Trustworthy Autonomous Systems Laboratory (TASL)

Publications

Please refer to Prof. Jiachen Li’s Google Scholar for a complete list of publications.

social-navigation autonomous-driving human-robot-interaction/collaboration embodied-ai foundation-models vision-language multi-agent/robot-systems mobile-manipulation cooperative-perception reinforcement-learning graph-neural-networks generative-models relational-reasoning safety generalization/robustness uncertainty-quantification explainability/interpretability meta-learning trajectory-prediction occupancy-prediction human-intention/motion-prediction multi-object-tracking

Recent Highlights

Interactive Autonomous Navigation with Internal State Inference and Interactivity Estimation
Interactive Autonomous Navigation with Internal State Inference and Interactivity Estimation
J. Li, D. Isele, K. Lee, J. Park, K. Fujimura, and M. J. Kochenderfer
IEEE Transactions on Robotics (T-RO)
arXiv
IEEE
  
autonomous-driving human-robot-interaction/collaboration reinforcement-learning relational-reasoning explainability/interpretability
SoNIC: Safe Social Navigation with Adaptive Conformal Inference and Constrained Reinforcement Learning
SoNIC: Safe Social Navigation with Adaptive Conformal Inference and Constrained Reinforcement Learning
J. Yao, X. Zhang, Y. Xia, Z. Wang, A. K. Roy-Chowdhury, and J. Li
under review
arXiv
Video
Website
Code
  
social-navigation human-robot-interaction/collaboration safety generalization/robustness uncertainty-quantification reinforcement-learning trajectory-prediction graph-neural-networks
LaMMA-P: Generalizable Multi-Agent Long-Horizon Task Allocation and Planning with LM-Driven PDDL Planner
LaMMA-P: Generalizable Multi-Agent Long-Horizon Task Allocation and Planning with LM-Driven PDDL Planner
X. Zhang, H. Qin, F. Wang, Y. Dong, and J. Li
International Conference on Robotics and Automation (ICRA 2025)
arXiv
Video
Website
  
embodied-ai foundation-models vision-language mobile-manipulation object-navigation human-robot-interaction/collaboration multi-agent/robot-systems cooperative-planning
CMP: Cooperative Motion Prediction with Multi-Agent Communication
CMP: Cooperative Motion Prediction with Multi-Agent Communication
Z. Wang*, Y. Wang*, Z. Wu*, H. Ma, Z. Li, H. Qiu, and J. Li
IEEE Robotics and Automation Letters (RA-L)
arXiv
Website
  
trajectory-prediction autonomous-driving cooperative-perception multi-agent/robot-systems

All

Under Review / Preprints

SoNIC: Safe Social Navigation with Adaptive Conformal Inference and Constrained Reinforcement Learning
SoNIC: Safe Social Navigation with Adaptive Conformal Inference and Constrained Reinforcement Learning
J. Yao, X. Zhang, Y. Xia, Z. Wang, A. K. Roy-Chowdhury, and J. Li
under review
arXiv
Video
Website
Code
  
social-navigation human-robot-interaction/collaboration safety generalization/robustness uncertainty-quantification reinforcement-learning trajectory-prediction graph-neural-networks
Multi-Agent Dynamic Relational Reasoning for Social Robot Navigation
Multi-Agent Dynamic Relational Reasoning for Social Robot Navigation
J. Li*, C. Hua*, J. Park, H. Ma, V. Dax, and M. J. Kochenderfer
submitted to IEEE Transactions on Robotics (T-RO), under review
arXiv
  
social-navigation human-robot-interaction/collaboration trajectory-prediction relational-reasoning reinforcement-learning multi-agent/robot-systems safety graph-neural-networks
Self-Supervised Multi-Future Occupancy Forecasting for Autonomous Driving
Self-Supervised Multi-Future Occupancy Forecasting for Autonomous Driving
B. Lange, M. Itkina, J. Li, and M. J. Kochenderfer
submitted to IEEE Robotics and Automation Letters (RA-L), under review
arXiv
  
occupancy-prediction autonomous-driving
CoMamba: Real-time Cooperative Perception Unlocked with State Space Models
CoMamba: Real-time Cooperative Perception Unlocked with State Space Models
J. Li, X. Liu, B. Li, R. Xu, J. Li, H. Yu, and Z. Tu
under review
arXiv
  
