{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T06:16:59Z","timestamp":1765520219470,"version":"3.48.0"},"reference-count":34,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T00:00:00Z","timestamp":1760832000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T00:00:00Z","timestamp":1760832000000},"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":[[2025,10,19]]},"DOI":"10.1109\/iros60139.2025.11247054","type":"proceedings-article","created":{"date-parts":[[2025,11,27]],"date-time":"2025-11-27T18:54:45Z","timestamp":1764269685000},"page":"10764-10769","source":"Crossref","is-referenced-by-count":0,"title":["IGDrivSim: A Benchmark for the Imitation Gap in Autonomous Driving"],"prefix":"10.1109","author":[{"given":"Cl\u00e9mence","family":"Grislain","sequence":"first","affiliation":[{"name":"Sorbonne University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Risto","family":"Vuorio","sequence":"additional","affiliation":[{"name":"University of Oxford"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cong","family":"Lu","sequence":"additional","affiliation":[{"name":"University of British Columbia, Vector Institute"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shimon","family":"Whiteson","sequence":"additional","affiliation":[{"name":"University of Oxford"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940562"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2983149"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-48847-8"},{"article-title":"Reinforcement learning: An introduction","year":"2018","author":"Sutton","key":"ref4"},{"article-title":"Playing atari with deep reinforcement learning","year":"2013","author":"Mnih","key":"ref5"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/S1364-6613(99)01327-3"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1145\/3054912"},{"article-title":"Carla: An open urban driving simulator","year":"2017","author":"Dosovitskiy","key":"ref8"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/icra46639.2022.9812276"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00957"},{"article-title":"Of moments and matching: A game-theoretic framework for closing the imitation gap","year":"2021","author":"Swamy","key":"ref11"},{"article-title":"Bridging the imitation gap by adaptive insubordination","year":"2021","author":"Weihs","key":"ref12"},{"article-title":"Impossibly good experts and how to follow them","year":"2023","author":"Walsman","key":"ref13"},{"article-title":"A bayesian solution to the imitation gap","year":"2024","author":"Vuorio","key":"ref14"},{"article-title":"Waymax: An accelerated, data-driven simulator for large-scale autonomous driving research","year":"2023","author":"Gulino","key":"ref15"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10342038"},{"article-title":"Leveraging fully observable policies for learning under partial observability","year":"2022","author":"Nguyen","key":"ref17"},{"article-title":"A reduction of imitation learning and structured prediction to No-Regret online learning","year":"2011","author":"Ross","key":"ref18"},{"article-title":"Shaking the foundations: delusions in sequence models for interaction and control","year":"2021","author":"Ortega","key":"ref19"},{"article-title":"Sequence model imitation learning with unobserved contexts","year":"2022","author":"Swamy","key":"ref20"},{"article-title":"Deconfounding imitation learning with variational inference","year":"2024","author":"Vuorio","key":"ref21"},{"article-title":"Argoverse 2: Next generation datasets for self-driving perception and forecasting","year":"2023","author":"Wilson","key":"ref22"},{"article-title":"nuplan: A closed-loop ml-based planning benchmark for autonomous vehicles","year":"2021","author":"Caesar","key":"ref23"},{"article-title":"Nocturne: a scalable driving benchmark for bringing multi-agent learning one step closer to the real world","year":"2023","author":"Vinitsky","key":"ref24"},{"article-title":"Learning by cheating","year":"2019","author":"Chen","key":"ref25"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00788"},{"article-title":"The waymo open sim agents challenge","year":"2023","author":"Montali","key":"ref27"},{"article-title":"Smart: Scalable multi-agent real-time simulation via next-token prediction","year":"2024","author":"Wu","key":"ref28"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-27645-3_12"},{"article-title":"Alvinn: An autonomous land vehicle in a neural network","year":"1988","author":"Pomerleau","key":"ref30"},{"article-title":"Bayes-adaptive pomdps","year":"2007","author":"Ross","key":"ref31"},{"article-title":"Generative adversarial imitation learning","year":"2016","author":"Ho","key":"ref32"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.12794\/metadc1505267"},{"article-title":"Motion transformer with global intention localization and local movement refinement","year":"2023","author":"Shi","key":"ref34"}],"event":{"name":"2025 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","start":{"date-parts":[[2025,10,19]]},"location":"Hangzhou, China","end":{"date-parts":[[2025,10,25]]}},"container-title":["2025 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11245651\/11245652\/11247054.pdf?arnumber=11247054","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T06:14:41Z","timestamp":1765520081000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11247054\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,19]]},"references-count":34,"URL":"https:\/\/doi.org\/10.1109\/iros60139.2025.11247054","relation":{},"subject":[],"published":{"date-parts":[[2025,10,19]]}}}