Boris Ivanovic ![](/sites/default/files/person/square_pic_of_me_sf.JPG) Boris Ivanovic is a Senior Research Scientist and Manager in NVIDIA's Autonomous Vehicle Research Group. Prior to joining NVIDIA, he received his Ph.D. in Aeronautics and Astronautics under the supervision of Marco Pavone in 2021 and an M.S. in Computer Science in 2018, both from Stanford University. He received his B.A.Sc. in Engineering Science from the University of Toronto in 2016. Boris' research interests include novel end-to-end AV architectures, sensor and traffic simulation, AI safety, and the thoughtful integration of foundation models in AV development. He has also previously conducted research in the fields of computer vision, natural language processing, and data science, frequently leveraging concepts from them in his current research. In his spare time, Boris enjoys running, playing tennis, skiing, hiking, traveling, watching docudramas, and cooking. For more information, please check out [his personal page](http://www.borisivanovic.com/). Research Area(s) [Artificial Intelligence and Machine Learning ](/research-area/machine-learning-artificial-intelligence) [Autonomous Vehicles](/research-area/autonomous-vehicles) [Computer Vision](/research-area/computer-vision) [Generative AI](/research-area/generative-ai) [Physical AI](/research-area/physical-ai) [Resilience and Safety](/research-area/resilience) [Robotics](/research-area/robotics) Main Field of Interest [Autonomous Vehicles](/research-area/autonomous-vehicles) Google Scholar ### Publications ### 2025 [Beyond Behavior Cloning in Autonomous Driving: a Survey of Closed-Loop Training Techniques](/index.php/publication/2025-12_beyond-behavior-cloning-autonomous-driving-survey-closed-loop-training) [Peter Karkus](/index.php/person/peter-karkus), [Maximilian Igl](/index.php/person/maximilian-igl), [Yuxiao Chen](/index.php/person/yuxiao-chen), Kashyap Chitta, Jef Packer, [Bertrand Douillard](/index.php/person/bertrand-douillard), [Thomas Tian](/index.php/person/thomas-tian), Alexander Naumann, Guillermo Garcia-Cobo, Shuhan Tan, [Alperen Degirmenci](/index.php/person/alperen-degirmenci), Alexander Popov, Nikolai Smolyanskiy, Urs Muller, [Boris Ivanovic](/index.php/person/boris-ivanovic), [Marco Pavone](/index.php/person/marco-pavone) ### 2023 [trajdata: A Unified Interface to Multiple Human Trajectory Datasets](/index.php/publication/2023-07_trajdata-unified-interface-multiple-human-trajectory-datasets) [Boris Ivanovic](/index.php/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) [Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models](/index.php/publication/2023-05_planning-occluded-traffic-agents-using-bi-level-variational-occlusion-models) Filippos Christianos, [Peter Karkus](/index.php/person/peter-karkus), [Boris Ivanovic](/index.php/person/boris-ivanovic), Stefano V. Albrecht, [Marco Pavone](/index.php/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/) [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](/index.php/publication/2023-05_bits-bi-level-imitation-traffic-simulation) [Danfei Xu](/index.php/person/danfei-xu), [Yuxiao Chen](/index.php/person/yuxiao-chen), [Boris Ivanovic](/index.php/person/boris-ivanovic), [Marco Pavone](/index.php/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 [DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles](/index.php/publication/2022-12_diffstack-differentiable-and-modular-control-stack-autonomous-vehicles) [Peter Karkus](/index.php/person/peter-karkus), [Boris Ivanovic](/index.php/person/boris-ivanovic), [Shie Mannor](/index.php/person/shie-mannor), [Marco Pavone](/index.php/person/marco-pavone) [Conference on Robot Learning (CoRL) 2022](https://corl2022.org/) [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/) [ 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/) [Robust and Controllable Object-Centric Learning through Energy-based Models](/index.php/publication/2022-10_robust-and-controllable-object-centric-learning-through-energy-based-models) Ruixiang Zhang, Tong Che, [Boris Ivanovic](/index.php/person/boris-ivanovic), Renhao Wang, [Marco Pavone](/index.php/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](/index.php/publication/2022-09_expanding-deployment-envelope-behavior-prediction-adaptive-meta-learning) [Boris Ivanovic](/index.php/person/boris-ivanovic), James Harrison, Marco Pavone [Arxiv](https://arxiv.org/abs/2209.11820) [ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning](/index.php/publication/2022-06_scept-scene-consistent-policy-based-trajectory-predictions-planning) [Yuxiao Chen](/index.php/person/yuxiao-chen), [Boris Ivanovic](/index.php/person/boris-ivanovic), [Marco Pavone](/index.php/person/marco-pavone) [IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2022](https://cvpr2022.thecvf.com/) [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/) [Injecting Planning-Awareness into Prediction and Detection Evaluation](/index.php/publication/2022-06_injecting-planning-awareness-prediction-and-detection-evaluation) [Boris Ivanovic](/index.php/person/boris-ivanovic), [Marco Pavone](/index.php/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/) [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](/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)