Boris Ivanovic ![](/sites/default/files/person/square_pic_of_me_sf.JPG) ### Publications ### 2025 [Beyond Behavior Cloning in Autonomous Driving: a Survey of Closed-Loop Training Techniques](/publication/2025-12_beyond-behavior-cloning-autonomous-driving-survey-closed-loop-training) [Peter Karkus](/person/peter-karkus), [Maximilian Igl](/person/maximilian-igl), [Yuxiao Chen](/person/yuxiao-chen), Kashyap Chitta, Jef Packer, [Bertrand Douillard](/person/bertrand-douillard), [Thomas Tian](/person/thomas-tian), Alexander Naumann, Guillermo Garcia-Cobo, Shuhan Tan, [Alperen Degirmenci](/person/alperen-degirmenci), Alexander Popov, Nikolai Smolyanskiy, Urs Muller, [Boris Ivanovic](/person/boris-ivanovic), [Marco Pavone](/person/marco-pavone) ### 2023 [trajdata: A Unified Interface to Multiple Human Trajectory Datasets](/publication/2023-07_trajdata-unified-interface-multiple-human-trajectory-datasets) [Boris Ivanovic](/person/boris-ivanovic), Guanyu Song, Igor Gilitschenski, Marco Pavone [Arxiv Paper](https://arxiv.org/abs/2307.13924) [Language Conditioned Traffic Generation](/publication/2023-07_language-conditioned-traffic-generation) Shuhan Tan, [Boris Ivanovic](/person/boris-ivanovic), [Xinshuo Weng](/person/xinshuo-weng), [Marco Pavone](/person/marco-pavone), Philipp Krähenbühl [Arxiv](https://arxiv.org/abs/2307.07947) [Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning](/publication/2023-05_expanding-deployment-envelope-behavior-prediction-adaptive-meta-learning) [Boris Ivanovic](/person/boris-ivanovic), James Harrison, [Marco Pavone](/person/marco-pavone) [IEEE International Conference on Robotics and Automation (ICRA) 2023](https://www.icra2023.org/) [Tree-structured Policy Planning with Learned Behavior Models](/publication/2023-05_tree-structured-policy-planning-learned-behavior-models) [Yuxiao Chen](/person/yuxiao-chen), [Peter Karkus](/person/peter-karkus), [Boris Ivanovic](/person/boris-ivanovic), [Xinshuo Weng](/person/xinshuo-weng), [Marco Pavone](/person/marco-pavone) [IEEE International Conference on Robotics and Automation (ICRA) 2023](https://www.icra2023.org/) [BITS: Bi-level Imitation for Traffic Simulation](/publication/2023-05_bits-bi-level-imitation-traffic-simulation) [Danfei Xu](/person/danfei-xu), [Yuxiao Chen](/person/yuxiao-chen), [Boris Ivanovic](/person/boris-ivanovic), [Marco Pavone](/person/marco-pavone) [IEEE International Conference on Robotics and Automation (ICRA) 2023](https://www.icra2023.org/) [Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models](/publication/2023-05_planning-occluded-traffic-agents-using-bi-level-variational-occlusion-models) Filippos Christianos, [Peter Karkus](/person/peter-karkus), [Boris Ivanovic](/person/boris-ivanovic), Stefano V. Albrecht, [Marco Pavone](/person/marco-pavone) [IEEE International Conference on Robotics and Automation (ICRA) 2023](https://www.icra2023.org/) [Robust and Controllable Object-Centric Learning through Energy-based Models](/publication/2023-05_robust-and-controllable-object-centric-learning-through-energy-based-models) Ruixiang Zhang, [Gerry Che](/person/gerry-che), [Boris Ivanovic](/person/boris-ivanovic), Renhao Wang, [Marco Pavone](/person/marco-pavone), Yoshua Bengio, Liam Paull [International Conference on Learning Representations (ICLR) 2023](https://iclr.cc/Conferences/2023) ### 2022 [Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles](/publication/2022-12_task-relevant-failure-detection-trajectory-predictors-autonomous-vehicles) Alec Farid, [Sushant Veer](/person/sushant-veer), [Boris Ivanovic](/person/boris-ivanovic), [Karen Leung](/person/karen-leung), [Marco Pavone](/person/marco-pavone) [Conference on Robot Learning (CoRL) 