{"id":"https://openalex.org/W2968008415","doi":"https://doi.org/10.1109/cvpr.2019.00886","title":"End-To-End Interpretable Neural Motion Planner","display_name":"End-To-End Interpretable Neural Motion Planner","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2968008415","doi":"https://doi.org/10.1109/cvpr.2019.00886","mag":"2968008415"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2019.00886","pdf_url":null,"source":{"id":"https://openalex.org/S4363607701","display_name":"2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://arxiv.org/pdf/2101.06679","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084521370","display_name":"Wenyuan Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Wenyuan Zeng","raw_affiliation_strings":["Uber Advanced Technologies Group","University of Toronto"],"affiliations":[{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Uber Advanced Technologies Group","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073600541","display_name":"Wenjie Luo","orcid":"https://orcid.org/0000-0002-2070-465X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Wenjie Luo","raw_affiliation_strings":["Uber Advanced Technologies Group","University of Toronto"],"affiliations":[{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Uber Advanced Technologies Group","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082646616","display_name":"Simon Su","orcid":"https://orcid.org/0000-0002-2460-3899"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Simon Suo","raw_affiliation_strings":["Uber Advanced Technologies Group","University of Toronto"],"affiliations":[{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Uber Advanced Technologies Group","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050973345","display_name":"Abbas Sadat","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abbas Sadat","raw_affiliation_strings":["Uber Advanced Technologies Group"],"affiliations":[{"raw_affiliation_string":"Uber Advanced Technologies Group","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036688125","display_name":"Bin Yang","orcid":"https://orcid.org/0000-0001-7175-8001"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Bin Yang","raw_affiliation_strings":["Uber Advanced Technologies Group","University of Toronto"],"affiliations":[{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Uber Advanced Technologies Group","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023389308","display_name":"Sergio Casas","orcid":"https://orcid.org/0000-0002-0396-4628"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Sergio Casas","raw_affiliation_strings":["Uber Advanced Technologies Group","University of Toronto"],"affiliations":[{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Uber Advanced Technologies Group","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058557954","display_name":"Raquel Urtasun","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Raquel Urtasun","raw_affiliation_strings":["Uber Advanced Technologies Group","University of Toronto"],"affiliations":[{"raw_affiliation_string":"Uber Advanced Technologies Group","institution_ids":["https://openalex.org/I4210123843"]},{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":41.784,"has_fulltext":false,"cited_by_count":326,"citation_normalized_percentile":{"value":0.944103,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"8652","last_page":"8661"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998,"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":0.9998,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9941,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7227912},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.62227666},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.57774615},{"id":"https://openalex.org/keywords/data-set","display_name":"Data set","score":0.48681495},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.4105855}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7358834},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7227912},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.62227666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.59030926},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.57774615},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.56294394},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.55685383},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.550904},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.51276},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.48681495},{"id":"https://openalex.org/C20556612","wikidata":"https://www.wikidata.org/wiki/Q4469374","display_name":"Volume (thermodynamics)","level":2,"score":0.47145683},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.46762425},{"id":"https://openalex.org/C132964779","wikidata":"https://www.wikidata.org/wiki/Q2110223","display_name":"Raw