cooperative-perception multi-agent/robot-systems autonomous-driving
Preference VLM: Leveraging VLMs for Scalable Preference-Based Reinforcement Learning
Preference VLM: Leveraging VLMs for Scalable Preference-Based Reinforcement Learning
U. Ghosh, D. Raychaudhuri, J. Li, K. Karydis, and A. Roy-Chowdhury
under review
arXiv
  
foundation-models vision-language embodied-ai
Human Implicit Preference-Based Policy Fine-tuning for Multi-Agent Reinforcement Learning in USV Swarm
Human Implicit Preference-Based Policy Fine-tuning for Multi-Agent Reinforcement Learning in USV Swarm
H. Kim, K. Lee, J. Park, J. Li, and J. Park
under review
arXiv
  
foundation-models vision-language embodied-ai reinforcement-learning multi-agent/robot-systems
Can Large Vision Language Models Read Maps Like a Human?
Can Large Vision Language Models Read Maps Like a Human?
S. Xing, Z. Sun, S. Xie, K. Chen, Y. Huang, Y. Wang, J. Li, D. Song, and Z. Tu
under review
arXiv
  
foundation-models vision-language

2025

CMP: Cooperative Motion Prediction with Multi-Agent Communication
CMP: Cooperative Motion Prediction with Multi-Agent Communication
Z. Wang*, Y. Wang*, Z. Wu*, H. Ma, Z. Li, H. Qiu, and J. Li
IEEE Robotics and Automation Letters (RA-L)
arXiv
Website
  
trajectory-prediction autonomous-driving cooperative-perception multi-agent/robot-systems
LaMMA-P: Generalizable Multi-Agent Long-Horizon Task Allocation and Planning with LM-Driven PDDL Planner
LaMMA-P: Generalizable Multi-Agent Long-Horizon Task Allocation and Planning with LM-Driven PDDL Planner
X. Zhang, H. Qin, F. Wang, Y. Dong, and J. Li
International Conference on Robotics and Automation (ICRA 2025)
arXiv
Video
Website
  
embodied-ai foundation-models vision-language mobile-manipulation object-navigation human-robot-interaction/collaboration multi-agent/robot-systems cooperative-planning
STAMP: Scalable Task And Model-agnostic Collaborative Perception
STAMP: Scalable Task And Model-agnostic Collaborative Perception
X. Gao, R. Xu, J. Li, Z. Wang, Z. Fan, and Z. Tu
International Conference on Learning Representations (ICLR 2025)
arXiv
  
cooperative-perception multi-agent/robot-systems autonomous-driving
Adaptive Prediction Ensemble: Improving Out-of-Distribution Generalization of Motion Forecasting
Adaptive Prediction Ensemble: Improving Out-of-Distribution Generalization of Motion Forecasting
J. Li, J. Li, S. Bae, and D. Isele
IEEE Robotics and Automation Letters (RA-L)
arXiv
  
trajectory-prediction generalization/robustness autonomous-driving
Conformal Prediction and MLLM aided Uncertainty Quantification in Scene Graph Generation
Conformal Prediction and MLLM aided Uncertainty Quantification in Scene Graph Generation
S. Nag, U. Ghosh, S. Bose, C. Ta, J. Li, and A. Roy-Chowdhury
International Conference on Computer Vision and Pattern Recognition (CVPR 2025)
arXiv
  
foundation-models vision-language scene-understanding uncertainty-quantification
Importance Sampling-Guided Meta-Training for Intelligent Agents in Highly Interactive Environments
Importance Sampling-Guided Meta-Training for Intelligent Agents in Highly Interactive Environments
M. Arief*, M. Timmerman*, J. Li, D. Isele, and M. J. Kochenderfer
IEEE Robotics and Automation Letters (RA-L)
arXiv
  
reinforcement-learning meta-learning generalization/robustness autonomous-driving human-robot-interaction/collaboration

