{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,24]],"date-time":"2026-06-24T05:15:42Z","timestamp":1782278142196,"version":"3.54.5"},"reference-count":37,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"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":[[2021,9,27]]},"DOI":"10.1109\/iros51168.2021.9636862","type":"proceedings-article","created":{"date-parts":[[2021,12,16]],"date-time":"2021-12-16T20:45:38Z","timestamp":1639687538000},"page":"1442-1449","source":"Crossref","is-referenced-by-count":20,"title":["PILOT: Efficient Planning by Imitation Learning and Optimisation for Safe Autonomous Driving"],"prefix":"10.1109","author":[{"given":"Henry","family":"Pulver","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Francisco","family":"Eiras","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ludovico","family":"Carozza","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Majd","family":"Hawasly","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stefano V.","family":"Albrecht","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Subramanian","family":"Ramamoorthy","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref33","first-page":"253","article-title":"Recursive decomposition for non-convex optimization","author":"friesen","year":"2015","journal-title":"Proceedings of the International Joint Conference on Arti cial Intelligence"},{"key":"ref32","first-page":"1","article-title":"Forces nlp: an efficient implementation of interior-point methods for multistage nonlinear nonconvex programs","author":"zanelli","year":"2017","journal-title":"International Journal of Control"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-004-0559-y"},{"key":"ref30","author":"nocedal","year":"2006","journal-title":"Numerical Optimization"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1145\/1553374.1553380"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460487"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197560"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2972893"},{"key":"ref10","first-page":"3578","article-title":"Differentiable abstract interpretation for provably robust neural networks","author":"mirman","year":"2018","journal-title":"Proceedings of the International Conference on Machine Learning"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-55754-6_4"},{"key":"ref12","article-title":"Algorithms for verifying deep neural networks","author":"liu","year":"2019"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9635903"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560849"},{"key":"ref15","article-title":"Interpretable policies from formally-speci ed temporal properties","author":"decastro","year":"2020","journal-title":"Proceedings of the International Conference on Intelligent Transportation Systems (ITSC)"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2016.2578706"},{"key":"ref17","article-title":"Policy distillation","author":"rusu","year":"2016","journal-title":"Proceedings of the International Conference on Learning Representations (ICLR)"},{"key":"ref18","first-page":"627","article-title":"A reduction of imitation learning and structured prediction to no-regret online learning","author":"ross","year":"2011","journal-title":"Proceedings of the International Conference on Arti cial Intelligence and Statistics"},{"key":"ref19","first-page":"1","article-title":"CARLA: An open urban driving simulator","volume":"78","author":"dosovitskiy","year":"2017","journal-title":"Conference on Robot Learning ser Proceedings of Machine Learning Research"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IECON.2017.8216790"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3088009"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.23919\/ACC45564.2020.9147256"},{"key":"ref3","article-title":"Safe nonlinear trajectory generation for parallel autonomy with a dynamic vehicle model","volume":"19","author":"schwarting","year":"2017","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"ref6","article-title":"End to end learning for self-driving cars","author":"bojarski","year":"2016"},{"key":"ref29","volume":"7","author":"floudas","year":"2013","journal-title":"State of the Art in Global Optimization Computational Methods and Applications"},{"key":"ref5","first-page":"414","article-title":"Perceive, predict, and plan: Safe motion planning through interpretable semantic representations","author":"sadat","year":"2020","journal-title":"European Conference on Computer Vision"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197408"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919880273"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2019.2904385"},{"key":"ref9","first-page":"66","article-title":"Learning by cheating","author":"chen","year":"2020","journal-title":"Proceedings of the Conference on Robot Learning"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2019.8796099"},{"key":"ref20","first-page":"305","article-title":"Alvinn: An autonomous land vehicle in a neural network","author":"pomerleau","year":"1989","journal-title":"Advances in neural information processing systems"},{"key":"ref22","article-title":"Can autonomous vehicles identify, recover from, and adapt to distribution shifts?","author":"filos","year":"2020","journal-title":"Proceedings of the International Conference on Machine Learning (ICML)"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00942"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2019.XV.031"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968225"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1115\/DSCC2018-9249"},{"key":"ref25","article-title":"Safe end-to-end imitation learning for model predictive control","author":"lee","year":"2018"}],"event":{"name":"2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Prague, Czech Republic","start":{"date-parts":[[2021,9,27]]},"end":{"date-parts":[[2021,10,1]]}},"container-title":["2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9635848\/9635849\/09636862.pdf?arnumber=9636862","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T16:54:41Z","timestamp":1652201681000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9636862\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,27]]},"references-count":37,"URL":"https:\/\/doi.org\/10.1109\/iros51168.2021.9636862","relation":{},"subject":[],"published":{"date-parts":[[2021,9,27]]}}}