Publications

Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation

CDC 2023

We study the problem of verification and synthesis of robust control barrier functions (CBF) for control-affine polynomial systems with …
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Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation

Interpretable Trajectory Prediction for Autonomous Vehicles via Counterfactual Responsibility

IROS 2023

The ability to anticipate surrounding agents’ behaviors is critical to enable safe and seamless autonomous vehicles (AVs). While …
Project
Interpretable Trajectory Prediction for Autonomous Vehicles via Counterfactual Responsibility

Bayesian Reparameterization of Reward-Conditioned Reinforcement Learning with Energy-based Models

ICML 2023

Recently, reward-conditioned reinforcement learning (RCRL) has gained popularity due to its simplicity, flexibility, and off-policy …
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Bayesian Reparameterization of Reward-Conditioned Reinforcement Learning with Energy-based Models

Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles

RSS 2023

Safety and performance are key enablers for autonomous driving: on the one hand we want our autonomous vehicles (AVs) to be safe, while …
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Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles

Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition

IV 2023

A critical task for developing safe autonomous driving stacks is to determine whether an obstacle is safety-critical, i.e., poses an …
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Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition

Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagation

CVPR 2023 (Highlight)

The two-stage object pose estimation paradigm first detects semantic keypoints on the image and then estimates the 6D pose by …
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Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagation

FreeNeRF: Improving Few-shot Neural Rendering with Free Frequency Regularization

CVPR 2023

Novel view synthesis with sparse inputs is a challenging problem for neural radiance fields (NeRF). Recent efforts alleviate this …
PDF Code Project
FreeNeRF: Improving Few-shot Neural Rendering with Free Frequency Regularization

Learning Autonomous Vehicle Safety Concepts from Demonstrations

ACC 2023

Evaluating the safety of an autonomous vehicle (AV) depends on the behavior of surrounding agents which can be heavily influenced by …
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Learning Autonomous Vehicle Safety Concepts from Demonstrations

Tree-structured Policy Planning with Learned Behavior Models

ICRA 2023

Autonomous vehicles (AVs) need to reason about the multimodal behavior of neighboring agents while planning their own motion. Many …
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Tree-structured Policy Planning with Learned Behavior Models

Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles

ICRA 2023

Autonomous vehicles must often contend with conflicting planning requirements, e.g., safety and comfort could be at odds with each …
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Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles

Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models

ICRA 2023

Reasoning with occluded traffic agents is a significant open challenge for planning for autonomous vehicles. Recent deep learning …
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Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models

Guided Conditional Diffusion for Controllable Traffic Simulation

ICRA 2023

Controllable and realistic traffic simulation is critical for developing and verifying autonomous vehicles. Typical heuristic-based …
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Guided Conditional Diffusion for Controllable Traffic Simulation

Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning

ICRA 2023

Learning-based behavior prediction methods are increasingly being deployed in real-world autonomous systems, e.g., in fleets of …
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Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning

BITS: Bi-level Imitation for Traffic Simulation

ICRA 2023

Simulation is the key to scaling up validation and verification for robotic systems such as autonomous vehicles. Despite advances in …
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BITS: Bi-level Imitation for Traffic Simulation

Robust and Controllable Object-Centric Learning through Energy-based Models

ICLR 2023

Humans are remarkably good at understanding and reasoning about complex visual scenes. The capability to decompose low-level …
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Robust and Controllable Object-Centric Learning through Energy-based Models

Robust Trajectory Prediction against Adversarial Attacks

CoRL 2022 (Oral)

Trajectory prediction using deep neural networks (DNNs) is an essential component of autonomous driving (AD) systems. However, these …
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Robust Trajectory Prediction against Adversarial Attacks

Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles

CoRL 2022

In modern autonomy stacks, prediction modules are paramount to planning motions in the presence of other mobile agents. However, …
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Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles

DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles

CoRL 2022

Autonomous vehicle (AV) stacks are typically built in a modular fashion, with explicit components performing detection, tracking, …
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DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles

AdvDO: Realistic Adversarial Attacks for Trajectory Prediction

ECCV 2022

Trajectory prediction is essential for autonomous vehicles (AVs) to plan correct and safe driving behaviors. While many prior works aim …
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AdvDO: Realistic Adversarial Attacks for Trajectory Prediction

Towards Data-Driven Synthesis of Autonomous Vehicle Safety Concepts

arXiv

As safety-critical autonomous vehicles (AVs) will soon become pervasive in our society, a number of safety concepts for trusted AV …
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Towards Data-Driven Synthesis of Autonomous Vehicle Safety Concepts

Whose Track Is It Anyway? Improving Robustness to Tracking Errors with Affinity-Based Prediction

CVPR 2022

Multi-agent trajectory prediction is critical for planning and decision-making in human-interactive autonomous systems, such as …
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Whose Track Is It Anyway? Improving Robustness to Tracking Errors with Affinity-Based Prediction

ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning

CVPR 2022

Trajectory prediction is a critical functionality of autonomous systems that share environments with uncontrolled agents, one prominent …
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ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning

Propagating State Uncertainty Through Trajectory Forecasting

ICRA 2022

Uncertainty pervades through the modern robotic autonomy stack, with nearly every component (e.g., sensors, detection, classification, …
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Propagating State Uncertainty Through Trajectory Forecasting

Interaction-Dynamics-Aware Perception Zones for Obstacle Detection Safety Evaluation

IV 2022

To enable safe autonomous vehicle (AV) operations, it is critical that an AV’s obstacle detection module can reliably detect …
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Interaction-Dynamics-Aware Perception Zones for Obstacle Detection Safety Evaluation

MTP: Multi-Hypothesis Tracking and Prediction for Reduced Error Propagation

IV 2022

Recently, there has been tremendous progress in developing each individual module of the standard perception-planning robot autonomy …
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MTP: Multi-Hypothesis Tracking and Prediction for Reduced Error Propagation

Injecting Planning-Awareness into Prediction and Detection Evaluation

IV 2022

Detecting other agents and forecasting their behavior is an integral part of the modern robotic autonomy stack, especially in …
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Injecting Planning-Awareness into Prediction and Detection Evaluation

Rethinking Trajectory Forecasting Evaluation

arXiv

Forecasting the behavior of other agents is an integral part of the modern robotic autonomy stack, especially in safety-critical …
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Rethinking Trajectory Forecasting Evaluation