data","level":2,"score":0.44613838},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.42592373},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4139125},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4105855},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35943815},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3550889},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11993429},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2019.00886","pdf_url":null,"source":{"id":"https://openalex.org/S4363607701","display_name":"2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.06679","pdf_url":"http://arxiv.org/pdf/2101.06679","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.06679","pdf_url":"http://arxiv.org/pdf/2101.06679","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"score":0.84,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":44,"referenced_works":["https://openalex.org/W1504992226","https://openalex.org/W155097506","https://openalex.org/W1929981607","https://openalex.org/W2004815408","https://openalex.org/W2005443352","https://openalex.org/W2055207897","https://openalex.org/W2098774185","https://openalex.org/W2107338474","https://openalex.org/W2119112357","https://openalex.org/W2148361676","https://openalex.org/W2153284231","https://openalex.org/W2167108407","https://openalex.org/W2167224731","https://openalex.org/W2342840547","https://openalex.org/W2343568200","https://openalex.org/W2505763307","https://openalex.org/W2514940730","https://openalex.org/W2556967412","https://openalex.org/W2560023338","https://openalex.org/W2562817597","https://openalex.org/W2606508169","https://openalex.org/W2612445135","https://openalex.org/W2652032334","https://openalex.org/W2766447205","https://openalex.org/W2793066675","https://openalex.org/W2798965597","https://openalex.org/W2799017078","https://openalex.org/W2884634491","https://openalex.org/W2894978157","https://openalex.org/W2898900571","https://openalex.org/W2949846184","https://openalex.org/W2962696750","https://openalex.org/W2962867954","https://openalex.org/W2962894046","https://openalex.org/W2962977206","https://openalex.org/W2963727600","https://openalex.org/W2968983352","https://openalex.org/W3105834261","https://openalex.org/W3106250896","https://openalex.org/W3114753236","https://openalex.org/W4293682399","https://openalex.org/W4295719664","https://openalex.org/W4297775537","https://openalex.org/W4299805595"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4256172809","https://openalex.org/W2953205341","https://openalex.org/W2787754950","https://openalex.org/W2352115286","https://openalex.org/W235065745","https://openalex.org/W2092643327","https://openalex.org/W2029935773","https://openalex.org/W1985775355","https://openalex.org/W1572215850"],"abstract_inverted_index":{"In":[0],"this":[1,29],"paper,":[2],"we":[3,31],"propose":[4],"a":[5,33,44,65,87],"neural":[6],"motion":[7],"planner":[8],"for":[9],"learning":[10],"to":[11,109],"drive":[12],"autonomously":[13],"in":[14,52,120,125,128],"complex":[15],"urban":[16],"scenarios":[17],"that":[18,36,74,134],"include":[19],"traffic-light":[20],"handling,":[21],"yielding,":[22],"and":[23,43,47,58,94],"interactions":[24],"with":[25,98],"multiple":[26],"road-users.":[27],"Towards":[28],"goal,":[30],"design":[32],"holistic":[34],"model":[35],"takes":[37],"as":[38,62,64],"input":[39],"raw":[40],"LIDAR":[41],"data":[42,123],"HD":[45],"map":[46],"produces":[48],"interpretable":[49],"intermediate":[50],"representations":[51],"the":[53,69,75,81,96,99,115,135,145],"form":[54],"of":[55,71,89,117],"3D":[56],"detections":[57],"their":[59],"future":[60],"trajectories,":[61],"well":[63],"cost":[66,105,137],"volume":[67,106,138],"defining":[68],"goodness":[70],"each":[72],"position":[73],"self-driving":[76],"car":[77],"can":[78,139],"take":[79],"within":[80],"planning":[82,142],"horizon.":[83],"We":[84,113],"then":[85],"sample":[86],"set":[88],"diverse":[90],"physically":[91],"possible":[92],"trajectories":[93],"choose":[95],"one":[97],"minimum":[100],"learned":[101,136],"cost.":[102],"Importantly,":[103],"our":[104,118],"is":[107],"able":[108],"naturally":[110],"capture":[111],"multi-modality.":[112],"demonstrate":[114],"effectiveness":[116],"approach":[119],"real-world":[121],"driving":[122],"captured":[124],"several":[126],"cities":[127],"North":[129],"America.":[130],"Our":[131],"experiments":[132],"show":[133],"generate":[140],"safer":[141],"than":[143],"all":[144],"baselines.":[146]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2968008415","counts_by_year":[{"year":2024,"cited_by_count":46},{"year":2023,"cited_by_count":57},{"year":2022,"cited_by_count":58},{"year":2021,"cited_by_count":89},{"year":2020,"cited_by_count":66},{"year":2019,"cited_by_count":10}],"updated_date":"2025-01-22T15:38:58.548702","created_date":"2019-08-22"}