2025

  1. [J29] Physics-Aware Combinatorial Assembly Sequence Planning using Data-free Action Masking
    Ruixuan Liu, Alan Chen, Weiye Zhao and Changliu Liu
    IEEE Robotics and Automation Letters, 2025
  2. [J30] Certifying Robustness of Learning-Based Keypoint Detection and Pose Estimation Methods
    Xusheng Luo, Tianhao Wei, Simin Liu, Ziwei Wang, Luis Mattei-Mendez, Taylor Loper, Joshua Neighbor, Casidhe Hutchison and Changliu Liu
    ACM Transactions on Cyber-Physical Systems, 2025
  1. [C86] ThinkBot: Embodied Instruction Following with Thought Chain Reasoning
    Guanxing Lu, Ziwei Wang, Changliu Liu, Jiwen Lu and Yansong Tang
    International Conference on Learning Representations, 2025
  2. [C87] Automating Robot Failure Recovery Using Vision-Language Models With Optimized Prompts
    Hongyi Chen, Yunchao Yao, Ruixuan Liu, Changliu Liu and Jeffrey Ichnowski
    American Control Conference, 2025
  3. [C88] HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
    Tairan He, Wenli Xiao, Toru Lin, Zhengyi Luo, Zhenjia Xu, Zhenyu Jiang, Changliu Liu, Guanya Shi, Xiaolong Wang, Linxi Fan and Yuke Zhu
    IEEE International Conference on Robotics and Automation, 2025
  4. [C89] Robots that Learn to Safely Influence via Prediction-Informed Reach-Avoid Dynamic Games
    Ravi Pandya, Changliu Liu and Andrea Bajcsy
    IEEE International Conference on Robotics and Automation, 2025
  5. [C90] Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation
    Kai S. Yun, Rui Chen, Chase Dunaway, John M. Dolan and Changliu Liu
    IEEE International Conference on Robotics and Automation, 2025
  6. [C91] Improving Policy Optimization via \varepsilon-Retrain
    Luca Marzari, Changliu Liu, Priya L. Donti and Enrico Marchesini
    International Conference on Autonomous Agents and Multiagent Systems, 2025
  7. [C92] Revisiting the Initial Steps in Adaptive Gradient Descent Optimization
    Abulikemu Abuduweili and Changliu Liu
    Conference on Parsimony and Learning (CPAL), 2025
  8. [C93] On the Boundary Feasibility for PDE Control with Neural Operators
    Hanjiang Hu and Changliu Liu
    Learning for Dynamics and Control Conference, 2025
  9. [C94] Learn With Imagination: Safe Set Guided State-wise Constrained Policy Optimization
    Feihan Li, Yifan Sun, Weiye Zhao, Rui Chen, Tianhao Wei and Changliu Liu
    Learning for Dynamics and Control Conference, 2025
  10. [C95] Continual Learning and Lifting of Koopman Dynamics for Linear Control of Legged Robots
    Feihan Li, Abulikemu Abuduweili, Yifan Sun, Rui Chen, Weiye Zhao and Changliu Liu
    Learning for Dynamics and Control Conference, 2025
          1. [U] APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly
            Philip Huang, Ruixuan Liu, Shobhit Aggarwal, Changliu Liu and Jiaoyang Li
            arXiv preprint arXiv:2503.15836, 2025
          2. [U] SPARK: A Modular Benchmark for Humanoid Robot Safety
            Yifan Sun, Rui Chen, Kai S Yun, Yikuan Fang, Sebin Jung, Feihan Li, Bowei Li, Weiye Zhao and Changliu Liu
            arXiv preprint arXiv:2502.03132, 2025
          3. [U] Dexterous Safe Control for Humanoids in Cluttered Environments via Projected Safe Set Algorithm
            Rui Chen, Yifan Sun and Changliu Liu
            arXiv preprint arXiv:2502.02858, 2025
          4. [U] Eye-in-Finger: Smart Fingers for Delicate Assembly and Disassembly of LEGO
            Zhenran Tang, Ruixuan Liu and Changliu Liu
            arXiv preprint arXiv:2503.06848, 2025
          5. [U] Steering Dialogue Dynamics for Robustness against Multi-turn Jailbreaking Attacks
            Hanjiang Hu, Alexander Robey and Changliu Liu
            arXiv preprint arXiv:2503.00187, 2025

