## Autonomous Vehicles

 ### Associated 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)













[Alpamayo 1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tail](/publication/2025-10_alpamayo-r1)

[Marco Pavone](/person/marco-pavone), Many other contributors found on Page 33













[World Simulation With Video Foundation Models for Physical AI](/publication/2025-09_world-simulation-video-foundation-models-physical-ai)

[Ming-Yu Liu](/person/ming-yu-liu), 













[Sim2Val: Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation](/publication/2025-09_sim2val-leveraging-correlation-across-test-platforms-variance-reduced-metric)

[Rachel Luo](/person/rachel-luo), [Heng Yang](/person/heng-yang), [Michael Watson](/person/michael-watson), [Apoorva Sharma](/person/apoorva-sharma), [Sushant Veer](/person/sushant-veer), Edward Schmerling, [Marco Pavone](/person/marco-pavone)













[GEN3C: 3D-Informed World-Consistent Video Generation with Precise Camera Control](/publication/2025-08_gen3c-3d-informed-world-consistent-video-generation-precise-camera-control)

Xuanchi Ren, Tianchang Shen, Jiahui Huang, Huan Ling, Yifan Lu, [Merlin Nimier-David](/person/merlin-nimier-david), [Thomas Müller](/person/thomas-muller), [Alex Keller](/person/alex-keller), [Sanja Fidler](/person/sanja-fidler), Jun Gao



[CVPR 2025](https://ieeexplore.ieee.org/document/11092782)









[Cosmos-Reason 1: From Physical AI Common Sense to Embodied Decisions](/publication/2025-03_cosmos-reason-1-physical-ai-common-sense-embodied-decisions)

[Tsung-Yi Lin](/person/tsung-yi-lin), [Ming-Yu Liu](/person/ming-yu-liu)













[Cosmos Transfer 1: World-to-World Transfer with Adaptive Multi-Control for Physical AI](/publication/2025-03_cosmos-transfer-1-world-world-transfer-adaptive-multi-control-physical-ai)

[Ming-Yu Liu](/person/ming-yu-liu)



[Arxiv](https://arxiv.org/abs/2503.14492)









[NVIDIA Isaac GR00T N1: An Open Foundation Model for Humanoid Robots](/publication/2025-03_nvidia-isaac-gr00t-n1-open-foundation-model-humanoid-robots)

[Yuke Zhu](/person/yuke-zhu), [Linxi "Jim" Fan](/person/linxi-jim-fan), NVIDIA GEAR Team













[Cosmos World Foundation Model Platform for Physical AI](/publication/2025-01_cosmos-world-foundation-model-platform-physical-ai)

[Ming-Yu Liu](/person/ming-yu-liu), Many other contributors at https://d1qx31qr3h6wln.cloudfront.net/publications/NVIDIA%20Cosmos_4.pdf, [Jing Zhang](/person/jing-zhang)













### 2024 

[Mitigating Covariate Shift in Imitation Learning for Autonomous Vehicles Using Latent Space Generative World Models](/publication/2024-09_mitigating-covariate-shift-imitation-learning-autonomous-vehicles-using-latent)

Alexander Popov, Alperen Degirmenci, David Wehr, Shashank Hegde , Ryan Oldja, Alexey Kamenev, Bertrand Douillard, David Nistér, Urs Muller, Ruchi Bhargava, [Stan Birchfield](/person/stan-birchfield), Nikolai Smolyanskiy



[arXiv](https://arxiv.org/abs/2409.16663)









[Real-Time Anomaly Detection and Reactive Planning with Large Language Models](/publication/2024-07_real-time-anomaly-detection-and-reactive-planning-large-language-models)

Rohan Sinha, Amine Elhafsi, Christopher Agia, Matthew Foutter, Edward Schmerling, [Marco Pavone](/person/marco-pavone)



[RSS](https://roboticsconference.org/2024/program/papers/)









### 2023 

[Learning for CasADi: Data-driven Models in Numerical Optimization](/publication/2023-12_learning-casadi-data-driven-models-numerical-optimization)

Tim Salzmann, Jon Arrizabalaga, Joel Andersson, [Marco Pavone](/person/marco-pavone), Markus Ryll



[Arxiv](https://arxiv.org/abs/2312.05873)









[PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction](/index.php/publication/2023-12_pac-bayes-generalization-certificates-learned-inductive-conformal-prediction)

[Apoorva Sharma](/index.php/person/apoorva-sharma), [Sushant Veer](/index.php/person/sushant-veer), Asher Hancock, Heng Yang, [Marco Pavone](/index.php/person/marco-pavone), Anirudha Majumdar



