Boris Ivanovic | NVIDIA ASPIRE Group https://research.nvidia.com/labs/aspire/author/boris-ivanovic/ Boris Ivanovic Wowchemy (https://wowchemy.com)en-usWed, 31 Dec 2025 00:00:00 -0400 https://research.nvidia.com/labs/aspire/images/logo_hu2fe6632db44d28c9b9d53edd3914c1d6_112452_300x300_fit_lanczos_3.png Boris Ivanovic https://research.nvidia.com/labs/aspire/author/boris-ivanovic/ SafeVL: Driving Safety Evaluation via Meticulous Reasoning in Vision Language Models https://research.nvidia.com/labs/aspire/publication/ma.cao.etal.arxiv2025/ Wed, 31 Dec 2025 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/ma.cao.etal.arxiv2025/ Alpamayo-R1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tail https://research.nvidia.com/labs/aspire/publication/wang.luo.etal.arxiv2025/ Tue, 30 Dec 2025 00:00:00 +0000 https://research.nvidia.com/labs/aspire/publication/wang.luo.etal.arxiv2025/ Towards Efficient and Effective Multi-Camera Encoding for End-to-End Driving https://research.nvidia.com/labs/aspire/publication/yang.chen.etal.arxiv2025/ Thu, 11 Dec 2025 18:59:46 +0000 https://research.nvidia.com/labs/aspire/publication/yang.chen.etal.arxiv2025/ Latent Chain-of-Thought World Modeling for End-to-End Driving https://research.nvidia.com/labs/aspire/publication/tan.chitta.etal.arxiv2025/ Thu, 11 Dec 2025 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/tan.chitta.etal.arxiv2025/ Beyond Behavior Cloning in Autonomous Driving: a Survey of Closed-Loop Training Techniques https://research.nvidia.com/labs/aspire/publication/karkus.igl.etal.pami2025/ Fri, 05 Dec 2025 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/karkus.igl.etal.pami2025/ RoaD: Rollouts as Demonstrations for Closed-Loop Supervised Fine-Tuning of Autonomous Driving Policies https://research.nvidia.com/labs/aspire/publication/garciacobo.igl.etal.arxiv2025/ Mon, 01 Dec 2025 18:52:03 -0400 https://research.nvidia.com/labs/aspire/publication/garciacobo.igl.etal.arxiv2025/ Extrapolated Urban View Synthesis Benchmark https://research.nvidia.com/labs/aspire/publication/han.jia.etal.iccv2025/ Sun, 19 Oct 2025 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/han.jia.etal.iccv2025/ Wolf: Dense Video Captioning with a World Summarization Framework https://research.nvidia.com/labs/aspire/publication/li.zhu.etal.tmlr2025/ Tue, 07 Oct 2025 00:00:00 +0000 https://research.nvidia.com/labs/aspire/publication/li.zhu.etal.tmlr2025/ Safety Evaluation of Motion Plans Using Trajectory Predictors as Forward Reachable Set Estimators https://research.nvidia.com/labs/aspire/publication/chakraborty.feng.etal.arxiv2025/ Wed, 30 Jul 2025 05:22:45 -0400 https://research.nvidia.com/labs/aspire/publication/chakraborty.feng.etal.arxiv2025/ RAMEN: Real-time Asynchronous Multi-agent Neural Implicit Mapping https://research.nvidia.com/labs/aspire/publication/zhao.ivanovic.mehr.rss2025/ Sat, 21 Jun 2025 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/zhao.ivanovic.mehr.rss2025/ Efficient Multi-Camera Tokenization with Triplanes for End-to-End Driving https://research.nvidia.com/labs/aspire/publication/ivanovic.saltori.etal.ral2025/ Fri, 13 Jun 2025 00:00:00 +0000 https://research.nvidia.com/labs/aspire/publication/ivanovic.saltori.etal.ral2025/ Data Scaling Laws for End-to-End Autonomous Driving https://research.nvidia.com/labs/aspire/publication/naumann.gu.etal.cvprw2025/ Wed, 11 Jun 2025 08:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/naumann.gu.etal.cvprw2025/ Pseudo-Simulation for Autonomous Driving https://research.nvidia.com/labs/aspire/publication/cao.hallgarten.etal.corl2025/ Wed, 04 Jun 2025 00:00:00 +0000 https://research.nvidia.com/labs/aspire/publication/cao.hallgarten.etal.corl2025/ E3D-Bench: A Benchmark for End-to-End 3D Geometric Foundation Models https://research.nvidia.com/labs/aspire/publication/cong.liang.etal.arxiv2025/ Mon, 02 Jun 2025 00:00:00 +0000 https://research.nvidia.com/labs/aspire/publication/cong.liang.etal.arxiv2025/ OmniRe: Omni Urban Scene Reconstruction https://research.nvidia.com/labs/aspire/publication/chen.yang.etal.iclr2025/ Sat, 19 Apr 2025 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/chen.yang.etal.iclr2025/ Closed-Loop Supervised Fine-Tuning of Tokenized Traffic Models https://research.nvidia.com/labs/aspire/publication/zhang.karkus.etal.cvpr2025/ Fri, 14 Mar 2025 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/zhang.karkus.etal.cvpr2025/ InstantSplat: Sparse-view SfM-free Gaussian Splatting in Seconds https://research.nvidia.com/labs/aspire/publication/fan.cong.etal.arxiv2025/ Fri, 07 Mar 2025 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/fan.cong.etal.arxiv2025/ DreamDrive: Generative 4D Scene Modeling from Street View Images https://research.nvidia.com/labs/aspire/publication/mao.li.etal.icra2025/ Fri, 03 Jan 2025 00:00:00 -0500 https://research.nvidia.com/labs/aspire/publication/mao.li.etal.icra2025/ STORM: Spatio-Temporal Reconstruction Model for Large-Scale Outdoor Scenes https://research.nvidia.com/labs/aspire/publication/yang.huang.etal.iclr2025/ Tue, 31 Dec 2024 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/yang.huang.etal.iclr2025/ LoRA3D: Low-Rank Self-Calibration of 3D Geometric Foundation Models https://research.nvidia.com/labs/aspire/publication/lu.yang.etal.iclr2025/ Tue, 10 Dec 2024 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/lu.yang.etal.iclr2025/ DistillNeRF: Perceiving 3D Scenes from Single-Glance Images by Distilling Neural Fields and Foundation Model Features https://research.nvidia.com/labs/aspire/publication/wang.kim.etat.neurips2024/ Thu, 31 Oct 2024 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/wang.kim.etat.neurips2024/ Large Spatial Model: End-to-end Unposed Images to Semantic 3D https://research.nvidia.com/labs/aspire/publication/fan.zhang.etal.neurips2024/ Thu, 24 Oct 2024 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/fan.zhang.etal.neurips2024/ System-Level Analysis of Module Uncertainty Quantification in the Autonomy Pipeline https://research.nvidia.com/labs/aspire/publication/deglurkar.shen.etal.cdc2024/ Wed, 09 Oct 2024 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/deglurkar.shen.etal.cdc2024/ Gen-Drive: Enhancing Diffusion Generative Driving Policies with Reward Modeling and Reinforcement Learning Fine-tuning https://research.nvidia.com/labs/aspire/publication/huang.weng.etal.icra2025/ Tue, 08 Oct 2024 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/huang.weng.etal.icra2025/ System-Level Safety Monitoring and Recovery for Perception Failures in Autonomous Vehicles https://research.nvidia.com/labs/aspire/publication/chakraborty.feng.etal.icra2025/ Thu, 26 Sep 2024 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/chakraborty.feng.etal.icra2025/ Promptable Closed-loop Traffic Simulation https://research.nvidia.com/labs/aspire/publication/tan.ivanovic.etal.corl2024/ Mon, 09 Sep 2024 17:59:15 -0400 https://research.nvidia.com/labs/aspire/publication/tan.ivanovic.etal.corl2024/ PARA-Drive: Parallelized Architecture for Real-time Autonomous Driving https://research.nvidia.com/labs/aspire/publication/weng.ivanovic.etal.cvpr2024/ Mon, 15 Jul 2024 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/weng.ivanovic.etal.cvpr2024/ Accelerating Online Mapping and Behavior Prediction via Direct BEV Feature Attention https://research.nvidia.com/labs/aspire/publication/gu.song.etal.eccv2024/ Tue, 09 Jul 2024 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/gu.song.etal.eccv2024/ Tokenize the World into Object-level Knowledge to Address Long-tail Events in Autonomous Driving https://research.nvidia.com/labs/aspire/publication/tian.li.etal.corl2024/ Mon, 01 Jul 2024 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/tian.li.etal.corl2024/ NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking https://research.nvidia.com/labs/aspire/publication/dauner.hallgarten.etal.neurips2024/ Fri, 21 Jun 2024 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/dauner.hallgarten.etal.neurips2024/ Driving Everywhere with Large Language Model Policy Adaptation https://research.nvidia.com/labs/aspire/publication/li.wang.etal.cvpr24/ Sun, 09 Jun 2024 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/li.wang.etal.cvpr24/ Parallelized Spatiotemporal Binding https://research.nvidia.com/labs/aspire/publication/singh.wang.etal.icml24/ Sun, 09 Jun 2024 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/singh.wang.etal.icml24/ Producing and Leveraging Online Map Uncertainty in Trajectory Prediction https://research.nvidia.com/labs/aspire/publication/gu.song.etal.cvpr24/ Sun, 09 Jun 2024 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/gu.song.etal.cvpr24/ Language-Image Models with 3D Understanding https://research.nvidia.com/labs/aspire/publication/cho.ivanovic.etal.iclr2025/ Mon, 06 May 2024 00:00:00 -0400 https://research.nvidia.com/labs/aspire/publication/cho.ivanovic.etal.iclr2025/ EmerNeRF: Emergent Spatial-Temporal Scene Decomposition via Self-Supervision https://research.nvidia.com/labs/aspire/publication/yang.ivanovic.etal.arxiv2023/ Mon, 13 Nov 2023 10:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/yang.ivanovic.etal.arxiv2023/ Partial-View Object View Synthesis via Filtered Inversion