex.org/W4312192474","https://openalex.org/W4283697347"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"focus":[4],"on":[5],"the":[6,18,36,52,62,66,75,82,122,161],"decision-making":[7,43,47,53,131],"challenge":[8],"in":[9,40,110,116],"autonomous":[10,23,41,124],"driving,":[11],"a":[12],"central":[13],"and":[14,20,70,85,101,104,139],"intricate":[15],"problem":[16],"influencing":[17],"safety":[19],"practicality":[21],"of":[22,38,60,81,148],"vehicles.":[24],"We":[25,87],"propose":[26],"an":[27,114,144],"innovative":[28],"hierarchical":[29,97,130],"imitation":[30],"learning":[31,39,137],"framework":[32,98,132],"that":[33],"effectively":[34],"alleviates":[35],"complexity":[37],"driving":[42,83,119,125],"problems":[44],"by":[45,156],"decoupling":[46],"tasks":[48],"into":[49,57],"sub-problems.":[50],"Specifically,":[51],"process":[54],"is":[55,154],"divided":[56],"two":[58],"levels":[59],"sub-problems:":[61],"upper":[63],"level":[64,77],"directs":[65],"vehicle's":[67],"lane":[68],"selection":[69],"qualitative":[71],"speed":[72,84],"management,":[73],"while":[74],"lower":[76],"implements":[78],"precise":[79],"control":[80],"direction.":[86],"harness":[88],"Transformer-based":[89],"models":[90],"for":[91],"solving":[92],"each":[93],"sub-problem,":[94],"enabling":[95],"overall":[96],"to":[99],"comprehend":[100],"navigate":[102],"diverse":[103],"various":[105],"road":[106],"conditions,":[107],"ultimately":[108],"resulting":[109],"improved":[111],"decision-making.":[112],"Through":[113],"evaluation":[115],"several":[117],"typical":[118],"scenarios":[120],"within":[121],"SMARTS":[123,165],"simulation":[126],"environment,":[127],"our":[128],"proposed":[129],"significantly":[133],"outperforms":[134],"end-to-end":[135],"reinforcement":[136],"algorithms":[138],"behavior":[140],"cloning":[141],"algorithm,":[142],"achieving":[143],"average":[145],"pass":[146],"rate":[147],"over":[149],"90%.":[150],"Our":[151],"framework's":[152],"effectiveness":[153],"substantiated":[155],"its":[157],"commendable":[158],"achievements":[159],"at":[160],"NeurIPS":[162],"2022":[163],"Driving":[164],"competition,":[166],"where":[167],"it":[168],"secures":[169],"dual":[170],"track":[171],"championships.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
