Yuxiao Chen

  ![](/sites/default/files/person/Y_Chen.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

[Interpretable Trajectory Prediction for Autonomous Vehicles via Counterfactual Responsibility](/publication/2023-10_interpretable-trajectory-prediction-autonomous-vehicles-counterfactual)

Kai-Chieh Hsu, [Karen Leung](/person/karen-leung), [Yuxiao Chen](/person/yuxiao-chen), Jaime Fernandez Fisac, [Marco Pavone](/person/marco-pavone)

[IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)](https://ieee-iros.org/)

[Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition](/publication/2023-06_refining-obstacle-perception-safety-zones-maneuver-based-decomposition)

Sever Topan, [Yuxiao Chen](/person/yuxiao-chen), [Ed Schmerling](/person/ed-schmerling), [Karen Leung](/person/karen-leung), Jonas Nilsson, Michael Cox, [Marco Pavone](/person/marco-pavone)

[IEEE Intelligent Vehicles Symposium (IV)](https://2023.ieee-iv.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/)

[Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles](/publication/2023-05_receding-horizon-planning-rule-hierarchies-autonomous-vehicles)

[Sushant Veer](/person/sushant-veer), [Karen Leung](/person/karen-leung), Ryan Cosner, [Yuxiao Chen](/person/yuxiao-chen), [Marco Pavone](/person/marco-pavone)

[IEEE International Conference on Robotics and Automation (ICRA) 2023](https://www.icra2023.org/)

[Guided Conditional Diffusion for Controllable Traffic Simulation](/publication/2023-05_guided-conditional-diffusion-controllable-traffic-simulation)

Ziyuan Zhong, Davis Rempe, [Danfei Xu](/person/danfei-xu), [Yuxiao Chen](/person/yuxiao-chen), [Sushant Veer](/person/sushant-veer), [Gerry Che](/person/gerry-che), Baishakhi Ray, [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/)

### 2022

[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/)

[Interaction-Dynamics-Aware Perception Zones for Obstacle Detection Safety Evaluation](/publication/2022-06_interaction-dynamics-aware-perception-zones-obstacle-detection-safety)

Sever Topan, [Karen Leung](/person/karen-leung), [Yuxiao Chen](/person/yuxiao-chen), Pritish Tupekar, [Edward Schmerling](/person/ed-schmerling), Jonas Nilsson, Michael Cox, [Marco Pavone](/person/marco-pavone)

[IEEE Intelligent Vehicles Symposium (IV) 2022](https://iv2022.com/)

[Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation](/publication/_verification-and-synthesis-robust-control-barrier-functions-multilevel-polynomial)

Shucheng Kang, [Yuxiao Chen](/person/yuxiao-chen), [Heng Yang](/person/heng-yang), [Marco Pavone](/person/marco-pavone)

[IEEE Conference on Decision and Control (CDC)](https://cdc2023.ieeecss.org/)