I work on human-like autonomy for robots. Human-like autonomy for me means three things: the robot should be able to generalize in open worlds, they should be able to reason about human intent, and they should be able to perform agile control in underactuated regimes. My current work focuses on HLA for multi-robot and human-robot systems.
Reward Is Enough: LLMs are In-context Reinforcement Learners
The Fourteenth International Conference on Learning Representations (ICLR), 2026
DAVE: Diverse Atomic Visual Elements Dataset with High Representation of Vulnerable Road Users in Complex and Unpredictable Environments
IEEE Intelligent Vehicles, 2026
GameChat: Multi-LLM Dialogue for Safe, Agile, and Socially Optimal Multi-Agent Navigation in Constrained Environments
IEEE MRS, 2025
GAMEOPT+: Improving Fuel Efficiency in Unregulated Heterogeneous Traffic Intersections via Optimal Multi-agent Cooperative Control
IEEE MRS, 2025
Finite Sample Analysis of Linear Temporal Difference Learning with Arbitrary Features
NeurIPS, 2025
Multi-Agent Inverse Reinforcement Learning in Real World Unstructured Pedestrian Crowds
IROS, 2025
Towards Large Language Models that Benefit for All: Benchmarking Group Fairness in Reward Models
Reinforcement Learning Conference, 2025
Deadlock-free, Safe, and Decentralized Multi-Robot Navigation in Social Mini-Games via Discrete-Time Control Barrier Functions
Autonomous Robots, 2025
LiveNet: Robust, Minimally Invasive Multi-Robot Control for Safe and Live Navigation in Constrained Environments
7th Annual Learning for Dynamics & Control Conference (L4DC), 2025
Principles and guidelines for evaluating social robot navigation algorithms
Transactions on Human-Robot Interaction (T-HRI), 2025
Decentralized Safe and Scalable Multi-Agent Control under Limited Actuation
2025 IEEE International Conference on Robotics and Automation (ICRA), 2025
Deep Reinforcement Learning for Robotics: A Survey of Real-World Successes
Annual Review of Control, Robotics, and Autonomous Systems, 2024
SOCIALGYM 2.0: Simulator for Multi-Robot Learning and Navigation in Shared Human Spaces
Proceedings of the AAAI Conference on Artificial Intelligence, 2024
Rethinking social robot navigation: Leveraging the best of two worlds
2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Transfer-LMR: Heavy-Tail Driving Behavior Recognition in Diverse Traffic Scenarios
arXiv preprint arXiv:2405.05354, 2024
Socialmapf: Optimal and efficient multi-agent path finding with strategic agents for social navigation
IEEE Robotics and Automation Letters, 2023
Meteor: A dense, heterogeneous, and unstructured traffic dataset with rare behaviors
2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Intent-Aware Planning in Heterogeneous Traffic via Distributed Multi-Agent Reinforcement Learning
Conference on Robot Learning, 2023
Targeted Learning: A Hybrid Approach to Social Robot Navigation
arXiv preprint arXiv:2309.13466, 2023
Disturbance Observer-based Robust Integral Control Barrier Functions for Nonlinear Systems with High Relative Degree
arXiv preprint arXiv:2309.16945, 2023
Neural Differentiable Integral Control Barrier Functions for Unknown Nonlinear Systems with Input Constraints
arXiv preprint arXiv:2312.07345, 2023
Decentralized Social Navigation with Non-Cooperative Robots via Bi-Level Optimization
arXiv preprint arXiv:2306.08815, 2023
M3detr: Multi-representation, multi-scale, mutual-relation 3d object detection with transformers
Proceedings of the IEEE/CVF winter conference on applications of computer vision, 2022
Gameplan: Game-theoretic multi-agent planning with human drivers at intersections, roundabouts, and merging
IEEE Robotics and Automation Letters, 2022
GAMEOPT: Optimal Real-time Multi-Agent Planning and Control at Dynamic Intersections
2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), 2022
Game-Theoretic Planning for Autonomous Driving among Risk-Aware Human Drivers
2022 International Conference on Robotics and Automation (ICRA), 2022
Estimating Emotion Contagion on Social Media via Localized Diffusion in Dynamic Graphs
arXiv preprint arXiv:2207.07165, 2022
Ga-nav: Efficient terrain segmentation for robot navigation in unstructured outdoor environments
IEEE Robotics and Automation Letters, 2022
B-gap: Behavior-rich simulation and navigation for autonomous driving
IEEE Robotics and Automation Letters, 2022
Ss-sfda: Self-supervised source-free domain adaptation for road segmentation in hazardous environments
Proceedings of the IEEE/CVF International Conference on Computer Vision, 2021
BoMuDANet: unsupervised adaptation for visual scene understanding in unstructured driving environments
Proceedings of the IEEE/CVF International Conference on Computer Vision, 2021
Using graph-theoretic machine learning to predict human driver behavior
IEEE Transactions on Intelligent Transportation Systems, 2021
Step: Spatial temporal graph convolutional networks for emotion perception from gaits
Proceedings of the AAAI Conference on Artificial Intelligence, 2020
M3er: Multiplicative multimodal emotion recognition using facial, textual, and speech cues
Proceedings of the AAAI conference on artificial intelligence, 2020
Take an emotion walk: Perceiving emotions from gaits using hierarchical attention pooling and affective mapping
European Conference on Computer Vision, 2020
Forecasting trajectory and behavior of road-agents using spectral clustering in graph-lstms
IEEE Robotics and Automation Letters, 2020
Densecavoid: Real-time navigation in dense crowds using anticipatory behaviors
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
Graphrqi: Classifying driver behaviors using graph spectrums
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
Cmetric: A driving behavior measure using centrality functions
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Emotions don't lie: An audio-visual deepfake detection method using affective cues
Proceedings of the 28th ACM international conference on multimedia, 2020
RoadTrack: Realtime Tracking of Road Agents in Dense and Heterogeneous Environments
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
Emoticon: Context-aware multimodal emotion recognition using frege's principle
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020
Phasepack: A phase retrieval library
2019 13th International conference on Sampling Theory and Applications (SampTA), 2019
Robusttp: End-to-end trajectory prediction for heterogeneous road-agents in dense traffic with noisy sensor inputs
Proceedings of the 3rd ACM Computer Science in Cars Symposium, 2019
Densepeds: Pedestrian tracking in dense crowds using front-rvo and sparse features
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
Traphic: Trajectory prediction in dense and heterogeneous traffic using weighted interactions
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2019
OTRA based R-2R Ladder and weighted resistors DAC realization
International Journal of Electrical and Electronics Engineering, 2015
Voltage mode second order notch/all-pass filter realization using OTRA
i-manager's Journal on Electronics Engineering, 2015