{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,9]],"date-time":"2025-11-09T07:53:26Z","timestamp":1762674806173,"version":"3.40.3"},"reference-count":59,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2025,4,1]],"date-time":"2025-04-01T00:00:00Z","timestamp":1743465600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,4,1]],"date-time":"2025-04-01T00:00:00Z","timestamp":1743465600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,4,1]],"date-time":"2025-04-01T00:00:00Z","timestamp":1743465600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62473224"],"award-info":[{"award-number":["62473224"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005090","name":"Beijing Natural Science Foundation","doi-asserted-by":"publisher","award":["4244092"],"award-info":[{"award-number":["4244092"]}],"id":[{"id":"10.13039\/501100005090","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005090","name":"Beijing Nova Program","doi-asserted-by":"publisher","award":["20230484259","20240484642"],"award-info":[{"award-number":["20230484259","20240484642"]}],"id":[{"id":"10.13039\/501100005090","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Intell. Transport. Syst."],"published-print":{"date-parts":[[2025,4]]},"DOI":"10.1109\/tits.2025.3535866","type":"journal-article","created":{"date-parts":[[2025,2,11]],"date-time":"2025-02-11T18:29:33Z","timestamp":1739298573000},"page":"5135-5145","source":"Crossref","is-referenced-by-count":1,"title":["Adaptive Testing Environment Generation for Connected and Automated Vehicles With Dense Reinforcement Learning"],"prefix":"10.1109","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9798-7347","authenticated-orcid":false,"given":"Jingxuan","family":"Yang","sequence":"first","affiliation":[{"name":"Department of Automation, Beijing National Research Center for Information Science and Technology (BNRist), Tsinghua University, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-9290-004X","authenticated-orcid":false,"given":"Ruoxuan","family":"Bai","sequence":"additional","affiliation":[{"name":"Department of Automation, Beijing National Research Center for Information Science and Technology (BNRist), Tsinghua University, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-2177-8047","authenticated-orcid":false,"given":"Haoyuan","family":"Ji","sequence":"additional","affiliation":[{"name":"Department of Automation, Beijing National Research Center for Information Science and Technology (BNRist), Tsinghua University, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5526-866X","authenticated-orcid":false,"given":"Yi","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Automation, BNRist, Tsinghua University, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8065-7309","authenticated-orcid":false,"given":"Jianming","family":"Hu","sequence":"additional","affiliation":[{"name":"Department of Automation, Beijing National Research Center for Information Science and Technology (BNRist), Tsinghua University, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2117-4427","authenticated-orcid":false,"given":"Shuo","family":"Feng","sequence":"additional","affiliation":[{"name":"Department of Automation, Beijing National Research Center for Information Science and Technology (BNRist), Tsinghua University, Beijing, China"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.tra.2016.09.010"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2016.2608003"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/s10462-018-9631-5"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaw4106"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989173"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500406"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1145\/3180155.3180220"},{"key":"ref8","article-title":"Efficient black-box assessment of autonomous vehicle safety","author":"Norden","year":"2019","journal-title":"arXiv:1912.03618"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2019.2955903"},{"key":"ref10","first-page":"6402","article-title":"Neural bridge sampling for evaluating safety-critical autonomous systems","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","volume":"33","author":"Sinha"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-54994-7_17"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2021.3117049"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2993730"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1177\/03611981211018697"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3134661"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00978"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1080\/15472450.2020.1853538"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01679"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-023-37677-5"},{"key":"ref20","first-page":"1","article-title":"Intelligent testing environment generation for autonomous vehicles with implicit distributions of traffic behaviors","author":"Ren","year":"2024","journal-title":"SSRN"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/IV55156.2024.10588417"},{"key":"ref22","article-title":"Few-shot