[Arxiv](https://arxiv.org/abs/2312.04658)









[Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Maps](/index.php/publication/2023-11_augmenting-lane-perception-and-topology-understanding-standard-definition)

Katie Z Luo, [Xinshuo Weng](/index.php/person/xinshuo-weng), [Yan Wang](/index.php/person/yan-wang), Shuang Wu, Jie Li, Kilian Q Weinberger, [Yue Wang](/index.php/person/yue-wang), [Marco Pavone](/index.php/person/marco-pavone)



[Arxiv](https://arxiv.org/abs/2311.04079v1)









[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/)









[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)









[Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles](/publication/2023-07_task-aware-risk-estimation-perception-failures-autonomous-vehicles)

Pasquale Antonante, [Sushant Veer](/person/sushant-veer), [Karen Leung](/person/karen-leung), [Xinshuo Weng](/person/xinshuo-weng), Luca Carlone, [Marco Pavone](/person/marco-pavone)



[Robotics: Science and Systems (RSS) 2023](https://roboticsconference.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/)









[Learning Autonomous Vehicle Safety Concepts from Demonstrations](/index.php/publication/2023-05_learning-autonomous-vehicle-safety-concepts-demonstrations)

[Karen Leung](/index.php/person/karen-leung), [Sushant Veer](/index.php/person/sushant-veer), [Edward Schmerling](/index.php/person/ed-schmerling), [Marco Pavone](/index.php/person/marco-pavone)



[American Control Conference (ACC) 2023](https://acc2023.a2c2.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/)









[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/)









[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/)









[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/)









[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/)









[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/)









[Semantic Anomaly Detection with Large Language Models](/publication/2023-05_semantic-anomaly-detection-large-language-models)

Amine Elhafsi, Rohan Sinha, Christopher Agia, Edward Schmerling, Issa Nesnas, [Marco Pavone](/person/marco-pavone)



[Arxiv](https://arxiv.org/abs/2305.11307)









[Bayesian Reparameterization of Reward-Conditioned Reinforcement Learning with Energy-based Models](/publication/2023-05_bayesian-reparameterization-reward-conditioned-reinforcement-learning-energy)

Wenhao Ding, Tong Che, Ding Zhao, [Marco Pavone](/person/marco-pavone)



[Arxiv](https://arxiv.org/abs/2305.11340)









[Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles](/publication/2023-05_task-aware-risk-estimation-perception-failures-autonomous-vehicles)

Pasquale Antonante, [Sushant Veer](/person/sushant-veer), [Karen Leung](/person/karen-leung), [Xinshuo Weng](/person/xinshuo-weng), Luca Carlone, [Marco Pavone](/person/marco-pavone)



[Arxiv](https://arxiv.org/abs/2305.01870)









[FreeNeRF: Improving Few-shot Neural Rendering with Free Frequency Regularization](/publication/2023-03_freenerf-improving-few-shot-neural-rendering-free-frequency-regularization)

[Heng Yang](/person/heng-yang), [Marco Pavone](/person/marco-pavone)



[Arxiv](https://arxiv.org/abs/2303.12246)









### 2022 

[Robust Trajectory Prediction against Adversarial Attacks](/publication/2022-12_robust-trajectory-prediction-against-adversarial-attacks)

[Yulong Cao](/person/yulong-cao), [Danfei Xu](/person/danfei-xu), [Xinshuo Weng](/person/xinshuo-weng), Z. Morely Mao, Anima Anandkumar, [Chaowei Xiao](/person/chaowei-xiao), [Marco Pavone](/person/marco-pavone)



[Conference on Robot Learning (CoRL) 2022](https://corl2022.org/)



Selected for Oral Presentation





[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 ](/index.php/publication/2022-10_heterogeneous-agent-trajectory-forecasting-incorporating-class-uncertainty)

[Boris Ivanovic](/index.php/person/boris-ivanovic), Kuan-Hui Lee, Pavel Tokmakov, Blake Wulfe, Adrien Gaidon, [Marco Pavone](/index.php/person/marco-pavone)



[IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022](https://iros2022.org/)









[AdvDO: Realistic Adversarial Attacks for Trajectory Prediction](/publication/2022-10_advdo-realistic-adversarial-attacks-trajectory-prediction)

[Yulong Cao](/person/yulong-cao), [Chaowei Xiao](/person/chaowei-xiao), Anima Anandkumar, [Danfei Xu](/person/danfei-xu), [Marco Pavone](/person/marco-pavone)



[European Conference on Computer Vision (ECCV) 2022](https://eccv2022.ecva.net/)









[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)