https://research.nvidia.com/labs/aspire/publication/sun.tremblay.etal.3dv2024/ Sun, 12 Nov 2023 07:59:00 -0400 https://research.nvidia.com/labs/aspire/publication/sun.tremblay.etal.3dv2024/ trajdata: A Unified Interface to Multiple Human Trajectory Datasets https://research.nvidia.com/labs/aspire/publication/ivanovic.song.etal.neuripsdb23/ Sat, 11 Nov 2023 09:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/ivanovic.song.etal.neuripsdb23/ Language-Guided Traffic Simulation via Scene-Level Diffusion https://research.nvidia.com/labs/aspire/publication/zhong.rempe.etal.corl23/ Wed, 08 Nov 2023 09:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/zhong.rempe.etal.corl23/ Language Conditioned Traffic Generation https://research.nvidia.com/labs/aspire/publication/tan.ivanovic.etal.corl23/ Tue, 07 Nov 2023 09:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/tan.ivanovic.etal.corl23/ DTPP: Differentiable Joint Conditional Prediction and Cost Evaluation for Tree Policy Planning in Autonomous Driving https://research.nvidia.com/labs/aspire/publication/huang.karkus.etal.arxiv2023/ Mon, 30 Oct 2023 10:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/huang.karkus.etal.arxiv2023/ Reinforcement Learning with Human Feedback for Realistic Traffic Simulation https://research.nvidia.com/labs/aspire/publication/cao.ivanovic.etal.arxiv23/ Mon, 30 Oct 2023 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/cao.ivanovic.etal.arxiv23/ BITS: Bi-level Imitation for Traffic Simulation https://research.nvidia.com/labs/aspire/publication/xu.chen.etal.icra2023/ Sun, 15 Jan 2023 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/xu.chen.etal.icra2023/ Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning https://research.nvidia.com/labs/aspire/publication/ivanovic.harrison.etal.icra2023/ Sun, 15 Jan 2023 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/ivanovic.harrison.etal.icra2023/ Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models https://research.nvidia.com/labs/aspire/publication/christianos.karkus.etal.icra2023/ Sun, 15 Jan 2023 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/christianos.karkus.etal.icra2023/ Tree-structured Policy Planning with Learned Behavior Models https://research.nvidia.com/labs/aspire/publication/chen.karkus.etal.icra2023/ Sun, 15 Jan 2023 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/chen.karkus.etal.icra2023/ Robust and Controllable Object-Centric Learning through Energy-based Models https://research.nvidia.com/labs/aspire/publication/zhang.che.etal.iclr2023/ Sat, 14 Jan 2023 00:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/zhang.che.etal.iclr2023/ DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles https://research.nvidia.com/labs/aspire/publication/karkus.ivanovic.etal.corl2022/ Fri, 23 Sep 2022 09:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/karkus.ivanovic.etal.corl2022/ Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles https://research.nvidia.com/labs/aspire/publication/farid.veer.etal.corl2022/ Fri, 23 Sep 2022 09:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/farid.veer.etal.corl2022/ Propagating State Uncertainty Through Trajectory Forecasting https://research.nvidia.com/labs/aspire/publication/ivanovic.lin.etal.icra2022/ Tue, 22 Feb 2022 10:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/ivanovic.lin.etal.icra2022/ ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning https://research.nvidia.com/labs/aspire/publication/chen.ivanovic.etal.cvpr2022/ Tue, 22 Feb 2022 10:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/chen.ivanovic.etal.cvpr2022/ Whose Track Is It Anyway? Improving Robustness to Tracking Errors with Affinity-Based Prediction https://research.nvidia.com/labs/aspire/publication/weng.ivanovic.etal.cvpr2022/ Tue, 22 Feb 2022 10:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/weng.ivanovic.etal.cvpr2022/ MTP: Multi-Hypothesis Tracking and Prediction for Reduced Error Propagation https://research.nvidia.com/labs/aspire/publication/weng.ivanovic.etal.iv2022/ Mon, 18 Oct 2021 10:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/weng.ivanovic.etal.iv2022/ Injecting Planning-Awareness into Prediction and Detection Evaluation https://research.nvidia.com/labs/aspire/publication/ivanovic.pavone.iv2022/ Thu, 07 Oct 2021 10:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/ivanovic.pavone.iv2022/ Rethinking Trajectory Forecasting Evaluation https://research.nvidia.com/labs/aspire/publication/ivanovic.pavone.arxiv2021/ Wed, 21 Jul 2021 10:21:59 -0400 https://research.nvidia.com/labs/aspire/publication/ivanovic.pavone.arxiv2021/