{"id":"https://openalex.org/W3035069850","doi":"https://doi.org/10.24963/ijcai.2020/405","title":"Triple-GAIL: A Multi-Modal Imitation Learning Framework with Generative Adversarial Nets","display_name":"Triple-GAIL: A Multi-Modal Imitation Learning Framework with Generative Adversarial Nets","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3035069850","doi":"https://doi.org/10.24963/ijcai.2020/405","mag":"3035069850"},"language":"en","primary_location":{"id":"doi:10.24963/ijcai.2020/405","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2020/405","pdf_url":"https://www.ijcai.org/proceedings/2020/0405.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Twenty-Ninth International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.ijcai.org/proceedings/2020/0405.pdf","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101691433","display_name":"Cong Fei","orcid":"https://orcid.org/0000-0002-7156-1230"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]},{"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","SE"],"is_corresponding":false,"raw_author_name":"Cong Fei","raw_affiliation_strings":["Huawei Noah's Ark Lab","Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah's Ark Lab","institution_ids":["https://openalex.org/I4210159102"]},{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115604616","display_name":"Bin Wang","orcid":"https://orcid.org/0000-0002-0267-3749"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Bin Wang","raw_affiliation_strings":["Huawei Noah's Ark Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah's Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011036128","display_name":"Yuzheng Zhuang","orcid":"https://orcid.org/0000-0002-0915-0254"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yuzheng Zhuang","raw_affiliation_strings":["Huawei Noah's Ark Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah's Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035138959","display_name":"Zongzhang Zhang","orcid":"https://orcid.org/0000-0002-9238-4747"},"institutions":[{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongzhang Zhang","raw_affiliation_strings":["Nanjing University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University","institution_ids":["https://openalex.org/I881766915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047509839","display_name":"Jianye Hao","orcid":"https://orcid.org/0000-0002-0422-8235"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jianye Hao","raw_affiliation_strings":["Huawei Noah's Ark Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah's Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100461083","display_name":"Hongbo Zhang","orcid":"https://orcid.org/0000-0001-5536-5224"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Hongbo Zhang","raw_affiliation_strings":["Huawei Noah's Ark Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah's Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024351828","display_name":"Xuewu Ji","orcid":"https://orcid.org/0000-0002-5242-8119"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]},{"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","SE"],"is_corresponding":false,"raw_author_name":"Xuewu Ji","raw_affiliation_strings":["Tsinghua University","Huawei Noah's Ark Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Huawei Noah's Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036527488","display_name":"Wulong Liu","orcid":"https://orcid.org/0000-0003-2901-1523"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Wulong Liu","raw_affiliation_strings":["Huawei Noah's Ark Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah's Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":30,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2929","last_page":"2935"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991000294685364,"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":0.9991000294685364,"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/T10812","display_name":"Human Pose and Action Recognition","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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9944999814033508,"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":0.7161715030670166},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.7149002552032471},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.6967038512229919},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.6946948170661926},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6810147166252136},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6605614423751831},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.6114472150802612},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6104158163070679},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5542044639587402},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.54730224609375},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5292679071426392},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06921935081481934}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7161715030670166},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.7149002552032471},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.6967038512229919},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6946948170661926},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6810147166252136},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6605614423751831},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.6114472150802612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6104158163070679},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5542044639587402},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.54730224609375},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5292679071426392},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06921935081481934},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.24963/ijcai.2020/405","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2020/405","pdf_url":"https://www.ijcai.org/proceedings/2020/0405.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Twenty-Ninth International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.24963/ijcai.2020/405","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2020/405","pdf_url":"https://www.ijcai.org/proceedings/2020/0405.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Twenty-Ninth International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3035069850.pdf","grobid_xml":"https://content.openalex.org/works/W3035069850.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1771410628","https://openalex.org/W1929981607","https://openalex.org/W1999874108","https://openalex.org/W2596763562","https://openalex.org/W2729615412","https://openalex.org/W2730357202","https://openalex.org/W2735089625","https://openalex.org/W2765658450","https://openalex.org/W2770884134","https://openalex.org/W2883109840","https://openalex.org/W2910781732","https://openalex.org/W2911695803","https://openalex.org/W2944911388","https://openalex.org/W2963277051","https://openalex.org/W2964218010","https://openalex.org/W2976205474","https://openalex.org/W4295700171","https://openalex.org/W4320013936","https://openalex.org/W6650265722","https://openalex.org/W6718092244","https://openalex.org/W6753646160","https://openalex.org/W6803771590","https://openalex.org/W6864014924"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W3005996785","https://openalex.org/W4386984417"],"abstract_inverted_index":{"Generative":[0],"adversarial":[1,14],"imitation":[2,74],"learning":[3],"(GAIL)":[4],"has":[5],"shown":[6],"promising":[7],"results":[8],"by":[9,88],"taking":[10],"advantage":[11],"of":[12,20,26,34,50,104],"generative":[13],"nets,":[15],"especially":[16],"in":[17],"the":[18,24,32,35,98,105,108,131],"field":[19],"robot":[21],"learning.":[22],"However,":[23],"requirement":[25],"isolated":[27],"single":[28],"modal":[29],"demonstrations":[30,79],"limits":[31],"scalability":[33],"approach":[36],"to":[37,69,100,130],"real":[38,113],"world":[39],"scenarios":[40],"such":[41],"as":[42],"autonomous":[43],"vehicles'":[44],"demand":[45],"for":[46,102],"a":[47,59],"proper":[48],"understanding":[49],"human":[51],"drivers'":[52],"behavior.":[53],"In":[54],"this":[55],"paper,":[56],"we":[57],"propose":[58],"novel":[60],"multi-modal":[61,127],"GAIL":[62],"framework,":[63],"named":[64],"Triple-GAIL,":[65],"that":[66,122],"is":[67],"able":[68],"learn":[70],"skill":[71],"selection":[72],"and":[73,80,107,116,133],"jointly":[75],"from":[76],"both":[77,103],"expert":[78],"continuously":[81],"generated":[82],"experiences":[83],"with":[84],"data":[85],"augmentation":[86],"purpose":[87],"introducing":[89],"an":[90],"auxiliary":[91],"selector.":[92],"We":[93],"provide":[94],"theoretical":[95],"guarantees":[96],"on":[97,112],"convergence":[99],"optima":[101],"generator":[106],"selector":[109],"respectively.":[110],"Experiments":[111],"driver":[114],"trajectories":[115],"real-time":[117],"strategy":[118],"game":[119],"datasets":[120],"demonstrate":[121],"Triple-GAIL":[123],"can":[124],"better":[125],"fit":[126],"behaviors":[128],"close":[129],"demonstrators":[132],"outperforms":[134],"state-of-the-art":[135],"methods.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}