testing of autonomous vehicles with scenario similarity learning","author":"Li","year":"2024","journal-title":"arXiv:2409.14369"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/CASE59546.2024.10711532"},{"key":"ref24","first-page":"1","article-title":"Knowmoformer: Knowledge-conditioned motion transformer for controllable traffic scenario simulation","volume-title":"Proc. IEEE\/CVF Conf. Comput. Vis. Pattern Recognit. (CVPR) Workshop Data-Driven Auto. Driving Simul.","author":"He"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2024.104620"},{"key":"ref26","article-title":"Exploring critical testing scenarios for decision-making policies: An LLM approach","author":"Xu","year":"2024","journal-title":"arXiv:2412.06684"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.2972211"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.2988309"},{"key":"ref29","doi-asserted-by":"crossref","first-page":"197","DOI":"10.1016\/j.jss.2017.10.031","article-title":"Adaptive generation of challenging scenarios for testing and evaluation of autonomous vehicles","volume":"137","author":"Mullins","year":"2018","journal-title":"J. Syst. Softw."},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500400"},{"key":"ref31","first-page":"1","article-title":"Scalable end-to-end autonomous vehicle testing via rare-event simulation","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","volume":"31","author":"O\u2019Kelly"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2019.8917242"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3023668"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3130040"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC55140.2022.9922583"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3190201"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3296716"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3317078"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3248121"},{"issue":"1","key":"ref40","doi-asserted-by":"crossref","first-page":"4808","DOI":"10.1038\/s41467-024-49194-0","article-title":"Curse of rarity for autonomous vehicles","volume":"15","author":"Liu","year":"2024","journal-title":"Nature Commun."},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2020.105664"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2582208"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2017.2701846"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569800"},{"issue":"1","key":"ref45","first-page":"1","article-title":"Intelligent driving intelligence test for autonomous vehicles with naturalistic and adversarial environment","volume":"12","author":"Feng","year":"2021","journal-title":"Nature Commun."},{"issue":"7953","key":"ref46","doi-asserted-by":"crossref","first-page":"620","DOI":"10.1038\/s41586-023-05732-2","article-title":"Dense reinforcement learning for safety validation of autonomous vehicles","volume":"615","author":"Feng","year":"2023","journal-title":"Nature"},{"volume-title":"Monte Carlo Theory, Methods and Examples","year":"2013","author":"Owen","key":"ref47"},{"issue":"2","key":"ref48","doi-asserted-by":"crossref","first-page":"139","DOI":"10.1016\/S0167-4730(02)00047-4","article-title":"Important sampling in high dimensions","volume":"25","author":"Au","year":"2003","journal-title":"Struct. Saf."},{"volume-title":"Reinforcement Learning: An Introduction","year":"2018","author":"Sutton","key":"ref49"},{"key":"ref50","doi-asserted-by":"crossref","DOI":"10.1007\/978-981-19-7784-8","volume-title":"Reinforcement Learning for Sequential Decision and Optimal Control","author":"Li","year":"2023"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1007\/s10472-011-9258-6"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.13140\/RG.2.2.18893.74727"},{"volume-title":"Cvxopt: Python Software for Convex Optimization, Version 1.3.2","year":"2004","author":"Andersen","key":"ref53"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.21236\/ada276517"},{"key":"ref55","first-page":"1","article-title":"Convergence of Q-learning: A simple proof","author":"Melo","year":"2001"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-01551-9"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2017.2759273"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.3141\/2390-03"},{"key":"ref59","article-title":"Proximal policy optimization algorithms","author":"Schulman","year":"2017","journal-title":"arXiv:1707.06347"}],"container-title":["IEEE Transactions on Intelligent Transportation Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/6979\/10945245\/10879416.pdf?arnumber=10879416","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,31]],"date-time":"2025-03-31T23:48:57Z","timestamp":1743464937000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10879416\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,4]]},"references-count":59,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tits.2025.3535866","relation":{},"ISSN":["1524-9050","1558-0016"],"issn-type":[{"type":"print","value":"1524-9050"},{"type":"electronic","value":"1558-0016"}],"subject":[],"published":{"date-parts":[[2025,4]]}}}