2024

Interactive Autonomous Navigation with Internal State Inference and Interactivity Estimation
Interactive Autonomous Navigation with Internal State Inference and Interactivity Estimation
J. Li, D. Isele, K. Lee, J. Park, K. Fujimura, and M. J. Kochenderfer
IEEE Transactions on Robotics (T-RO)
arXiv
IEEE
  
autonomous-driving human-robot-interaction/collaboration reinforcement-learning relational-reasoning explainability/interpretability
MATRIX: Multi-Agent Trajectory Generation with Diverse Contexts
MATRIX: Multi-Agent Trajectory Generation with Diverse Contexts
Z. Xu*, R. Zhou*, Y. Yin*, H. Gao, M. Tomizuka, and J. Li
International Conference on Robotics and Automation (ICRA 2024)
arXiv
  
trajectory-prediction human-robot-interaction/collaboration generalization/robustness data-augmentation
Scene Informer: Anchor-based Occlusion Inference and Trajectory Prediction in Partially Observable Environments
Scene Informer: Anchor-based Occlusion Inference and Trajectory Prediction in Partially Observable Environments
B. Lange, J. Li, and M. J. Kochenderfer
International Conference on Robotics and Automation (ICRA 2024)
arXiv
  
autonomous-driving trajectory-prediction occlusion-inference
ELA: Exploited Level Augmentation for Offline Learning in Zero-Sum Games
ELA: Exploited Level Augmentation for Offline Learning in Zero-Sum Games
S. Lei*, K. Lee*, L. Li, J. Park, and J. Li
International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2024)
arXiv
AAMAS
  
offline-learning zero-sum-games
Rank2Tell: A Multimodal Dataset for Joint Driving Importance Ranking and Reasoning
Rank2Tell: A Multimodal Dataset for Joint Driving Importance Ranking and Reasoning
E. Sachdeva*, N. Agarwal*, S. Chundi, S. Roelofs, J. Li, C. Choi, M. J. Kochenderfer, and B. Dariush
IEEE/CVF Winter Conference on Applications of Computer Vision (WACV 2024)
arXiv
  
vision-language scene-understanding autonomous-driving explainability/interpretability
Predicting Future Spatiotemporal Occupancy Grids with Semantics for Autonomous Driving
Predicting Future Spatiotemporal Occupancy Grids with Semantics for Autonomous Driving
M. Toyungyernsub, E. Yel, J. Li, and M. J. Kochenderfer
IEEE Intelligent Vehicles Symposium (IV 2024)
arXiv
  
occupancy-prediction autonomous-driving

2023

Pedestrian Crossing Action Recognition and Trajectory Prediction with 3D Human Keypoints
Pedestrian Crossing Action Recognition and Trajectory Prediction with 3D Human Keypoints
J. Li, X. Shi*, F. Chen*, J. Stroud*, Z. Zhang, …, J. Kang, K. Refaat, W. Yang, E. Le, and C. Li
International Conference on Robotics and Automation (ICRA 2023)
arXiv
  
autonomous-driving trajectory-prediction human-intention/motion-prediction
Robust Driving Policy Learning with Guided Meta Reinforcement Learning
Robust Driving Policy Learning with Guided Meta Reinforcement Learning
K. Lee*, J. Li*, D. Isele, J. Park, K. Fujimura, and M. J. Kochenderfer
IEEE International Conference on Intelligent Transportation Systems (ITSC 2023)
arXiv
  
reinforcement-learning meta-learning generalization/robustness autonomous-driving human-robot-interaction/collaboration
Game Theory-Based Simultaneous Prediction and Planning for Autonomous Vehicle Navigation in Crowded Environments
Game Theory-Based Simultaneous Prediction and Planning for Autonomous Vehicle Navigation in Crowded Environments
K. Li, Y. Chen, M. Shan, J. Li, S. Worrall, and E. Nebot
IEEE International Conference on Intelligent Transportation Systems (ITSC 2023)
ResearchGate
  
trajectory-prediction autonomous-driving human-robot-interaction/collaboration game-theory
DRAMA: Joint Risk Localization and Reasoning in Driving Scenarios
DRAMA: Joint Risk Localization and Reasoning in Driving Scenarios
S. Malla, C. Choi, J. H. Choi, I. Dwivedi, and J. Li
IEEE/CVF Winter Conference on Applications of Computer Vision (WACV 2023)
WACV
arXiv
  