[Zhuyi: Perception Processing Rate Estimation for Safety in Autonomous Vehicles](/publication/2022-07_zhuyi-perception-processing-rate-estimation-safety-autonomous-vehicles)

Yu-Shun Hsiao, [Siva Hari](/person/siva-hari), Michał Filipiuk, Timothy Tsai, [Michael B. Sullivan](/person/mike-sullivan), Vijay Janapa Reddi, Vasu Singh, [Steve Keckler](/person/stephen-keckler)



[Design Automation Conference (DAC)](https://dl.acm.org/doi/10.1145/3489517.3530445)









[Exploiting Temporal Data Diversity for Detecting Safety-critical Faults in AV Compute Systems](/publication/2022-06_exploiting-temporal-data-diversity-detecting-safety-critical-faults-av-compute)

Saurabh Jha, Shengkun Cui, Timothy Tsai, [Siva Hari](/person/siva-hari), [Michael B. Sullivan](/person/mike-sullivan), Zbigniew T. Kalbarczyk, [Steve Keckler](/person/stephen-keckler), Ravishankar K. Iyer



[International Conference on Dependable Systems and Networks (DSN)](https://ieeexplore.ieee.org/document/9833576)









[Whose Track Is It Anyway? Improving Robustness to Tracking Errors with Affinity-Based Prediction](/index.php/publication/2022-06_whose-track-it-anyway-improving-robustness-tracking-errors-affinity-based)

[Xinshuo Weng](/index.php/person/xinshuo-weng), [Boris Ivanovic](/index.php/person/boris-ivanovic), Kris Kitani, [Marco Pavone](/index.php/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/)









[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/)









[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/)









[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/)









[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/)









[Zhuyi: Perception Processing Rate Estimation for Safety in Autonomous Vehicles](/publication/2022-05_zhuyi-perception-processing-rate-estimation-safety-autonomous-vehicles)

Yu-Shun Hsiao, [Siva Hari](/person/siva-hari), Michał Filipiuk, Timothy Tsai, [Michael B. Sullivan](/person/mike-sullivan), Vijay Janapa Reddi, Vasu Singh, [Steve Keckler](/person/stephen-keckler)



[arXiv](https://arxiv.org/abs/2205.03347)









[PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation](/publication/2022-03_predictionnet-real-time-joint-probabilistic-traffic-prediction-planning-control)

Alexey Kamenev, Lirui Wang, Ollin Boer Bohan, Ishwar Kulkarni, Bilal Kartal, Artem Molchanov, [Stan Birchfield](/person/stan-birchfield), David Nister, Nikolai Smolyanskiy



ICRA 2022









### 2021 

[Suraksha: A Framework to Analyze the Safety Implications of Perception Design Choices in AVs](/publication/2021-10_suraksha-framework-analyze-safety-implications-perception-design-choices-avs)

Hengyu Zhao, [Siva Hari](/person/siva-hari), Timothy Tsai, [Michael B. Sullivan](/person/mike-sullivan), [Steve Keckler](/person/stephen-keckler), Jishen Zhao



[International Symposium on Software Reliability Engineering (ISSRE)](https://ieeexplore.ieee.org/abstract/document/9700341)









[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](/index.php/publication/2021-09_sample-efficient-safety-assurances-using-conformal-prediction)

Rachel Luo, Shengjia Zhao, Jonathan Kuck, [Boris Ivanovic](/index.php/person/boris-ivanovic), Silvio Savarese, Edward Schmerling, [Marco Pavone](/index.php/person/marco-pavone)



[Arxiv](https://arxiv.org/abs/2109.14082)









[Generating and Characterizing Scenarios for Safety Testing of Autonomous Vehicles](/publication/2021-07_generating-and-characterizing-scenarios-safety-testing-autonomous-vehicles)

Zahra Ghodsi, [Siva Hari](/person/siva-hari), [Iuri Frosio](/person/iuri-frosio), Timothy Tsai, Alejandro Troccoli, [Steve Keckler](/person/stephen-keckler), Siddharth Garg, Anima Anandkumar



[IEEE Intelligent Vehicles Symposium (IV)](https://ieeexplore.ieee.org/document/9576023)









[Suraksha: A Quantitative AV Safety Evaluation Framework to Analyze Safety Implications of Perception Design Choices](/index.php/publication/2021-06_suraksha-quantitative-av-safety-evaluation-framework-analyze-safety)

Hengyu Zhao, [Siva Hari](/index.php/person/siva-hari), Timothy Tsai, [Michael B. Sullivan](/index.php/person/mike-sullivan), [Steve Keckler](/index.php/person/stephen-keckler), Jishen Zhao