2022](https://corl2022.org/) [DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles](/publication/2022-12_diffstack-differentiable-and-modular-control-stack-autonomous-vehicles) [Peter Karkus](/person/peter-karkus), [Boris Ivanovic](/person/boris-ivanovic), [Shie Mannor](/person/shie-mannor), [Marco Pavone](/person/marco-pavone) [Conference on Robot Learning (CoRL) 2022](https://corl2022.org/) [ Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty ](/publication/2022-10_heterogeneous-agent-trajectory-forecasting-incorporating-class-uncertainty) [Boris Ivanovic](/person/boris-ivanovic), Kuan-Hui Lee, Pavel Tokmakov, Blake Wulfe, Adrien Gaidon, [Marco Pavone](/person/marco-pavone) [IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022](https://iros2022.org/) [Robust and Controllable Object-Centric Learning through Energy-based Models](/publication/2022-10_robust-and-controllable-object-centric-learning-through-energy-based-models) Ruixiang Zhang, Tong Che, [Boris Ivanovic](/person/boris-ivanovic), Renhao Wang, [Marco Pavone](/person/marco-pavone), Yoshua Bengio, Liam Paull [Arxiv](https://arxiv.org/abs/2210.05519) [Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning](/publication/2022-09_expanding-deployment-envelope-behavior-prediction-adaptive-meta-learning) [Boris Ivanovic](/person/boris-ivanovic), James Harrison, Marco Pavone [Arxiv](https://arxiv.org/abs/2209.11820) [Whose Track Is It Anyway? Improving Robustness to Tracking Errors with Affinity-Based Prediction](/publication/2022-06_whose-track-it-anyway-improving-robustness-tracking-errors-affinity-based) [Xinshuo Weng](/person/xinshuo-weng), [Boris Ivanovic](/person/boris-ivanovic), Kris Kitani, [Marco Pavone](/person/marco-pavone) [IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2022](https://cvpr2022.thecvf.com/) [ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning](/publication/2022-06_scept-scene-consistent-policy-based-trajectory-predictions-planning) [Yuxiao Chen](/person/yuxiao-chen), [Boris Ivanovic](/person/boris-ivanovic), [Marco Pavone](/person/marco-pavone) [IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2022](https://cvpr2022.thecvf.com/) [MTP: Multi-Hypothesis Tracking and Prediction for Reduced Error Propagation](/publication/2022-06_mtp-multi-hypothesis-tracking-and-prediction-reduced-error-propagation) [Xinshuo Weng](/person/xinshuo-weng), [Boris Ivanovic](/person/boris-ivanovic), [Marco Pavone](/person/marco-pavone) [IEEE Intelligent Vehicles Symposium (IV) 2022](https://iv2022.com/) [Injecting Planning-Awareness into Prediction and Detection Evaluation](/publication/2022-06_injecting-planning-awareness-prediction-and-detection-evaluation) [Boris Ivanovic](/person/boris-ivanovic), [Marco Pavone](/person/marco-pavone) [IEEE Intelligent Vehicles Symposium (IV) 2022](https://iv2022.com/) [Propagating State Uncertainty Through Trajectory Forecasting](/publication/2022-05_propagating-state-uncertainty-through-trajectory-forecasting) [Boris Ivanovic](/person/boris-ivanovic), Yifeng Lin, Shubham Shrivastava, Punarjay Chakravarty, [Marco Pavone](/person/marco-pavone) [IEEE International Conference on Robotics and Automation (ICRA) 2022](https://www.icra2022.org/) ### 2021 [MTP: Multi-Hypothesis Tracking and Prediction for Reduced Error Propagation](/publication/2021-10_mtp-multi-hypothesis-tracking-and-prediction-reduced-error-propagation) Xinshuo Weng, [Boris Ivanovic](/person/boris-ivanovic), [Marco Pavone](/person/marco-pavone) [CVPR](https://cvpr2021.thecvf.com/) [Sample-Efficient Safety Assurances using Conformal Prediction](/publication/2021-09_sample-efficient-safety-assurances-using-conformal-prediction) Rachel Luo, Shengjia Zhao, Jonathan Kuck, [Boris Ivanovic](/person/boris-ivanovic), Silvio Savarese, Edward Schmerling, [Marco Pavone](/person/marco-pavone) [Arxiv](https://arxiv.org/abs/2109.14082)