Publications

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 …
PDF
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 …
PDF
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 …
PDF
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 …
PDF
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 …
PDF Project
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 …
PDF Code
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 …
PDF
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 …
PDF
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 …
PDF Code Project
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, …
PDF
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, …
PDF Code Project
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 …
PDF
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 …
PDF
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 …
PDF Project
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 …
PDF Code
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, …
PDF Video
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 …
PDF
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 …
PDF Project Video
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 …
PDF Video
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 …
PDF
Rethinking Trajectory Forecasting Evaluation