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          2024

          1. [J22] Learn Zero-Constraint-Violation Safe Policy in Model-Free Constrained Reinforcement Learning
            Haitong Ma, Changliu Liu, Shengbo Eben Li, Sifa Zheng, Wenchao Sun and Jianyu Chen
            IEEE Transactions on Neural Networks and Learning Systems, 2024
          2. [J23] Guard: A safe reinforcement learning benchmark
            Weiye Zhao, Rui Chen, Yifan Sun, Ruixuan Liu, Tianhao Wei and Changliu Liu
            Transactions on Machine Learning Research, 2024
          3. [J24] State-wise Constrained Policy Optimization
            Weiye Zhao, Rui Chen, Yifan Sun, Tianhao Wei and Changliu Liu
            Transactions on Machine Learning Research, 2024
          4. [J25] Decomposition-based Hierarchical Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications
            Xusheng Luo, Shaojun Xu, Ruixuan Liu and Changliu Liu
            IEEE Robotics and Automation Letters, 2024
          5. [J26] Improve Certified Training with Signal-to-Noise Ratio Loss to Decrease Neuron Variance and Increase Neuron Stability
            Tianhao Wei, Ziwei Wang, Peizhi Niu, Abulikemu Abuduweili, Weiye Zhao, Casidhe Hutchison, Eric Sample and Changliu Liu
            Transactions on Machine Learning Research, 2024
          6. [J27] StableLego: Stability Analysis of Block Stacking Assembly
            Ruixuan Liu, Kangle Deng, Ziwei Wang and Changliu Liu
            IEEE Robotics and Automation Letters, 2024
          7. [J28] Efficient Reinforcement Learning of Task Planners for Robotic Palletization Through Iterative Action Masking Learning
            Zheng Wu, Yichuan Li, Wei Zhan, Changliu Liu, Yun-Hui Liu and Masayoshi Tomizuka
            IEEE Robotics and Automation Letters, 2024
          1. [C66] Multimodal Safe Control for Human-Robot Interaction
            Ravi Pandya, Tianhao Wei and Changliu Liu
            American Control Conference, 2024
          2. [C67] Safety Index Synthesis with State-dependent Control Space
            Rui Chen, Weiye Zhao and Changliu Liu
            American Control Conference, 2024
          3. [C68] An Optimal Control Framework for Influencing Human Driving Behavior in Mixed-Autonomy Traffic
            Anirudh Chari, Rui Chen, Jaskaran Grover and Changliu Liu
            American Control Conference, 2024
          4. [C69] Hybrid Task Constrained Incremental Planner for Robot Manipulators in Confined Environments
            Yifan Sun, Weiye Zhao and Changliu Liu
            American Control Conference, 2024
          5. [C70] Real-time Safety Index Adaptation for Parameter-varying Systems via Determinant Gradient Ascend
            Rui Chen, Weiye Zhao, Ruixuan Liu, Weiyang Zhang and Changliu Liu
            American control Conference, 2024
          6. [C71] Optimizing Multi-Touch Textile and Tactile Skin Sensing Through Circuit Parameter Estimation
            Su Bo Ying, Yuchen Wu, Chengtao Wen and Changliu Liu
            IEEE International Conference on Robotics and Automation, 2024
          7. [C72] Towards Proactive Safe Human-Robot Collaborations via Data-Efficient Conditional Behavior Prediction
            Ravi Pandya, Zhuoyuan Wang, Yorie Nakahira and Changliu Liu
            IEEE International Conference on Robotics and Automation, 2024
          8. [C73] Multi-Agent Strategy Explanations for Human-Robot Collaboration
            Ravi Pandya, Michelle Zhao, Changliu Liu, Reid Simmons and Henny Admoni
            IEEE International Conference on Robotics and Automation, 2024
          9. [C74] Synthesis and verification of robust-adaptive safe controllers
            Simin Liu, Kai S Yun, John M Dolan and Changliu Liu
            European Control Conference, 2024
          10. [C75] Real-Time Safe Control of Neural Network Dynamic Models with Sound Approximation
            Hanjiang Hu, Jianglin Lan and Changliu Liu
            Learning for Dynamics and Control Conference, 2024
          11. [C76] A Lightweight and Transferable Design for Robust LEGO Manipulation
            Ruixuan Liu, Yifan Sun and Changliu Liu
            International Symposium of Flexible Automation, 2024
          12. [C77] Absolute Policy Optimization: Enhancing Lower Probability Bound of Performance with High Confidence