autonomous-driving vision-language explainability/interpretability
A Cognition-Inspired Trajectory Prediction Method for Vehicles in Interactive Scenarios
A Cognition-Inspired Trajectory Prediction Method for Vehicles in Interactive Scenarios
S. Xie, J. Li, and J. Wang
IET Intelligent Transport Systems
IET
  
autonomous-driving trajectory-prediction

2022

Interaction Modeling with Multiplex Attention
Interaction Modeling with Multiplex Attention
F. Sun, I. Kauvar, R. Zhang, J. Li, M. J. Kochenderfer, J. Wu, and N. Haber
Neural Information Processing Systems (NeurIPS 2022)
NeurIPS
Website
arXiv
  
multi-agent/robot-systems relational-reasoning trajectory-prediction
Learning Physical Dynamics with Subequivariant Graph Neural Networks
Learning Physical Dynamics with Subequivariant Graph Neural Networks
J. Han, W. Huang, H. Ma, J. Li, J. B. Tenenbaum, and C. Gan
Neural Information Processing Systems (NeurIPS 2022)
NeurIPS
arXiv
  
graph-neural-networks relational-reasoning physical-dynamics
Important Object Identification with Semi-Supervised Learning for Autonomous Driving
Important Object Identification with Semi-Supervised Learning for Autonomous Driving
J. Li*, H. Gang*, H. Ma, M. Tomizuka, and C. Choi
International Conference on Robotics and Automation (ICRA 2022)
IEEE
arXiv
  
autonomous-driving semi-supervised-learning relational-reasoning
Grouptron: Dynamic Multi-Scale Graph Convolutional Networks for Group-Aware Dense Crowd Trajectory Forecasting
Grouptron: Dynamic Multi-Scale Graph Convolutional Networks for Group-Aware Dense Crowd Trajectory Forecasting
R. Zhou, H. Zhou, M. Tomizuka, J. Li*, and Z. Xu*
International Conference on Robotics and Automation (ICRA 2022)
IEEE
arXiv
  
graph-neural-networks trajectory-prediction relational-reasoning
Dynamics-Aware Spatiotemporal Occupancy Prediction in Urban Environments
Dynamics-Aware Spatiotemporal Occupancy Prediction in Urban Environments
M. Toyungyernsub, E. Yel, J. Li, and M. J. Kochenderfer
IEEE/RSJ International Conference on Robotics and Systems (IROS 2022)
IEEE
arXiv
  
occupancy-prediction autonomous-driving
Multi-Objective Diverse Human Motion Prediction with Knowledge Distillation
Multi-Objective Diverse Human Motion Prediction with Knowledge Distillation
H. Ma, J. Li, R. Hosseini, M. Tomizuka, and C. Choi
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2022, Oral)
CVPR
Video
  
human-intention/motion-prediction knowledge-distillation
Graph Q-Learning for Combinatorial Optimization
Graph Q-Learning for Combinatorial Optimization
V. Dax, J. Li, K. Leahy, and M. J. Kochenderfer
Deep Reinforcement Learning Workshop, NeurIPS 2022
OpenReview
  
graph-neural-networks reinforcement-learning combinatorial-optimization

2021

RAIN: Reinforced Hybrid Attention Inference Network for Motion Forecasting
RAIN: Reinforced Hybrid Attention Inference Network for Motion Forecasting
J. Li, F. Yang, H. Ma, S. Malla, M. Tomizuka, and C. Choi
IEEE/CVF International Conference on Computer Vision (ICCV 2021)
ICCV
arXiv
  
trajectory-prediction reinforcement-learning relational-reasoning
Shared Cross-Modal Trajectory Prediction for Autonomous Driving
Shared Cross-Modal Trajectory Prediction for Autonomous Driving
C. Choi, J. H. Choi, J. Li, and S. Malla
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2021, Oral)
ICCV
arXiv
  
trajectory-prediction autonomous-driving
LOKI: Long Term and Key Intentions for Trajectory Prediction
LOKI: Long Term and Key Intentions for Trajectory Prediction
H. Gang*, H. Girase*, S. Malla, J. Li, A. Kanehara, K. Mangalam, and C. Choi
IEEE/CVF International Conference on Computer Vision (ICCV 2021)
ICCV
arXiv
  
