Publications

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

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2025

Beyond Behavior Cloning in Autonomous Driving: a Survey of Closed-Loop Training Techniques
Peter Karkus, Maximilian Igl, Yuxiao Chen, Kashyap Chitta, Jef Packer, Bertrand Douillard, Thomas Tian, Alexander Naumann, Guillermo Garcia-Cobo, Shuhan Tan, Alperen Degirmenci, Alexander Popov, Nikolai Smolyanskiy, Urs Muller, Boris Ivanovic, Marco Pavone
Alpamayo 1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tail
Marco Pavone, Many other contributors found on Page 33
World Simulation With Video Foundation Models for Physical AI
Ming-Yu Liu,
Sim2Val: Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation
Rachel Luo, Heng Yang, Michael Watson, Apoorva Sharma, Sushant Veer, Edward Schmerling, Marco Pavone
GEN3C: 3D-Informed World-Consistent Video Generation with Precise Camera Control
Xuanchi Ren, Tianchang Shen, Jiahui Huang, Huan Ling, Yifan Lu, Merlin Nimier-David, Thomas Müller, Alex Keller, Sanja Fidler, Jun Gao
Cosmos Transfer 1: World-to-World Transfer with Adaptive Multi-Control for Physical AI
Ming-Yu Liu
Cosmos-Reason 1: From Physical AI Common Sense to Embodied Decisions
Tsung-Yi Lin, Ming-Yu Liu
NVIDIA Isaac GR00T N1: An Open Foundation Model for Humanoid Robots
Yuke Zhu, Linxi "Jim" Fan, NVIDIA GEAR Team
Cosmos World Foundation Model Platform for Physical AI
Ming-Yu Liu, Many other contributors at https://d1qx31qr3h6wln.cloudfront.net/publications/NVIDIA%20Cosmos_4.pdf, Jing Zhang

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