            Weiye Zhao, Feihan Li, Yifan Sun, Rui Chen, Tianhao Wei and Changliu Liu
            International Conference on Machine Learning, 2024
          13. [C78] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
            Tairan He, Chong Zhang, Wenli Xiao, Guanqi He, Changliu Liu and Guanya Shi
            Robotics: Science and Systems, 2024
            Outstanding Student Paper Award Finalist
          14. [C79] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation
            Tairan He, Zhengyi Luo, Wenli Xiao, Chong Zhang, Kris Kitani, Changliu Liu and Guanya Shi
            IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
          15. [C80] ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation
            Guanxing Lu, Shiyi Zhang, Ziwei Wang, Changliu Liu, Jiwen Lu and Yansong Tang
            European Conference on Computer Vision, 2024
          16. [C81] Verification of Neural Control Barrier Functions with Symbolic Derivative Bounds Propagation
            Hanjiang Hu, Yujie Yang, Tianhao Wei and Changliu Liu
            Conference on Robot Learning, 2024
          17. [C82] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
            Tairan He, Zhengyi Luo, Xialin He, Wenli Xiao, Chong Zhang, Weinan Zhang, Kris Kitani, Changliu Liu and Guanya Shi
            Conference on Robot Learning, 2024
          18. [C83] Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skills
            Tianhao Wei, Liqian Ma, Rui Chen, Weiye Zhao and Changliu Liu
            Conference on Robot Learning, 2024
          19. [C84] KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation
            Hongyi Chen, Abulikemu Abuduweili, Aviral Agrawal, Yunhai Han, Harish Ravichandar, Changliu Liu and Jeffrey Ichnowski
            Conference on Robot Learning, 2024
          20. [C85] NN4SysBench: Characterizing Neural Network Verification for Computer Systems
            Shuyi Lin, Haoyu He, Tianhao Wei, Kaidi Xu, Huan Zhang, Gagandeep Singh, Changliu Liu and Cheng Tan
            The Thirty-eight Conference on Neural Information Processing Systems Datasets and Benchmarks Track, 2024
          1. [W] Estimating Neural Network Robustness via Lipschitz Constant and Architecture Sensitivity
            Abulikemu Abuduweili and Changliu Liu
            CoRL Workshop on Safe and Robust Robot Learning for Operation in the Real World, 2024
          1. [T2] State-wise Safe Learning and Control
            Weiye Zhao
            PhD Thesis, 2024
          2. [T3] Safeguarding and Empowering General Purpose Robots through Abstraction and Constraint Certification
            Tianhao Wei
            PhD Thesis, 2024
              1. [U] Simultaneous Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications
                Xusheng Luo and Changliu Liu
                arXiv:2401.04003, 2024
              2. [U] Robustifying Long-term Human-Robot Collaboration through a Hierarchical and Multimodal Framework
                Peiqi Yu, Abulikemu Abuduweili, Ruixuan Liu and Changliu Liu
                arXiv:2411.15711, 2024
              3. [U] Nl2Hltl2Plan: Scaling Up Natural Language Understanding for Multi-Robots Through Hierarchical Temporal Logic Task Representation
                Shaojun Xu, Xusheng Luo, Yutong Huang, Letian Leng, Ruixuan Liu and Changliu Liu
                arXiv:2408.08188, 2024
              4. [U] Modelverification. jl: a comprehensive toolbox for formally verifying deep neural networks
                Tianhao Wei, Luca Marzari, Kai S Yun, Hanjiang Hu, Peizhi Niu, Xusheng Luo and Changliu Liu
                arXiv:2407.01639, 2024
              5. [U] Scalable synthesis of formally verified neural value function for hamilton-jacobi reachability analysis
                Yujie Yang, Hanjiang Hu, Tianhao Wei, Shengbo Eben Li and Changliu Liu
                arXiv:2407.20532, 2024
              6. [U] Absolute State-wise Constrained Policy Optimization: High-Probability State-wise Constraints Satisfaction
                Weiye Zhao, Feihan Li, Yifan Sun, Yujie Wang, Rui Chen, Tianhao Wei and Changliu Liu
                arXiv:2410.01212, 2024
              7. [U] Enhancing Sample Generation of Diffusion Models using Noise Level Correction
                Abulikemu Abuduweili, Chenyang Yuan, Changliu Liu and Frank Permenter
                arXiv preprint arXiv:2412.05488, 2024

