{"id":"https://openalex.org/W3206704105","doi":"https://doi.org/10.1109/icra48506.2021.9561904","title":"Perceive, Attend, and Drive: Learning Spatial Attention for Safe Self-Driving","display_name":"Perceive, Attend, and Drive: Learning Spatial Attention for Safe Self-Driving","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206704105","doi":"https://doi.org/10.1109/icra48506.2021.9561904","mag":"3206704105"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561904","pdf_url":null,"source":null,"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":"https://arxiv.org/pdf/2011.01153","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041190706","display_name":"Bob Wei","orcid":"https://orcid.org/0009-0004-7801-280X"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Bob Wei","raw_affiliation_strings":["Uber ATG","University of Waterloo"],"affiliations":[{"raw_affiliation_string":"University of Waterloo","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Uber ATG","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112603339","display_name":"Mengye Ren","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"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mengye Ren","raw_affiliation_strings":["Uber ATG","University of Toronto"],"affiliations":[{"raw_affiliation_string":"Uber ATG","institution_ids":[]},{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","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"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wenyuan Zeng","raw_affiliation_strings":["Uber ATG","University of Toronto"],"affiliations":[{"raw_affiliation_string":"Uber ATG","institution_ids":[]},{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021434848","display_name":"Ming Liang","orcid":"https://orcid.org/0000-0002-2723-9041"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ming Liang","raw_affiliation_strings":["Uber ATG"],"affiliations":[{"raw_affiliation_string":"Uber ATG","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101648317","display_name":"Bin Yang","orcid":"https://orcid.org/0000-0002-8647-1051"},"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"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Bin Yang","raw_affiliation_strings":["Uber ATG","University of Toronto"],"affiliations":[{"raw_affiliation_string":"Uber ATG","institution_ids":[]},{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058557954","display_name":"Raquel Urtasun","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Raquel Urtasun","raw_affiliation_strings":["Uber ATG","University of Waterloo"],"affiliations":[{"raw_affiliation_string":"University of Waterloo","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Uber ATG","institution_ids":[]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.229,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.828225,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"4875","last_page":"4881"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997,"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":0.9997,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9997,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9978,"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/interpretability","display_name":"Interpretability","score":0.8534479},{"id":"https://openalex.org/keywords/self-driving","display_name":"Self driving","score":0.7882079},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6262916},{"id":"https://openalex.org/keywords/attention-network","display_name":"Attention network","score":0.48470902},{"id":"https://openalex.org/keywords/dangerous-driving","display_name":"Dangerous driving","score":0.43524012}],"concepts":[{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.8534479},{"id":"https://openalex.org/C3018391801","wikidata":"https://www.wikidata.org/wiki/Q741490","display_name":"Self driving","level":2,"score":0.7882079},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7301132},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6262916},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.59585613},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5867735},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5846839},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5341719},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5273507},{"id":"https://openalex.org/C2993807640","wikidata":"https://www.wikidata.org/wiki/Q103709453","display_name":"Attention network","level":2,"score":0.48470902},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.46646985},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45789725},{"id":"https://openalex.org/C2779925283","wikidata":"https://www.wikidata.org/wiki/Q5216147","display_name":"Dangerous driving","level":2,"score":0.43524012},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37513447},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.14382666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12097505},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.10435256},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561904","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2011.01153","pdf_url":"https://arxiv.org/pdf/2011.01153","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":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":"https://arxiv.org/abs/2011.01153","pdf_url":"https://arxiv.org/pdf/2011.01153","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":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":0.51,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":65,"referenced_works":["https://openalex.org/W1484210532","https://openalex.org/W1500269607","https://openalex.org/W1510835000","https://openalex.org/W1514535095","https://openalex.org/W1522301498","https://openalex.org/W1532826273","https://openalex.org/W1901129140","https://openalex.org/W1935978687","https://openalex.org/W2105464873","https://openalex.org/W2128272608","https://openalex.org/W2133564696","https://openalex.org/W2141399712","https://openalex.org/W2145884400","https://openalex.org/W2242818861","https://openalex.org/W2463565445","https://openalex.org/W2547875792","https://openalex.org/W2548228487","https://openalex.org/W2560023338","https://openalex.org/W2562731582","https://openalex.org/W2606492274","https://openalex.org/W2607538525","https://openalex.org/W2611493949","https://openalex.org/W2749747771","https://openalex.org/W2767434619","https://openalex.org/W2795282075","https://openalex.org/W2809695613","https://openalex.org/W2884634491","https://openalex.org/W2886585480","https://openalex.org/W2895387432","https://openalex.org/W2896457183","https://openalex.org/W2904339943","https://openalex.org/W2904578720","https://openalex.org/W2920827956","https://openalex.org/W2962676885","https://openalex.org/W2962743139","https://openalex.org/W2962851801","https://openalex.org/W2963182550","https://openalex.org/W2963341956","https://openalex.org/W2963371670","https://openalex.org/W2963403868","https://openalex.org/W2963430933","https://openalex.org/W2963495494","https://openalex.org/W2963668159","https://openalex.org/W2963677766","https://openalex.org/W2963762522","https://openalex.org/W2963896595","https://openalex.org/W2963954913","https://openalex.org/W2964036520","https://openalex.org/W2964121744","https://openalex.org/W2964308564","https://openalex.org/W2968008415","https://openalex.org/W2983827899","https://openalex.org/W2991420892","https://openalex.org/W3004162282","https://openalex.org/W3004408449","https://openalex.org/W3034782805","https://openalex.org/W3035574168","https://openalex.org/W3106180689","https://openalex.org/W3109633872","https://openalex.org/W3109791956","https://openalex.org/W3110109289","https://openalex.org/W3112000052","https://openalex.org/W4289699847","https://openalex.org/W4297781990","https://openalex.org/W4385245566"],"related_works":["https://openalex.org/W4281476841","https://openalex.org/W3206704105","https://openalex.org/W3161231769","https://openalex.org/W3136444631","https://openalex.org/W3095417547","https://openalex.org/W2969033227","https://openalex.org/W2905433371","https://openalex.org/W2896708044","https://openalex.org/W2735615509","https://openalex.org/W1550809984"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"an":[5,42],"end-to-end":[6,67],"self-driving":[7],"network":[8],"featuring":[9],"a":[10],"sparse":[11],"attention":[12,26,37,43,63],"module":[13,27],"that":[14],"learns":[15],"to":[16,19],"automatically":[17],"attend":[18],"important":[20],"regions":[21],"of":[22,66],"the":[23,52,62],"input.":[24],"The":[25],"specifically":[28],"targets":[29],"motion":[30,48],"planning,":[31],"whereas":[32],"prior":[33],"literature":[34],"only":[35],"applied":[36],"in":[38],"perception":[39],"tasks.":[40],"Learning":[41],"mask":[44],"directly":[45],"targeted":[46],"for":[47],"planning":[49],"significantly":[50],"improves":[51,64],"planner":[53],"safety":[54],"by":[55],"performing":[56],"more":[57],"focused":[58],"computation.":[59],"Furthermore,":[60],"visualizing":[61],"interpretability":[65],"self-driving.":[68]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3206704105","counts_by_year":[{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":4}],"updated_date":"2025-01-07T08:17:03.540278","created_date":"2021-10-25"}