{"id":"https://openalex.org/W3169154538","doi":"https://doi.org/10.3390/sym13061061","title":"Deep Deterministic Policy Gradient Algorithm Based on Convolutional Block Attention for Autonomous Driving","display_name":"Deep Deterministic Policy Gradient Algorithm Based on Convolutional Block Attention for Autonomous Driving","publication_year":2021,"publication_date":"2021-06-12","ids":{"openalex":"https://openalex.org/W3169154538","doi":"https://doi.org/10.3390/sym13061061","mag":"3169154538"},"language":"en","primary_location":{"id":"doi:10.3390/sym13061061","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym13061061","pdf_url":"https://www.mdpi.com/2073-8994/13/6/1061/pdf?version=1623485235","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/13/6/1061/pdf?version=1623485235","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082390177","display_name":"Yanliang Jin","orcid":"https://orcid.org/0000-0001-9836-8249"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanliang Jin","raw_affiliation_strings":["Key Laboratory of Specialty Fiber Optics and Optical Access Networks, Joint International Research Laboratory of Specialty Fiber Optics and Advanced Communication, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Specialty Fiber Optics and Optical Access Networks, Joint International Research Laboratory of Specialty Fiber Optics and Advanced Communication, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090025454","display_name":"Qianhong Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianhong Liu","raw_affiliation_strings":["Key Laboratory of Specialty Fiber Optics and Optical Access Networks, Joint International Research Laboratory of Specialty Fiber Optics and Advanced Communication, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Specialty Fiber Optics and Optical Access Networks, Joint International Research Laboratory of Specialty Fiber Optics and Advanced Communication, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048268082","display_name":"Liquan Shen","orcid":"https://orcid.org/0000-0002-2148-6279"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liquan Shen","raw_affiliation_strings":["Key Laboratory of Specialty Fiber Optics and Optical Access Networks, Joint International Research Laboratory of Specialty Fiber Optics and Advanced Communication, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Specialty Fiber Optics and Optical Access Networks, Joint International Research Laboratory of Specialty Fiber Optics and Advanced Communication, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101149569","display_name":"Leiji Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Leiji Zhu","raw_affiliation_strings":["Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai 200050, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai 200050, China","institution_ids":["https://openalex.org/I4210147322"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5082390177"],"corresponding_institution_ids":["https://openalex.org/I113940042"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":0.6996,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.75889842,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"13","issue":"6","first_page":"1061","last_page":"1061"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9950000047683716,"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/T10524","display_name":"Traffic control and management","score":0.9513000249862671,"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":0.7680002450942993},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6443442106246948},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.597801685333252},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5303550362586975},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.45912325382232666},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4381643533706665},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.4370037615299225},{"id":"https://openalex.org/keywords/reuse","display_name":"Reuse","score":0.4260764718055725},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3371703028678894},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19509387016296387},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12977051734924316}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7680002450942993},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6443442106246948},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.597801685333252},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5303550362586975},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.45912325382232666},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4381643533706665},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.4370037615299225},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.4260764718055725},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3371703028678894},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19509387016296387},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12977051734924316},{"id":"https://openalex.org/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/sym13061061","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym13061061","pdf_url":"https://www.mdpi.com/2073-8994/13/6/1061/pdf?version=1623485235","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:8ccb65fa71934c37b33f01b5c1382bab","is_oa":true,"landing_page_url":"https://doaj.org/article/8ccb65fa71934c37b33f01b5c1382bab","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symmetry, Vol 