[Workshop on Safety and Security of Intelligent Vehicles (SSIV)](https://ieeexplore.ieee.org/document/9502467)









[Binary TTC: A Temporal Geofence for Autonomous Navigation](/publication/2021-06_binary-ttc-temporal-geofence-autonomous-navigation)

[Abhishek Badki](/person/abhishek-badki), Orazio Gallo, [Jan Kautz](/person/jan-kautz), Pradeep Sen



[IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2021](https://cvpr2021.thecvf.com/)



Best Student Paper Honorable Mention, CVPR 2021





[Simulation Driven Design and Test for Safety of AI Based Autonomous Vehicles](/publication/2021-06_simulation-driven-design-and-test-safety-ai-based-autonomous-vehicles)

Vasu Singh, [Siva Hari](/person/siva-hari), Timothy Tsai, Mandar Pitale



[Workshop on Safe Artificial Intelligence for Automated Driving (SAIAD)](https://ieeexplore.ieee.org/document/9522733)









[Generating and Characterizing Scenarios for Safety Testing of Autonomous Vehicles](/publication/2021-03_generating-and-characterizing-scenarios-safety-testing-autonomous-vehicles)

Zahra Ghodsi, [Siva Hari](/person/siva-hari), [Iuri Frosio](/person/iuri-frosio), Timothy Tsai, Alejandro Troccoli, [Steve Keckler](/person/stephen-keckler), Siddharth Garg, Anima Anandkumar



[arXiv](https://arxiv.org/abs/2103.07403)









### 2020 

[Generating and Characterizing Scenarios for Safety Testing of Autonomous Vehicles](/publication/2020-11_generating-and-characterizing-scenarios-safety-testing-autonomous-vehicles-0)

Zahra Ghodsi, [Siva Hari](/person/siva-hari), [Iuri Frosio](/person/iuri-frosio), Timothy Tsai, Alejandro Troccoli, [Steve Keckler](/person/stephen-keckler), Siddharth Garg, Anima Anandkumar



[IEEE International Workshop on Automotive Reliability & Test (ART)](https://www.ieee-tttc.org/ebshistory/2020/%5BPUB%5D%5BART_2020%5D_Fifth_IEEE_International_Workshop_on_Automotive_Reliability_&_Test_-_CALL_FOR_SUBMISSIONS_-_%22IEEE_TTTC's_EBS%22_%3Cebs@ieee-tttc.org%3E_-_2020-09-08_1209.eml.html)









[AV-FUZZER: Finding Safety Violations in Autonomous Driving Systems](/publication/2020-10_av-fuzzer-finding-safety-violations-autonomous-driving-systems)

Guangpeng Li, Yiran Li, Saurabh Jha, Timothy Tsai, [Michael B. Sullivan](/person/mike-sullivan), [Siva Hari](/person/siva-hari), Zbigniew Kalbarczyk, Ravishankar Iyer



[International Symposium on Software Reliability Engineering (ISSRE)](https://ieeexplore.ieee.org/document/9251068)



Best Paper award





[ML-driven Malware that Targets AV Safety](/publication/2020-06_ml-driven-malware-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)](https://ieeexplore.ieee.org/document/9153375)









[MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views ](/publication/2020-06_mvlidarnet-real-time-multi-class-scene-understanding-autonomous-driving-using)

Ke Chen, Ryan Oldja, Nikolai Smolyanskiy, [Stan Birchfield](/person/stan-birchfield), Alexander Popov, David Wehr, Ibrahim Eden, Joachim Pehserl



IROS 2020









[ML-driven Malware that Targets AV Safety](/publication/2020-04_ml-driven-malware-targets-av-safety)

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



[arXiv](https://arxiv.org/abs/2004.13004)









### 2019 

[Kayotee: A Fault Injection-based System to Assess the Safety and Reliability of Autonomous Vehicles to Faults and Errors](/publication/2019-07_kayotee-fault-injection-based-system-assess-safety-and-reliability-autonomous)

Saurabh Jha, Timothy Tsai, [Siva Hari](/person/siva-hari), [Michael B. Sullivan](/person/mike-sullivan), Zbigniew Kalbarczyk, [Steve Keckler](/person/stephen-keckler), Ravishankar K. Iyer



[arXiv](https://arxiv.org/abs/1907.01024)









[ML-based Fault Injection for Autonomous Vehicles: A Case for Bayesian Fault Injection](/publication/2019-07_ml-based-fault-injection-autonomous-vehicles-case-bayesian-fault-injection)

