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2023
2022
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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 …
Karen Leung
,
Sushant Veer
,
Edward Schmerling
,
Marco Pavone
PDF
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 …
Yuxiao Chen
,
Peter Karkus
,
Boris Ivanovic
,
Xinshuo Weng
,
Marco Pavone
PDF
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 …
Sushant Veer
,
Karen Leung
,
Ryan Cosner
,
Yuxiao Chen
,
Marco Pavone
PDF
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 …
Filippos Christianos
,
Peter Karkus
,
Boris Ivanovic
,
Stefano V. Albrecht
,
Marco Pavone
PDF
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 …
Ziyuan Zhong
,
Davis Rempe
,
Danfei Xu
,
Yuxiao Chen
,
Sushant Veer
,
Tong Che
,
Baishakhi Ray
,
Marco Pavone
PDF
Project
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 …
Boris Ivanovic
,
James Harrison
,
Marco Pavone
PDF
Code
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 …
Danfei Xu
,
Yuxiao Chen
,
Boris Ivanovic
,
Marco Pavone
PDF
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 …
Ruixiang Zhang
,
Tong Che
,
Boris Ivanovic
,
Renhao Wang
,
Marco Pavone
,
Yoshua Bengio
,
Liam Paull
PDF
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 …
Yulong Cao
,
Danfei Xu
,
Xinshuo Weng
,
Z. Morley Mao
,
Anima Anandkumar
,
Chaowei Xiao
,
Marco Pavone
PDF
Code
Project
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, …
Alec Farid
,
Sushant Veer
,
Boris Ivanovic
,
Karen Leung
,
Marco Pavone
PDF
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, …
Peter Karkus
,
Boris Ivanovic
,
Shie Mannor
,
Marco Pavone
PDF
Code
Project
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 …
Yulong Cao
,
Chaowei Xiao
,
Anima Anandkumar
,
Danfei Xu
,
Marco Pavone
PDF
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 …
Karen Leung
,
Andrea Bajcsy
,
Edward Schmerling
,
Marco Pavone
PDF
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 …
Xinshuo Weng
,
Boris Ivanovic
,
Kris Kitani
,
Marco Pavone
PDF
Project
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 …
Yuxiao Chen
,
Boris Ivanovic
,
Marco Pavone
PDF
Code
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, …
Boris Ivanovic
,
Richard Lin
,
Shubham Shrivastava
,
Punarjay Chakravarty
,
Marco Pavone
PDF
Video
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 …
Sever Topan
,
Karen Leung
,
Yuxiao Chen
,
Pritish Tupekar
,
Edward Schmerling
,
Jonas Nilsson
,
Michael Cox
,
Marco Pavone
PDF
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 …
Xinshuo Weng
,
Boris Ivanovic
,
Marco Pavone
PDF
Project
Video
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 …
Boris Ivanovic
,
Marco Pavone
PDF
Video
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 …
Boris Ivanovic
,
Marco Pavone
PDF
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