13, Iss 6, p 1061 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2073-8994/13/6/1061/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/sym13061061","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symmetry; Volume 13; Issue 6; Pages: 1061","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/sym13061061","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym13061061","pdf_url":"https://www.mdpi.com/2073-8994/13/6/1061/pdf?version=1623485235","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3169154538.pdf"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W1191599655","https://openalex.org/W1514535095","https://openalex.org/W1757796397","https://openalex.org/W1849277567","https://openalex.org/W2008791002","https://openalex.org/W2041911815","https://openalex.org/W2119717200","https://openalex.org/W2121863487","https://openalex.org/W2133233905","https://openalex.org/W2144304287","https://openalex.org/W2145339207","https://openalex.org/W2155968351","https://openalex.org/W2157331557","https://openalex.org/W2167224731","https://openalex.org/W2173248099","https://openalex.org/W2173564293","https://openalex.org/W2260756217","https://openalex.org/W2342840547","https://openalex.org/W2559767995","https://openalex.org/W2582616844","https://openalex.org/W2586886183","https://openalex.org/W2611430843","https://openalex.org/W2734506266","https://openalex.org/W2736601468","https://openalex.org/W2765395072","https://openalex.org/W2808272600","https://openalex.org/W2837605352","https://openalex.org/W2869375357","https://openalex.org/W2884585870","https://openalex.org/W2889181072","https://openalex.org/W2950635152","https://openalex.org/W2951799221","https://openalex.org/W2952295876","https://openalex.org/W2963322416","https://openalex.org/W2963477884","https://openalex.org/W2963679616","https://openalex.org/W2964043796","https://openalex.org/W2968983352","https://openalex.org/W2970065535","https://openalex.org/W2971116204","https://openalex.org/W2971254261","https://openalex.org/W2973588514","https://openalex.org/W2974005385","https://openalex.org/W3021252423","https://openalex.org/W3030658133","https://openalex.org/W3132033106","https://openalex.org/W4214717370","https://openalex.org/W6687681856","https://openalex.org/W6704559304","https://openalex.org/W6741002519","https://openalex.org/W6891937993"],"related_works":["https://openalex.org/W2000444236","https://openalex.org/W2384475851","https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W4380318855","https://openalex.org/W2138720691","https://openalex.org/W2031695474","https://openalex.org/W2353602216","https://openalex.org/W2586732548","https://openalex.org/W3049728571"],"abstract_inverted_index":{"The":[0,108,214],"research":[1,13],"on":[2,6,27,57,104,125],"autonomous":[3,16,23,41],"driving":[4,17,24,42],"based":[5,26,56],"deep":[7,50,70],"reinforcement":[8],"learning":[9,29],"algorithms":[10,25],"is":[11,65,97,190,202,210],"a":[12,168],"hotspot.":[14],"Traditional":[15],"requires":[18],"human":[19,36],"involvement,":[20],"and":[21,63,80,149,192],"the":[22,58,77,81,85,88,94,101,113,119,126,133,138,141,150,161,176,179,182,185,188,193,197,200,208,219],"supervised":[28],"must":[30],"be":[31],"trained":[32],"in":[33,112],"advance":[34],"using":[35],"experience.":[37],"To":[38],"deal":[39],"with":[40,91,137],"problems,":[43],"this":[44],"paper":[45],"proposes":[46],"an":[47],"improved":[48],"end-to-end":[49],"deterministic":[51,71],"policy":[52,72],"gradient":[53,73],"(DDPG)":[54],"algorithm":[55,74],"convolutional":[59],"block":[60],"attention":[61,68,95],"mechanism,":[62],"it":[64],"called":[66],"multi-input":[67],"prioritized":[69],"(MAPDDPG).":[75],"Both":[76],"actor":[78],"network":[79,83],"critic":[82],"of":[84,121,163,178,187,199,207],"model":[86],"have":[87],"same":[89],"structure":[90],"symmetry.":[92],"Meanwhile,":[93],"mechanism":[96],"introduced":[98],"to":[99,131,147,157,166,173,184],"help":[100],"vehicles":[102],"focus":[103],"useful":[105],"environmental":[106],"information.":[107],"experiments":[109],"are":[110,129],"conducted":[111],"open":[114],"racing":[115],"car":[116],"simulator":[117],"(TORCS)and":[118],"results":[120,216],"five":[122],"experiment":[123],"runs":[124],"test":[127],"tracks":[128],"averaged":[130],"obtain":[132],"final":[134],"result.":[135],"Compared":[136],"state-of-the-art":[139],"algorithm,":[140],"maximum":[142],"reward":[143],"increases":[144,153,170],"from":[145,154,171,181],"62,207":[146],"116,347,":[148],"average":[151],"speed":[152],"135":[155],"km/h":[156],"193":[158],"km/h,":[159],"while":[160,205],"number":[162],"success":[164],"episodes":[165],"complete":[167],"circle":[169],"96":[172],"147.":[174],"Also,":[175],"variance":[177,198],"distance":[180],"vehicle":[183],"center":[186],"road":[189],"compared,":[191],"result":[194],"indicates":[195],"that":[196,206,218],"DDPG":[201],"0.6":[203],"m":[204],"MAPDDPG":[209,221],"only":[211],"0.2":[212],"m.":[213],"above":[215],"indicate":[217],"proposed":[220],"achieves":[222],"excellent":[223],"performance.":[224]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2021-06-22T00:00:00"}