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              2023

              1. [J16] A hierarchical long short term safety framework for efficient robot manipulation under uncertainty
                Suqin He, Weiye Zhao, Chuxiong Hu, Yu Zhu and Changliu Liu
                Robotics and Computer-Integrated Manufacturing, 2023
              2. [J17] Robust and context-aware real-time collaborative robot handling via dynamic gesture commands
                Rui Chen, Alvin Shek and Changliu Liu
                IEEE Robotics and Automation Letters, 2023
              3. [J18] First three years of the international verification of neural networks competition (VNN-COMP)
                Christopher Brix, Mark Niklas Müller, Stanley Bak, Taylor T Johnson and Changliu Liu
                International Journal on Software Tools for Technology Transfer, 2023
              4. [J19] Customizing Textile and Tactile Skins for Interactive Industrial Robots
                Bo Ying Su, Zhongqi Wei, James McCann, Wenzhen Yuan and Changliu Liu
                ASME Letters in Dynamic Systems and Control, 2023
              5. [J20] Bioslam: A bioinspired lifelong memory system for general place recognition
                Peng Yin, Abulikemu Abuduweili, Shiqi Zhao, Lingyun Xu, Changliu Liu and Sebastian Scherer
                IEEE Transactions on Robotics, 2023
              6. [J21] An Optical Control Environment for Benchmarking Reinforcement Learning Algorithms
                Abulikemu Abuduweili and Changliu Liu
                Transactions on Machine Learning Research, 2023
              1. [C54] Autocost: Evolving intrinsic cost for zero-violation reinforcement learning
                Tairan He, Weiye Zhao and Changliu Liu
                Proceedings of the AAAI Conference on Artificial Intelligence, 2023
              2. [C55] Learning from physical human feedback: An object-centric one-shot adaptation method
                Alvin Shek, Bo Ying Su, Rui Chen and Changliu Liu
                IEEE International Conference on Robotics and Automation, 2023
                Outstanding Interaction Paper
              3. [C56] Safety index synthesis via sum-of-squares programming
                Weiye Zhao, Tairan He, Tianhao Wei, Simin Liu and Changliu Liu
                American Control Conference, 2023
              4. [C57] Probabilistic safeguard for reinforcement learning using safety index guided gaussian process models
                Weiye Zhao, Tairan He and Changliu Liu
                Learning for Dynamics and Control Conference, 2023
              5. [C58] Space-Time Conflict Spheres for Constrained Multi-Agent Motion Planning
                Anirudh Chari, Rui Chen and Changliu Liu
                IEEE Intelligent Vehicles Symposium, 2023
              6. [C59] Consensus-Based Fault-Tolerant Platooning for Connected and Autonomous Vehicles
                Tzu-Yen Tseng, Ding-Jiun Huang, Jia-You Lin, Po-Jui Chang, Chung-Wei Lin and Changliu Liu
                IEEE Intelligent Vehicles Symposium, 2023
              7. [C60] State-wise safe reinforcement learning: A survey
                Weiye Zhao, Tairan He, Rui Chen, Tianhao Wei and Changliu Liu
                International Joint Conferences on Artificial Intelligence, 2023
              8. [C61] Building Verified Neural Networks for Computer Systems with Ouroboros
                Tianhao Wei, Zhihao Jia, Changliu Liu and Cheng Tan
                Sixth Conference on Machine Learning and Systems, 2023
              9. [C62] Proactive human-robot co-assembly: Leveraging human intention prediction and robust safe control
                Ruixuan Liu, Rui Chen, Abulikemu Abuduweili and Changliu Liu
                IEEE Conference on Control Technology and Applications, 2023
              10. [C63] Zero-shot Transferable and Persistently Feasible Safe Control for High Dimensional Systems by Consistent Abstraction
                Tianhao Wei, Shucheng Kang, Ruixuan Liu and Changliu Liu
                IEEE Conference on Decision and Control, 2023
              11. [C64] Interactive Car-Following: Matters but NOT Always
                Chengyuan Zhang, Rui Chen, Jiacheng Zhu, Wenshuo Wang, Changliu Liu and Lijun Sun
                IEEE International Conference on Intelligent Transportation Systems, 2023
              12. [C65] Online Model Adaptation with Feedforward Compensation
                Abulikemu Abuduweili and Changliu Liu
                Conference on Robot Learning, 2023
              1. [W] Robotic LEGO Assembly and Disassembly from Human Demonstration
                Ruixuan Liu, Yifan Sun and Changliu Liu
                ACC Workshop on Recent Advancement of Human Autonomy Interaction and Integration, 2023
              2. [W] Robustness verification for perception models against camera motion perturbations
                Hanjiang Hu, Changliu Liu and Ding Zhao
                ICML Workshop on Formal Verification of Machine Learning (WFVML), 2023
              3. [W] Obtaining hierarchy from human instructions: an llms-based approach
                Xusheng Luo, Shaojun Xu and Changliu Liu
                CoRL 2023 Workshop on Learning Effective Abstractions for Planning (LEAP), 2023
              1. [T1] System Identification and Control of Multiagent Systems Through Interactions
                Jaskaran Singh Grover
                PhD Thesis, 2023
              1. [B2] Distributed Coordination and Centralized Scheduling for Automobiles at Intersections
                Yi-Ting Lin, Chung-Wei Lin, Iris Hui-Ru Jiang and Changliu Liu
                Machine Learning and Optimization Techniques for Automotive Cyber-Physical Systems, 2023
                1. [U] Robust Safe Control with Multi-Modal Uncertainty
                  Tianhao Wei, Liqian Ma, Ravi Pandya and Changliu Liu
                  arXiv:2309.16830, 2023
                2. [U] Learning predictive safety filter via decomposition of robust invariant set
                  Zeyang Li, Chuxiong Hu, Weiye Zhao and Changliu Liu
                  arXiv:2311.06769, 2023
                3. [U] The fourth international verification of neural networks competition (vnn-comp 2023): Summary and results
                  Christopher Brix, Stanley Bak, Changliu Liu and Taylor T Johnson
                  arXiv:2312.16760, 2023
                4. [U] Simulation-aided Learning from Demonstration for Robotic LEGO Construction
                  Ruixuan Liu, Alan Chen, Xusheng Luo and Changliu Liu
                  arXiv:2309.11010, 2023

