Autonomous Vehicles

Associated Publications

2023

Interpretable Trajectory Prediction for Autonomous Vehicles via Counterfactual Responsibility

Kai-Chieh Hsu, Karen Leung, Yuxiao Chen, Jaime Fernandez Fisac, Marco Pavone

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles

Pasquale Antonante, Sushant Veer, Karen Leung, Xinshuo Weng, Luca Carlone, Marco Pavone

Robotics: Science and Systems (RSS) 2023

Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition

Sever Topan, Yuxiao Chen, Ed Schmerling, Karen Leung, Jonas Nilsson, Michael Cox, Marco Pavone

IEEE Intelligent Vehicles Symposium (IV)

Learning Autonomous Vehicle Safety Concepts from Demonstrations

Karen Leung, Sushant Veer, Edward Schmerling, Marco Pavone

American Control Conference (ACC) 2023

Tree-structured Policy Planning with Learned Behavior Models

Yuxiao Chen, Peter Karkus, Boris Ivanovic, Xinshuo Weng, Marco Pavone

IEEE International Conference on Robotics and Automation (ICRA) 2023

Guided Conditional Diffusion for Controllable Traffic Simulation

Ziyuan Zhong, Davis Rempe, Danfei Xu, Yuxiao Chen, Sushant Veer, Gerry Che, Baishakhi Ray, Marco Pavone

IEEE International Conference on Robotics and Automation (ICRA) 2023

Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles

Sushant Veer, Karen Leung, Ryan Cosner, Yuxiao Chen, Marco Pavone

IEEE International Conference on Robotics and Automation (ICRA) 2023

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

Boris Ivanovic, James Harrison, Marco Pavone

IEEE International Conference on Robotics and Automation (ICRA) 2023

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

Filippos Christianos, Peter Karkus, Boris Ivanovic, Stefano V. Albrecht, Marco Pavone

IEEE International Conference on Robotics and Automation (ICRA) 2023

BITS: Bi-level Imitation for Traffic Simulation

Danfei Xu, Yuxiao Chen, Boris Ivanovic, Marco Pavone

IEEE International Conference on Robotics and Automation (ICRA) 2023

2022

Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles

Alec Farid, Sushant Veer, Boris Ivanovic, Karen Leung, Marco Pavone

Conference on Robot Learning (CoRL) 2022

DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles

Peter Karkus, Boris Ivanovic, Shie Mannor, Marco Pavone

Conference on Robot Learning (CoRL) 2022

Robust Trajectory Prediction against Adversarial Attacks

Yulong Cao, Danfei Xu, Xinshuo Weng, Z. Morely Mao, Anima Anandkumar, Chaowei Xiao, Marco Pavone

Conference on Robot Learning (CoRL) 2022

Selected for Oral Presentation

Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty

Boris Ivanovic, Kuan-Hui Lee, Pavel Tokmakov, Blake Wulfe, Adrien Gaidon, Marco Pavone

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022

AdvDO: Realistic Adversarial Attacks for Trajectory Prediction

Yulong Cao, Chaowei Xiao, Anima Anandkumar, Danfei Xu, Marco Pavone

European Conference on Computer Vision (ECCV) 2022

Zhuyi: Perception Processing Rate Estimation for Safety in Autonomous Vehicles

Yu-Shun Hsiao, Siva Hari, Michał Filipiuk, Timothy Tsai, Michael B. Sullivan, Vijay Janapa Reddi, Vasu Singh, Steve Keckler

Design Automation Conference (DAC)

Exploiting Temporal Data Diversity for Detecting Safety-critical Faults in AV Compute Systems

Saurabh Jha, Shengkun Cui, Timothy Tsai, Siva Hari, Michael B. Sullivan, Zbigniew T. Kalbarczyk, Steve Keckler, Ravishankar K. Iyer

International Conference on Dependable Systems and Networks (DSN)

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

Xinshuo Weng, Boris Ivanovic, Kris Kitani, Marco Pavone

IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2022

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

Yuxiao Chen, Boris Ivanovic, Marco Pavone

IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2022

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

Sever Topan, Karen Leung, Yuxiao Chen, Pritish Tupekar, Edward Schmerling, Jonas Nilsson, Michael Cox, Marco Pavone

IEEE Intelligent Vehicles Symposium (IV) 2022

Injecting Planning-Awareness into Prediction and Detection Evaluation

Boris Ivanovic, Marco Pavone

IEEE Intelligent Vehicles Symposium (IV) 2022

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

Xinshuo Weng, Boris Ivanovic, Marco Pavone

IEEE Intelligent Vehicles Symposium (IV) 2022

Propagating State Uncertainty Through Trajectory Forecasting

Boris Ivanovic, Yifeng Lin, Shubham Shrivastava, Punarjay Chakravarty, Marco Pavone

