Publications

Our publications provide insight into some of our leading-edge research.

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2022

Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles
Alec Farid, Sushant Veer, Boris Ivanovic, Karen Leung, Marco Pavone
DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles
Peter Karkus, Boris Ivanovic, Shie Mannor, Marco Pavone
Robust Trajectory Prediction against Adversarial Attacks
Yulong Cao, Danfei Xu, Xinshuo Weng, Z. Morely Mao, Anima Anandkumar, Chaowei Xiao, Marco Pavone
Selected for Oral Presentation
Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty
Boris Ivanovic, Kuan-Hui Lee, Pavel Tokmakov, Blake Wulfe, Adrien Gaidon, Marco Pavone
AdvDO: Realistic Adversarial Attacks for Trajectory Prediction
Yulong Cao, Chaowei Xiao, Anima Anandkumar, Danfei Xu, Marco Pavone
Robust and Controllable Object-Centric Learning through Energy-based Models
Ruixiang Zhang, Tong Che, Boris Ivanovic, Renhao Wang, Marco Pavone, Yoshua Bengio, Liam Paull
Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning
Boris Ivanovic, James Harrison, Marco Pavone
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
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
Whose Track Is It Anyway? Improving Robustness to Tracking Errors with Affinity-Based Prediction
Xinshuo Weng, Boris Ivanovic, Kris Kitani, Marco Pavone
ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning
Yuxiao Chen, Boris Ivanovic, Marco Pavone
Injecting Planning-Awareness into Prediction and Detection Evaluation
Boris Ivanovic, Marco Pavone
MTP: Multi-Hypothesis Tracking and Prediction for Reduced Error Propagation
Xinshuo Weng, Boris Ivanovic, Marco Pavone
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
Propagating State Uncertainty Through Trajectory Forecasting
Boris Ivanovic, Yifeng Lin, Shubham Shrivastava, Punarjay Chakravarty, Marco Pavone
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
PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation
Alexey Kamenev, Lirui Wang, Ollin Boer Bohan, Ishwar Kulkarni, Bilal Kartal, Artem Molchanov, Stan Birchfield, David Nister, Nikolai Smolyanskiy

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
MTP: Multi-Hypothesis Tracking and Prediction for Reduced Error Propagation
Xinshuo Weng, Boris Ivanovic, Marco Pavone
Sample-Efficient Safety Assurances using Conformal Prediction
Rachel Luo, Shengjia Zhao, Jonathan Kuck, Boris Ivanovic, Silvio Savarese, Edward Schmerling, Marco Pavone
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
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
Binary TTC: A Temporal Geofence for Autonomous Navigation
Abhishek Badki, Orazio Gallo, Jan Kautz, Pradeep Sen
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
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