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                2022

                1. [J11] The before, during, and after of multi-robot deadlock
                  Jaskaran Grover, Changliu Liu and Katia Sycara
                  The International Journal of Robotics Research, 2022
                2. [J12] Provably Safe Tolerance Estimation for Robot Arms via Sum-of-Squares Programming
                  Weiye Zhao, Suqin He and Changliu Liu
                  IEEE Control Systems Letters, 2022
                3. [J13] Efficient Game-Theoretic Planning With Prediction Heuristic for Socially-Compliant Autonomous Driving
                  Chenran Li, Tu Trinh, Letian Wang, Changliu Liu, Masayoshi Tomizuka and Wei Zhan
                  IEEE Robotics and Automation Letters, 2022
                4. [J14] Social interactions for autonomous driving: A review and perspectives
                  Wenshuo Wang, Letian Wang, Chengyuan Zhang, Changliu Liu, Lijun Sun and others others
                  Foundations and Trends in Robotics, 2022
                5. [J15] Persistently feasible robust safe control by safety index synthesis and convex semi-infinite programming
                  Tianhao Wei, Shucheng Kang, Weiye Zhao and Changliu Liu
                  IEEE Control Systems Letters, 2022
                1. [C40] Safe Control with Neural Network Dynamic Models
                  Tianhao Wei and Changliu Liu
                  Learning for Dynamics and Control Conference, 2022
                2. [C41] Joint Synthesis of Safety Certificate and Safe Control Policy Using Constrained Reinforcement Learning
                  Haitong Ma, Changliu Liu, Shengbo Eben Li, Sifa Zheng and Jianyu Chen
                  Learning for Dynamics and Control Conference, 2022
                  Best Paper Finalist
                3. [C42] Safe Interactive Industrial Robots using Jerk-based Safe Set Algorithm
                  Ruixuan Liu, Rui Chen and Changliu Liu
                  International Symposium on Flexible Automation, 2022
                4. [C43] Robust Task Planning for Assembly Lines with Human-Robot Collaboration
                  Jessica Leu, Yujiao Cheng, Changliu Liu and Masayoshi Tomizuka
                  International Symposium on Flexible Automation, 2022
                5. [C44] Jerk-bounded Position Controller with Real-Time Task Modification for Interactive Industrial Robots
                  Ruixuan Liu, Rui Chen, Yifan Sun, Yu Zhao and Changliu Liu
                  IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2022
                6. [C45] A Composable Framework for Policy Design, Learning, and Transfer Toward Safe and Efficient Industrial Insertion
                  Rui Chen, Chenxi Wang, Tianhao Wei and Changliu Liu
                  IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
                7. [C46] Safe and Efficient Exploration of Human Models During Human-Robot Interaction
                  Ravi Pandya and Changliu Liu
                  IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
                8. [C47] Safe hierarchical navigation in crowded dynamic uncertain environments
                  Hongyi Chen, Shiyu Feng, Ye Zhao, Changliu Liu and Patricio A Vela
                  IEEE Conference on Decision and Control, 2022
                9. [C48] Noncooperative Herding With Control Barrier Functions: Theory and Experiments
                  Jaskaran Grover, Nishant Mohanty, Wenhao Luo, Changliu Liu and Katia Sycara
                  IEEE Conference on Decision and Control, 2022
                10. [C49] Semantically-Aware Pedestrian Intent Prediction With Barrier Functions and Mixed-Integer Quadratic Programming
                  Jaskaran Grover, Yiwei Lyu, Wenhao Luo, Changliu Liu, John Dolan and Katia Sycara
                  IFAC Workshop on Cyber-Physical Human Systems, 2022
                  Best Student Paper Finalist
                11. [C50] Task-agnostic Adaptation for Safe Human-robot Handover
                  Ruixuan Liu, Rui Chen and Changliu Liu
                  IFAC Workshop on Cyber-Physical Human Systems, 2022
                  Best Student Paper Award
                12. [C51] Distributed multirobot control for non-cooperative herding
                  Nishant Mohanty, Jaskaran Grover, Changliu Liu and Katia Sycara
                  International Symposium on Distributed Autonomous Robotic Systems, 2022
                13. [C52] ARC - Actor Residual Critic for Adversarial Imitation Learning
                  Ankur Deka, Changliu Liu and Katia Sycara
                  Conference on Robot Learning, 2022
                14. [C53] Safe Control Under Input Limits with Neural Control Barrier Functions
                  Simin Liu, Changliu Liu and John Dolan
                  Conference on Robot Learning, 2022
                        1. [U] Control barrier functions-based semi-definite programs (cbf-sdps): Robust safe control for dynamic systems with relative degree two safety indices
                          Jaskaran Singh Grover, Changliu Liu and Katia Sycara
                          arXiv:2208.12252, 2022
                        2. [U] The third international verification of neural networks competition (vnn-comp 2022): Summary and results
                          Mark Niklas Müller, Christopher Brix, Stanley Bak, Changliu Liu and Taylor T Johnson
                          arXiv:2212.10376, 2022
                        3. [U] General place recognition survey: Towards the real-world autonomy age
                          Peng Yin, Shiqi Zhao, Ivan Cisneros, Abulikemu Abuduweili, Guoquan Huang, Micheal Milford, Changliu Liu, Howie Choset and Sebastian Scherer
                          arXiv:2209.04497, 2022

