Publications | Research

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Artificial Intelligence and Machine Learning
Autonomous Vehicles
Computer Vision

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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

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

CVPR

2023

Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles

Pasquale Antonante, Sushant Veer, Karen Leung, Xinshuo Weng, Luca Carlone, Marco Pavone

RSS

2022

Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles

Alec Farid, Sushant Veer, Boris Ivanovic, Karen Leung, Marco Pavone

CORL

Robust Trajectory Prediction against Adversarial Attacks

Yulong Cao, Danfei Xu, Xinshuo Weng, Z. Morely Mao, Anima Anandkumar, Chaowei Xiao, Marco Pavone

CORL

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

ECCV

Whose Track Is It Anyway? Improving Robustness to Tracking Errors with Affinity-Based Prediction

Xinshuo Weng, Boris Ivanovic, Kris Kitani, Marco Pavone

CVPR

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

Propagating State Uncertainty Through Trajectory Forecasting

Boris Ivanovic, Yifeng Lin, Shubham Shrivastava, Punarjay Chakravarty, Marco Pavone

ICRA