trajectory-prediction human-intention/motion-prediction autonomous-driving
Spatio-Temporal Graph Dual-Attention Network for Multi-Agent Prediction and Tracking
Spatio-Temporal Graph Dual-Attention Network for Multi-Agent Prediction and Tracking
J. Li, H. Ma, Z. Zhang, J. Li, and M. Tomizuka
IEEE Transactions on Intelligent Transportation Systems
IEEE
arXiv
  
multi-agent/robot-systems trajectory-prediction multi-object-tracking relational-reasoning
Continual Multi-agent Interaction Behavior Prediction with Conditional Generative Memory
Continual Multi-agent Interaction Behavior Prediction with Conditional Generative Memory
H. Ma*, Y. Sun*, J. Li, M. Tomizuka, and C. Choi
IEEE Robotics and Automation Letters (RA-L)
IEEE
PDF
  
multi-agent/robot-systems trajectory-prediction continual-learning generative-models
Reinforcement Learning for Autonomous Driving with Latent State Inference and Spatial-Temporal Relationships
Reinforcement Learning for Autonomous Driving with Latent State Inference and Spatial-Temporal Relationships
X. Ma, J. Li, M. J. Kochenderfer, D. Isele, and K. Fujimura
International Conference on Robotics and Automation (ICRA 2021)
IEEE
arXiv
  
reinforcement-learning autonomous-driving human-robot-interaction/collaboration graph-neural-networks
Spectral Temporal Graph Neural Network for Trajectory Prediction
Spectral Temporal Graph Neural Network for Trajectory Prediction
D. Cao*, J. Li*, H. Ma, and M. Tomizuka
International Conference on Robotics and Automation (ICRA 2021)
IEEE
arXiv
  
graph-neural-networks trajectory-prediction relational-reasoning
Multi-agent Driving Behavior Prediction across Different Scenarios with Self-supervised Domain Knowledge
Multi-agent Driving Behavior Prediction across Different Scenarios with Self-supervised Domain Knowledge
H. Ma*, Y. Sun*, J. Li, and M. Tomizuka
IEEE Intelligent Transportation Systems Conference (ITSC 2021)
IEEE
PDF
  
self-supervised-learning trajectory-prediction generalization multi-agent/robot-systems relational-reasoning
Autonomous Driving Strategies at Intersections: Scenarios, State-of-the-Art, and Future Outlooks
Autonomous Driving Strategies at Intersections: Scenarios, State-of-the-Art, and Future Outlooks
L. Wei, Z. Li, J. Gong, C. Gong, and J. Li
IEEE Intelligent Transportation Systems Conference (ITSC 2021)
IEEE
arXiv
  
autonomous-driving human-robot-interaction/collaboration
Orientation-Aware Planning for Parallel Task Execution of Omni-Directional Mobile Robot
Orientation-Aware Planning for Parallel Task Execution of Omni-Directional Mobile Robot
C. Gong, X. Zhou, Z. Li, J. Li, J. Gong, and J. Zhou
IEEE/RSJ International Conference on Robotics and Systems (IROS 2021)
IEEE
arXiv
  
motion-planning mobile-robot

2020

EvolveGraph: Multi-Agent Trajectory Prediction with Dynamic Relational Reasoning
EvolveGraph: Multi-Agent Trajectory Prediction with Dynamic Relational Reasoning
J. Li*, F. Yang*, M. Tomizuka, and C. Choi
Neural Information Processing Systems (NeurIPS 2020)
NeurIPS
arXiv
Website
  
graph-neural-networks relational-reasoning trajectory-prediction
Generic Tracking and Probabilistic Prediction Framework and Its Application in Autonomous Driving
Generic Tracking and Probabilistic Prediction Framework and Its Application in Autonomous Driving
J. Li, W. Zhan, Y. Hu, and M. Tomizuka
IEEE Transactions on Intelligent Transportation Systems
IEEE
arXiv
  
autonomous-driving trajectory-prediction multi-object-tracking
Social-WaGDAT: Interaction-Aware Trajectory Prediction via Wasserstein Graph Double-Attention Network
Social-WaGDAT: Interaction-Aware Trajectory Prediction via Wasserstein Graph Double-Attention Network
J. Li, H. Ma, Z. Zhang, and M. Tomizuka
arXiv preprint
arXiv
  