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                        2021

                        1. [J7] Robust nonlinear adaptation algorithms for multitask prediction networks
                          Abulikemu Abuduweili and Changliu Liu
                          International Journal of Adaptive Control and Signal Processing, 2021
                        2. [J8] Human Motion Prediction Using Adaptable Recurrent Neural Networks and Inverse Kinematics
                          Ruixuan Liu and Changliu Liu
                          IEEE Control Systems Letters, 2021
                        3. [J9] Algorithms for Verifying Deep Neural Networks
                          Changliu Liu, Tomer Arnon, Christopher Lazarus, Christopher Strong, Clark Barrett and Mykel J. Kochenderfer
                          Foundations and Trends in Optimization, 2021
                        4. [J10] Safe and Sample-efficient Reinforcement Learning for Clustered Dynamic Environments
                          Hongyi Chen and Changliu Liu
                          IEEE Control and Systems Letters, 2021
                        1. [C33] Flexible MPC-based Conflict Resolution Using Online Adaptive ADMM
                          Jerry An, Giulia Giordano and Changliu Liu
                          European Control Conference, 2021
                        2. [C34] Feasible Region-based Identification Using Duality
                          Jaskaran Grover, Changliu Liu and Katia Sycara
                          European Control Conference, 2021
                        3. [C35] Distributed Motion Coordination Using Convex Feasible Set Based Model Predictive Control
                          Hongyu Zhou and Changliu Liu
                          IEEE International Conference on Robotics and Automation, 2021
                        4. [C36] System Identification for Safe Controllers using Inverse Optimization
                          Jaskaran Singh Grover, Changliu Liu and Katia Sycara
                          Modeling, Estimation, and Control Conference, 2021
                        5. [C37] Safe Adaptation with Multiplicative Uncertainties Using Robust Safe Set Algorithm
                          Charles Noren, Weiye Zhao and Changliu Liu
                          Modeling, Estimation, and Control Conference, 2021
                        6. [C38] Model-free Safe Control for Zero-Violation Reinforcement Learning
                          Weiye Zhao, Tairan He and Changliu Liu
                          Conference on Robot Learning, 2021
                        7. [C39] Parameter Identification for Multirobot Systems Using Optimization-based Controllers
                          Jaskaran Grover, Changliu Liu and Katia Sycara
                          2021 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2021
                        1. [W] Simultaneously learning safety margins and task parameters of multirobot systems
                          Jaskaran Singh Grover, Changliu Liu and Katia Sycara
                          RSS BI-MAS Workshop, 2021
                        2. [W] Online Verification of Deep Neural Networks under Domain or Weight Shift
                          Tianhao Wei and Changliu Liu
                          RSS R4P Workshop, 2021
                        3. [W] IADA: Iterative Adversarial Data Augmentation Using Formal Verification and Expert Guidance
                          Ruixuan Liu and Changliu Liu
                          ICML Workshop on Human in the Loop Learning, 2021
                        4. [W] Hierarchical Adaptable and Transferable Networks (HATN) for Driving Behavior Prediction
                          Letian Wang, Yeping Hu, Liting Sun, Wei Zhan, Masayoshi Tomizuka and Changliu Liu
                          NeurIPS workshop on Machine Learning for Autonomous Driving, 2021
                        5. [W] Online Adaptation of Neural Network Models by Modified Extended Kalman Filter for Customizable and Transferable Driving Behavior Prediction
                          Letian Wang, Yeping Hu and Changliu Liu
                          AAAI Workshop HCSSL, 2021
                              1. [U] A microscopic pandemic simulator for pandemic prediction using scalable million-agent reinforcement learning
                                Zhenggang Tang, Kai Yan, Liting Sun, Wei Zhan and Changliu Liu
                                arXiv:2108.06589, 2021
                              2. [U] The second international verification of neural networks competition (VNN-COMP 2021): summary and results. CoRR abs/2109.00498 (2021)
                                Stanley Bak, Changliu Liu and Taylor T Johnson
                                arXiv:2109.00498, 2021
                              3. [U] iLoc: Condition and Viewpoint Invariant Additive Feature Extractor for Appearance-based Visual Localization
                                Peng Yin, Ruohai Ge, Lingyun Xu, Changliu Liu, Ji Zhang, Howie Choset and Sebastian Scherer
                                , 2021

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                              2020

