{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,13]],"date-time":"2026-06-13T16:20:58Z","timestamp":1781367658245,"version":"3.54.1"},"reference-count":26,"publisher":"IEEE","license":[{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,5,29]]},"DOI":"10.1109\/icra48891.2023.10160476","type":"proceedings-article","created":{"date-parts":[[2023,7,4]],"date-time":"2023-07-04T17:20:56Z","timestamp":1688491256000},"page":"1565-1571","source":"Crossref","is-referenced-by-count":4,"title":["TOFG: A Unified and Fine-Grained Environment Representation in Autonomous Driving"],"prefix":"10.1109","author":[{"given":"Zihao","family":"Wen","sequence":"first","affiliation":[{"name":"City University of Hong Kong,Department of Computer Science,Hong Kong,China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yifan","family":"Zhang","sequence":"additional","affiliation":[{"name":"City University of Hong Kong,Department of Computer Science,Hong Kong,China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinhong","family":"Chen","sequence":"additional","affiliation":[{"name":"City University of Hong Kong,Department of Computer Science,Hong Kong,China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianping","family":"Wang","sequence":"additional","affiliation":[{"name":"City University of Hong Kong,Department of Computer Science,Hong Kong,China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref13","first-page":"541","article-title":"Learning lane graph representations for motion forecasting","author":"liang","year":"2020","journal-title":"European Conference on Computer Vision"},{"key":"ref12","author":"ichter","year":"2019","journal-title":"Learned critical probabilistic roadmaps for robotic motion planning"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995721"},{"key":"ref14","article-title":"Attention is all you need","volume":"30","author":"vaswani","year":"2017","journal-title":"Advances in neural information processing systems"},{"key":"ref11","first-page":"4274","article-title":"Reducing collision checking for sampling-based motion planning using graph neural networks","volume":"34","author":"yu","year":"2021","journal-title":"In Neural Information Processing Systems"},{"key":"ref10","article-title":"Scene transformer: A unified architecture for predicting multiple agent trajectories","author":"ngiam","year":"2021","journal-title":"ArXiv Preprint"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21918"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2983149"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2019.8917228"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500493"},{"key":"ref19","author":"mercat","year":"2019","journal-title":"Multi-head attention for multi-modal joint vehicle motion forecasting"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812253"},{"key":"ref24","article-title":"Explainability of vision-based autonomous driving systems: Review and challenges","author":"zablocki","year":"2021","journal-title":"ArXiv Preprint"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3151613"},{"key":"ref26","article-title":"Nuplan: A closed-loop ml-based planning benchmark for autonomous vehicles","author":"caesar","year":"0","journal-title":"CVPR ADP3 workshop"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1145\/3054912"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01154"},{"key":"ref22","doi-asserted-by":"crossref","first-page":"24 972","DOI":"10.1073\/pnas.1820676116","article-title":"Social behavior for autonomous vehicles","volume":"116","author":"schwarting","year":"0","journal-title":"Proceedings of the National Academy of Sciences"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00895"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00749"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.00862"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01502"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1080\/1463922X.2020.1736686"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2021.3093523"},{"key":"ref6","first-page":"20","article-title":"Graph attention networks","volume":"1050","author":"velickovic","year":"2017","journal-title":"Stat"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2018.00196"}],"event":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","location":"London, United Kingdom","start":{"date-parts":[[2023,5,29]]},"end":{"date-parts":[[2023,6,2]]}},"container-title":["2023 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/10160211\/10160212\/10160476.pdf?arnumber=10160476","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,7,24]],"date-time":"2023-07-24T17:31:42Z","timestamp":1690219902000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10160476\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5,29]]},"references-count":26,"URL":"https:\/\/doi.org\/10.1109\/icra48891.2023.10160476","relation":{},"subject":[],"published":{"date-parts":[[2023,5,29]]}}}