9 citations · 27 across the 20 of their papers we have counts for
11 papers · 1 filter
Interactive Joint Planning for Autonomous Vehicles
Yuxiao Chen, Sushant Veer, Peter Karkus +1
In highly interactive driving scenarios, the actions of one agent greatly influences those of its neighbors. Planning safe motions for autonomous vehicles in such interactive envir…
DTPP: Differentiable Joint Conditional Prediction and Cost Evaluation for Tree Policy Planning in Autonomous Driving
Zhiyu Huang, Peter Karkus, Boris Ivanovic +3
Motion prediction and cost evaluation are vital components in the decision-making system of autonomous vehicles. However, existing methods often ignore the importance of cost learn…
Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition
Sever Topan, Yuxiao Chen, Edward Schmerling +4
A critical task for developing safe autonomous driving stacks is to determine whether an obstacle is safety-critical, i.e., poses an imminent threat to the autonomous vehicle. Our…
Language-Guided Traffic Simulation via Scene-Level Diffusion
Ziyuan Zhong, Davis Rempe, Yuxiao Chen +5
Realistic and controllable traffic simulation is a core capability that is necessary to accelerate autonomous vehicle (AV) development. However, current approaches for controlling…
Learning Responsibility Allocations for Safe Human-Robot Interaction with Applications to Autonomous Driving
Ryan K. Cosner, Yuxiao Chen, Karen Leung +1
Drivers have a responsibility to exercise reasonable care to avoid collision with other road users. This assumed responsibility allows interacting agents to maintain safety without…
Tree-structured Policy Planning with Learned Behavior Models
Yuxiao Chen, Peter Karkus, Boris Ivanovic +2
Autonomous vehicles (AVs) need to reason about the multimodal behavior of neighboring agents while planning their own motion. Many existing trajectory planners seek a single trajec…
Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles
Sushant Veer, Karen Leung, Ryan Cosner +3
Autonomous vehicles must often contend with conflicting planning requirements, e.g., safety and comfort could be at odds with each other if avoiding a collision calls for slamming…
Guided Conditional Diffusion for Controllable Traffic Simulation
Ziyuan Zhong, Davis Rempe, Danfei Xu +5
Controllable and realistic traffic simulation is critical for developing and verifying autonomous vehicles. Typical heuristic-based traffic models offer flexible control to make ve…
BITS: Bi-level Imitation for Traffic Simulation
Danfei Xu, Yuxiao Chen, Boris Ivanovic +1
Simulation is the key to scaling up validation and verification for robotic systems such as autonomous vehicles. Despite advances in high-fidelity physics and sensor simulation, a…
Interaction-Dynamics-Aware Perception Zones for Obstacle Detection Safety Evaluation
Sever Topan, Karen Leung, Yuxiao Chen +5
To enable safe autonomous vehicle (AV) operations, it is critical that an AV's obstacle detection module can reliably detect obstacles that pose a safety threat (i.e., are safety-c…
Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer
Suneel Belkhale, Ethan K. Gordon, Yuxiao Chen +3
Robot-assisted feeding in household environments is challenging because it requires robots to generate trajectories that effectively bring food items of varying shapes and sizes in…