                              1. [J6] Towards Efficient Human-Robot Collaboration With Robust Plan Recognition and Trajectory Prediction
                                Yujiao Cheng, Liting Sun, Changliu Liu and Masayoshi Tomizuka
                                IEEE Robotics and Automation Letters, 2020
                              1. [C24] Experimental Evaluation of Human Motion Prediction: Toward Safe and Efficient Human Robot Collaboration
                                Weiye Zhao, Liting Sun, Changliu Liu and Masayoshi Tomizuka
                                American Control Conference, 2020
                              2. [C25] Why Does Symmetry Cause Deadlocks?
                                Jaskaran Grover, Changliu Liu and Katia Sycara
                                IFAC-PapersOnLine, 2020
                              3. [C26] Robust Online Model Adaptation by Extended Kalman Filter with Exponential Moving Average and Dynamic Multi-Epoch Strategy
                                Abulikemu Abuduweili and Changliu Liu
                                Learning for Dynamics and Control Conference, 2020
                              4. [C27] A Dynamic Programming Approach to Optimal Lane Merging of Connected and Autonomous Vehicles
                                Shang-Chien Lin, Hsiang Hsu, Yi-Ting Lin, Chung-Wei Lin, Iris Hui-Ru Jiang and Changliu Liu
                                IEEE Intelligent Vehicles Symposium, 2020
                              5. [C28] Deadlock Analysis and Resolution in Multi-Robot Systems
                                Jaskaran Grover, Changliu Liu and Katia Sycara
                                International Workshop on the Algorithmic Foundations of Robotics, 2020
                              6. [C29] Multi-Car Convex Feasible Set Algorithm in Trajectory Planning
                                Jing Huang and Changliu Liu
                                Dynamic Systems and Control Conference, 2020
                              7. [C30] Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization
                                Wei-Ye Zhao, Suqin He, Chengtao Wen and Changliu Liu
                                Dynamic Systems and Control Conference, 2020
                              8. [C31] Tolerance-guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion
                                Boshen Niu, Chenxi Wang and Changliu Liu
                                Conference on Robot Learning, 2020
                              9. [C32] Augmenting GAIL with BC for sample efficient imitation learning
                                Rohit Jena, Changliu Liu and Katia Sycara
                                Conference on Robot Learning, 2020
                              1. [W] “Provably Safe” in the Wild: Testing Control Barrier Functions on a Vision-Based Quadrotor in an Outdoor Environment
                                Cherie Ho, Katherine Shih, Jaskaran Singh Grover, Changliu Liu and Sebastian Scherer
                                Proceedings of RSS ’20 2nd Workshop on Robust Autonomy: Safe Robot Learning and Control in Uncertain Real-World Environments, 2020
                                    1. [U] A Microscopic Epidemic Model and Pandemic Prediction Using Multi-Agent Reinforcement Learning
                                      Changliu Liu
                                      arXiv:2004.12959, 2020

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                                    2019

                                    1. [J5] Graph-Based Modeling, Scheduling, and Verification for Intersection Management of Intelligent Vehicles
                                      Yi-Ting Lin, Hsiang Hsu, Shang-Chien Lin, Chung-Wei Lin, Iris Hui-Ru Jiang and Changliu Liu
                                      ACM Transactions on Embedded Computing Systems, 2019
                                    1. [C19] Simulating emergent properties of human driving behavior using multi-agent reward augmented imitation learning
                                      Raunak P Bhattacharyya, Derek J Phillips, Changliu Liu, Jayesh K Gupta, Katherine Driggs-Campbell and Mykel J Kochenderfer
                                      IEEE International Conference on Robotics and Automation, 2019
                                    2. [C20] Human motion prediction using semi-adaptable neural networks
                                      Yujiao Cheng, Weiye Zhao, Changliu Liu and Masayoshi Tomizuka
                                      American Control Conference, 2019
                                    3. [C21] Agen: Adaptable generative prediction networks for autonomous driving
                                      Wenwen Si, Tianhao Wei and Changliu Liu
                                      IEEE Intelligent Vehicles Symposium, 2019
                                    4. [C22] Toward Modularization of Neural Network Autonomous Driving Policy Using Parallel Attribute Networks
                                      Zhuo Xu, Haonan Chang, Chen Tang, Changliu Liu and Masayoshi Tomizuka
                                      IEEE Intelligent Vehicles Symposium, 2019
                                    5. [C23] Safe Control Algorithms Using Energy Functions: A Unified Framework, Benchmark, and New Directions
                                      Tianhao Wei and Changliu Liu
                                      IEEE Conference on Decision and Control, 2019
                                    1. [W] NeuralVerification.jl: Algorithms for verifying deep neural networks
                                      Changliu Liu, Tomer Arnon, Christopher Lazarus and Mykel J Kochenderfer
                                      ICLR 2019 Debugging Machine Learning Models Workshop, 2019
                                    2. [W] Adaptable Human Intention and Trajectory Prediction for Human-Robot Collaboration
                                      Abulikemu Abuduweili, Siyan Li and Changliu Liu
                                      AAAI 2019 Fall Symposium Series, AI for HRI, 2019
                                      1. [B2] Designing robot behavior in human-robot interactions
                                        Changliu Liu, Te Tang, Hsien-Chung Lin and Masayoshi Tomizuka
                                        CRC Press, 2019
                                      1. [P] System and method for planning a vehicle path
                                        Yizhou Wang, Changliu Liu, Xiaoying Chen, Chongyu Wang and Kai Ni
                                        US Patent App. 15/691,617, 2019

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                                        2018