IEEE International Conference on Robotics and Automation (ICRA) 2022

Zhuyi: Perception Processing Rate Estimation for Safety in Autonomous Vehicles

Yu-Shun Hsiao, Siva Hari, Michał Filipiuk, Timothy Tsai, Michael B. Sullivan, Vijay Janapa Reddi, Vasu Singh, Steve Keckler

arXiv

2021

Suraksha: A Framework to Analyze the Safety Implications of Perception Design Choices in AVs

Hengyu Zhao, Siva Hari, Timothy Tsai, Michael B. Sullivan, Steve Keckler, Jishen Zhao

International Symposium on Software Reliability Engineering (ISSRE)

Generating and Characterizing Scenarios for Safety Testing of Autonomous Vehicles

Zahra Ghodsi, Siva Hari, Iuri Frosio, Timothy Tsai, Alejandro Troccoli, Steve Keckler, Siddharth Garg, Anima Anandkumar

IEEE Intelligent Vehicles Symposium (IV)

Suraksha: A Quantitative AV Safety Evaluation Framework to Analyze Safety Implications of Perception Design Choices

Hengyu Zhao, Siva Hari, Timothy Tsai, Michael B. Sullivan, Steve Keckler, Jishen Zhao

Workshop on Safety and Security of Intelligent Vehicles (SSIV)

Binary TTC: A Temporal Geofence for Autonomous Navigation

Abhishek Badki, Orazio Gallo, Jan Kautz, Pradeep Sen

IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2021

Best Student Paper Honorable Mention, CVPR 2021

Simulation Driven Design and Test for Safety of AI Based Autonomous Vehicles

Vasu Singh, Siva Hari, Timothy Tsai, Mandar Pitale

Workshop on Safe Artificial Intelligence for Automated Driving (SAIAD)

Generating and Characterizing Scenarios for Safety Testing of Autonomous Vehicles

Zahra Ghodsi, Siva Hari, Iuri Frosio, Timothy Tsai, Alejandro Troccoli, Steve Keckler, Siddharth Garg, Anima Anandkumar

arXiv

2020

Generating and Characterizing Scenarios for Safety Testing of Autonomous Vehicles

Zahra Ghodsi, Siva Hari, Iuri Frosio, Timothy Tsai, Alejandro Troccoli, Steve Keckler, Siddharth Garg, Anima Anandkumar

IEEE International Workshop on Automotive Reliability & Test (ART)

AV-FUZZER: Finding Safety Violations in Autonomous Driving Systems

Guangpeng Li, Yiran Li, Saurabh Jha, Timothy Tsai, Michael B. Sullivan, Siva Hari, Zbigniew Kalbarczyk, Ravishankar Iyer

International Symposium on Software Reliability Engineering (ISSRE)

Best Paper award

ML-driven Malware that Targets AV Safety

Saurabh Jha, Shengkun Cui, Subho S. Banerjee, James Cyriac, Timothy Tsai, Zbigniew T. Kalbarczyk, Ravishankar K. Iyer

International Conference on Dependable Systems and Networks (DSN)

ML-driven Malware that Targets AV Safety

Saurabh Jha, Shengkun Cui, Subho S. Banerjee, James Cyriac, Timothy Tsai, Zbigniew T. Kalbarczyk, Ravishankar K. Iyer

arXiv

2019

Kayotee: A Fault Injection-based System to Assess the Safety and Reliability of Autonomous Vehicles to Faults and Errors

Saurabh Jha, Timothy Tsai, Siva Hari, Michael B. Sullivan, Zbigniew Kalbarczyk, Steve Keckler, Ravishankar K. Iyer

arXiv

ML-based Fault Injection for Autonomous Vehicles: A Case for Bayesian Fault Injection

Saurabh Jha, Subho S. Banerjee, Timothy Tsai, Siva Hari, Michael B. Sullivan, Zbigniew T. Kalbarczyk, Steve Keckler, Ravishankar K. Iyer

arXiv

ML-based Fault Injection for Autonomous Vehicles: A Case for Bayesian Fault Injection

Saurabh Jha, Subho Banerjee, Timothy Tsai, Siva Hari, Michael B. Sullivan, Zbigniew T. Kalbarczyk, Steve Keckler, Ravishankar K. Iyer

International Conference on Dependable Systems and Networks (DSN)

2018

Kayotee: A Fault Injection-based System to Assess the Safety and Reliability of Autonomous Vehicles to Faults and Errors

Saurabh Jha, Timothy Tsai, Siva Hari, Michael B. Sullivan, Zbigniew Kalbarczyk, Steve Keckler, Ravishankar K. Iyer

Third IEEE International Workshop on Automotive Reliability & Test

2016

Towards Selecting Robust Hand Gestures for Automotive Interfaces

Shalini Gupta, Pavlo Molchanov, Xiaodong Yang, Stephen Tyree, Jan Kautz

IEEE Intelligent Vehicles Symposium (IV) 2016

Research Areas