{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T08:12:02Z","timestamp":1773735122301,"version":"3.50.1"},"reference-count":31,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T00:00:00Z","timestamp":1763424000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T00:00:00Z","timestamp":1763424000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2025M774202"],"award-info":[{"award-number":["2025M774202"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62233002,92370203"],"award-info":[{"award-number":["62233002,92370203"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,11,18]]},"DOI":"10.1109\/itsc60802.2025.11423265","type":"proceedings-article","created":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T20:10:23Z","timestamp":1773691823000},"page":"1848-1855","source":"Crossref","is-referenced-by-count":0,"title":["ROP-DARL: Risk-Aware Optimistic-Pessimistic Dual-Actor Reinforcement Learning for Safe Decision-Making of Autonomous Vehicles"],"prefix":"10.1109","author":[{"given":"Yaqing","family":"Li","sequence":"first","affiliation":[{"name":"School of Automation, Beijing Institute of Technology,Beijing,P.R.China.,100081"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xinke","family":"Li","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing Institute of Technology,Beijing,P.R.China.,100081"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mengyin","family":"Fu","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing Institute of Technology,Beijing,P.R.China.,100081"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yi","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing Institute of Technology,Beijing,P.R.China.,100081"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ting","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing Institute of Technology,Beijing,P.R.China.,100081"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2023.3312777"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.3390\/s24134140"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/s42154-023-00256-x"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-023-0255-4"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2024.3420959"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1145\/3697467.3697643"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197132"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3285442"},{"key":"ref9","article-title":"Decision-making at unsignalized intersection for autonomous vehicles: Left-turn maneuver with deep reinforcement learning","author":"Wang","year":"2020","journal-title":"arXiv preprint"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3285440"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ISCTIS63324.2024.10698974"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/CoDIT62066.2024.10708223"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2024.3372625"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC57777.2023.10422695"},{"issue":"1","key":"ref15","first-page":"2","article-title":"Benchmarking safe exploration in deep reinforcement learning","volume":"7","author":"Ray","year":"2019","journal-title":"arXiv preprint"},{"key":"ref16","first-page":"9133","article-title":"Responsive safety in reinforcement learning by pid lagrangian methods","volume-title":"International Conference on Machine Learning","author":"Stooke","year":"2020"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC57777.2023.10422331"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC57777.2023.10421882"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1080\/21680566.2024.2439997"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC55140.2022.9922164"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.eng.2023.10.005"},{"key":"ref22","article-title":"Projection-based constrained policy optimization","author":"Yang","year":"2020","journal-title":"arXiv preprint"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/tim.2024.3406791"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/10187.001.0001"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3105518"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2024.124814"},{"key":"ref27","author":"Gottschalk","year":"1996","journal-title":"Separating axis theorem"},{"key":"ref28","article-title":"Proximal policy optimization algorithms","author":"Schulman","year":"2017","journal-title":"arXiv preprint"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.32473\/flairs.v35i.130584"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAR55106.2022.9782671"},{"key":"ref31","first-page":"264","article-title":"Smarts: Scalable multi-agent reinforcement learning training school for autonomous driving","volume-title":"Proceedings of the 4th Conference on Robot Learning (CoRL)","volume":"155","author":"Zhou","year":"2021"}],"event":{"name":"2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)","location":"Gold Coast, Australia","start":{"date-parts":[[2025,11,18]]},"end":{"date-parts":[[2025,11,21]]}},"container-title":["2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11422813\/11423000\/11423265.pdf?arnumber=11423265","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T05:59:40Z","timestamp":1773727180000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11423265\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11,18]]},"references-count":31,"URL":"https:\/\/doi.org\/10.1109\/itsc60802.2025.11423265","relation":{},"subject":[],"published":{"date-parts":[[2025,11,18]]}}}