Saurabh Jha, Subho S. Banerjee, Timothy Tsai, [Siva Hari](/person/siva-hari), [Michael B. Sullivan](/person/mike-sullivan), Zbigniew T. Kalbarczyk, [Steve Keckler](/person/stephen-keckler), Ravishankar K. Iyer



[arXiv](https://arxiv.org/abs/1907.01051)









[ML-based Fault Injection for Autonomous Vehicles: A Case for Bayesian Fault Injection](/publication/2019-06_ml-based-fault-injection-autonomous-vehicles-case-bayesian-fault-injection)

Saurabh Jha, Subho Banerjee, Timothy Tsai, [Siva Hari](/person/siva-hari), [Michael B. Sullivan](/person/mike-sullivan), Zbigniew T. Kalbarczyk, [Steve Keckler](/person/stephen-keckler), Ravishankar K. Iyer



[International Conference on Dependable Systems and Networks (DSN)](https://ieeexplore.ieee.org/abstract/document/8809495)









### 2018 

[Kayotee: A Fault Injection-based System to Assess the Safety and Reliability of Autonomous Vehicles to Faults and Errors](/publication/2018-11_kayotee-fault-injection-based-system-assess-safety-and-reliability-autonomous)

Saurabh Jha, Timothy Tsai, [Siva Hari](/person/siva-hari), [Michael B. Sullivan](/person/mike-sullivan), Zbigniew Kalbarczyk, [Steve Keckler](/person/stephen-keckler), Ravishankar K. Iyer



[Third IEEE International Workshop on Automotive Reliability & Test](http://www.lirmm.fr/art18/)









[On the Importance of Stereo for Accurate Depth Estimation: An Efficient Semi-Supervised Deep Neural Network Approach ](/publication/2018-04_importance-stereo-accurate-depth-estimation-efficient-semi-supervised-deep)

Nikolai Smolyanskiy, Alexey Kamenev, [Stan Birchfield](/person/stan-birchfield)



[CVPR 2018 Workshop on Autonomous Driving](http://www.wad.ai)









### 2016 

[Towards Selecting Robust Hand Gestures for Automotive Interfaces](/publication/2016-06_towards-selecting-robust-hand-gestures-automotive-interfaces-0)

[Shalini Gupta](/person/shalini-de-mello), [Pavlo Molchanov](/person/pavlo-molchanov), Xiaodong Yang, [Stephen Tyree](/person/stephen-tyree), [Jan Kautz](/person/jan-kautz)



[IEEE Intelligent Vehicles Symposium (IV) 2016](http://iv2016.org/)









[Multi-Predictor Fusion: Combining Learning-based and Rule-based Trajectory Predictors](/index.php/publication/_multi-predictor-fusion-combining-learning-based-and-rule-based-trajectory-predictors)

[Sushant Veer](/index.php/person/sushant-veer), [Apoorva Sharma](/index.php/person/apoorva-sharma), [Marco Pavone](/index.php/person/marco-pavone)



[Arxiv](https://arxiv.org/abs/2307.01408)









 

 



 ### Researchers

 

[Apoorva Sharma](/person/apoorva-sharma)



[Bertrand Douillard](/person/bertrand-douillard)



[Boris Ivanovic](/person/boris-ivanovic)



[Danfei Xu](/person/danfei-xu)



[Ed Schmerling](/person/ed-schmerling)



[Gal Dalal](/index.php/person/gal-dalal)



[Gerry Che](/person/gerry-che)



[Heng Yang](/person/heng-yang)



[Jack Shi](/person/jack-shi)



[Jef Packer](/person/jef-packer)



[Karen Leung](/person/karen-leung)



[Marco Pavone](/index.php/person/marco-pavone)



[Maximilian Igl](/person/maximilian-igl)



[Michael Watson](/person/michael-watson)



[Muya Chang](/index.php/person/muya-chang)



[Peter Karkus](/person/peter-karkus)



[Rachel Luo](/person/rachel-luo)



[Siva Hari](/person/siva-hari)



[Sushant Veer](/person/sushant-veer)



[Thomas Tian](/person/thomas-tian)



[Vinu Joseph](/person/vinu-joseph)



[Wenhao Ding](/index.php/person/wenhao-ding)



[Wenjie Luo](/person/wenjie-luo)



[Xiangyu Chen](/person/xiangyu-chen)



[Xiaodong Yang](/person/xiaodong-yang)



[Xinshuo Weng](/person/xinshuo-weng)



[Yan Wang](/person/yan-wang)



[Yu Wang](/person/yu-wang)



[Yue Wang](/person/yue-wang)



[Yulong Cao](/person/yulong-cao)



[Yuxiao Chen](/person/yuxiao-chen)



[Zhiding Yu](/person/zhiding-yu)