trajectory-prediction generative-models

2019

Interaction-aware Multi-agent Tracking and Probabilistic Behavior Prediction via Adversarial Learning
Interaction-aware Multi-agent Tracking and Probabilistic Behavior Prediction via Adversarial Learning
J. Li*, H. Ma*, and M. Tomizuka
International Conference on Robotics and Automation (ICRA 2019)
IEEE
arXiv
  
trajectory-prediction multi-object-tracking multi-agent/robot-systems adversarial-learning generative-models
Conditional Generative Neural System for Probabilistic Trajectory Prediction
Conditional Generative Neural System for Probabilistic Trajectory Prediction
J. Li, H. Ma, and M. Tomizuka
IEEE/RSJ International Conference on Robotics and Systems (IROS 2019)
IEEE
arXiv
  
trajectory-prediction generative-models
Coordination and Trajectory Prediction for Vehicle Interactions via Bayesian Generative Modeling
Coordination and Trajectory Prediction for Vehicle Interactions via Bayesian Generative Modeling
J. Li, H. Ma, W. Zhan, and M. Tomizuka
IEEE Intelligent Vehicles Symposium (IV 2019)
IEEE
arXiv
  
trajectory-prediction generative-models
Wasserstein Generative Learning with Kinematic Constraints for Probabilistic Interactive Driving Behavior Prediction
Wasserstein Generative Learning with Kinematic Constraints for Probabilistic Interactive Driving Behavior Prediction
H. Ma, J. Li, W. Zhan, and M. Tomizuka
IEEE Intelligent Vehicles Symposium (IV 2019)
IEEE
  
trajectory-prediction generative-models

2018

Generic Probabilistic Interactive Situation Recognition and Prediction: From Virtual to Real
Generic Probabilistic Interactive Situation Recognition and Prediction: From Virtual to Real
J. Li, H. Ma, W. Zhan, and M. Tomizuka
IEEE Intelligent Transportation Systems Conference (ITSC 2018)
IEEE
arXiv
  
trajectory-prediction generative-models
Towards a Fatality-Aware Benchmark of Probabilistic Reaction Prediction in Highly Interactive Driving Scenarios
Towards a Fatality-Aware Benchmark of Probabilistic Reaction Prediction in Highly Interactive Driving Scenarios
W. Zhan, L. Sun, Y. Hu, J. Li, and M. Tomizuka
IEEE Intelligent Transportation Systems Conference (ITSC 2018)
IEEE
arXiv
  
trajectory-prediction autonomous-driving
Generic Vehicle Tracking Framework Capable of Handling Occlusions Based on Modified Mixture Particle Filter
Generic Vehicle Tracking Framework Capable of Handling Occlusions Based on Modified Mixture Particle Filter
J. Li, W. Zhan, and M. Tomizuka
IEEE Intelligent Vehicles Symposium (IV 2018, Oral)
IEEE
arXiv
  
autonomous-driving multi-object-tracking

2017

Safe and Feasible Motion Generation for Autonomous Driving via Constrained Policy Net
Safe and Feasible Motion Generation for Autonomous Driving via Constrained Policy Net
W. Zhan, J. Li, Y. Hu, and M. Tomizuka
Annual Conference of the Industrial Electronics Society (IECON 2017)
IEEE
  
autonomous-driving motion-generation

2016

A Novel Variable Selection Approach for Redundant Information Elimination Purpose of Process Control
A Novel Variable Selection Approach for Redundant Information Elimination Purpose of Process Control
J. Li, C. Duan, and Z. Fei
IEEE Transactions on Industrial Electronics
IEEE
  
control-theory
Finite-time H∞ Control of Switched Systems with Mode-dependent Average Dwell Time
Finite-time H∞ Control of Switched Systems with Mode-dependent Average Dwell Time
S. Shi, Z. Fei, and J. Li
Journal of the Franklin Institute
ELSEVIER
  
control-theory
A Variable Selection Aided Residual Generator Design Approach for Process Control and Monitoring
A Variable Selection Aided Residual Generator Design Approach for Process Control and Monitoring
C. Duan, Z. Fei, and J. Li
Neurocomputing
ELSEVIER
  
control-theory