                                        1. [J3] The convex feasible set algorithm for real time optimization in motion planning
                                          Changliu Liu, Chung-Yen Lin and Masayoshi Tomizuka
                                          SIAM Journal on Control and optimization, 2018
                                        1. [C15] FOAD: Fast optimization-based autonomous driving motion planner
                                          Jianyu Chen, Changliu Liu and Masayoshi Tomizuka
                                          American Control Conference, 2018
                                        2. [C16] Improving efficiency of autonomous vehicles by V2V communication
                                          Changliu Liu, Chung-Wei Lin, Shinichi Shiraishi and Masayoshi Tomizuka
                                          American Control Conference, 2018
                                        3. [C17] Analytically Modeling Unmanaged Intersections with Microscopic Vehicle Interactions
                                          Changliu Liu and Mykel J Kochenderfer
                                          IEEE International Conference on Intelligent Transportation Systems, 2018
                                        4. [C18] Fast Robot Motion Planning with Collision Avoidance and Temporal Optimization
                                          Hsien-Chung Lin, Changliu Liu and Masayoshi Tomizuka
                                          International Conference on Control, Automation, Robotics and Vision, 2018
                                          Best Paper Award
                                                1. [U] Analyzing traffic delay at unmanaged intersections
                                                  Changliu Liu and Mykel J Kochenderfer
                                                  arXiv:1806.02660, 2018
                                                2. [U] Robot safe interaction system for intelligent industrial co-robots
                                                  Changliu Liu and Masayoshi Tomizuka
                                                  arXiv:1808.03983, 2018
                                                3. [U] Serocs: Safe and efficient robot collaborative systems for next generation intelligent industrial co-robots
                                                  Changliu Liu, Te Tang, Hsien-Chung Lin, Yujiao Cheng and Masayoshi Tomizuka
                                                  arXiv:1809.08215, 2018

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                                                2017

                                                1. [J1] Safe Robot Navigation Among Moving and Steady Obstacles [Bookshelf]
                                                  Changliu Liu
                                                  IEEE Control Systems Magazine, 2017
                                                2. [J2] Real time trajectory optimization for nonlinear robotic systems: Relaxation and convexification
                                                  Changliu Liu and Masayoshi Tomizuka
                                                  Systems & Control Letters, 2017
                                                3. [J4] Distributed conflict resolution for connected autonomous vehicles
                                                  Changliu Liu, Chung-Wei Lin, Shinichi Shiraishi and Masayoshi Tomizuka
                                                  IEEE Transactions on Intelligent Vehicles, 2017
                                                1. [C9] The robustly-safe automated driving system for enhanced active safety
                                                  Changliu Liu, Jianyu Chen, Trong-Duy Nguyen and Masayoshi Tomizuka
                                                  SAE World Congress, 2017
                                                2. [C10] Convex feasible set algorithm for constrained trajectory smoothing
                                                  Changliu Liu, Chung-Yen Lin, Yizhou Wang and Masayoshi Tomizuka
                                                  American Control Conference, 2017
                                                3. [C11] Spatially-partitioned environmental representation and planning architecture for on-road autonomous driving
                                                  Wei Zhan, Jianyu Chen, Ching-Yao Chan, Changliu Liu and Masayoshi Tomizuka
                                                  IEEE Intelligent Vehicles Symposium, 2017
                                                4. [C12] Speed profile planning in dynamic environments via temporal optimization
                                                  Changliu Liu, Wei Zhan and Masayoshi Tomizuka
                                                  IEEE Intelligent Vehicles Symposium, 2017
                                                5. [C13] Boundary layer heuristic for search-based nonholonomic path planning in maze-like environments
                                                  Changliu Liu, Yizhou Wang and Masayoshi Tomizuka
                                                  IEEE Intelligent Vehicles Symposium, 2017
                                                6. [C14] Real-time collision avoidance algorithm on industrial manipulators
                                                  Hsien-Chung Lin, Changliu Liu, Yongxiang Fan and Masayoshi Tomizuka
                                                  IEEE Conference on Control Technology and Applications, 2017
                                                  1. [T0] Designing robot behavior in human-robot interactions
                                                    Changliu Liu
                                                    PhD Thesis, 2017
                                                  1. [B1] Designing the Robot Behavior for Safe Human–Robot Interactions
                                                    Changliu Liu and Masayoshi Tomizuka
                                                    Trends in Control and Decision-Making for Human–Robot Collaboration Systems, 2017

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                                                      2016

                                                        1. [C4] Algorithmic safety measures for intelligent industrial co-robots
                                                          Changliu Liu and Masayoshi Tomizuka
                                                          IEEE International Conference on Robotics and Automation, 2016
                                                        2. [C5] Who to blame? learning and control strategies with information asymmetry
                                                          Changliu Liu, Wenlong Zhang and Masayoshi Tomizuka
                                                          American Control Conference, 2016
                                                        3. [C6] Enabling safe freeway driving for automated vehicles
                                                          Changliu Liu and Masayoshi Tomizuka
                                                          American Control Conference, 2016
                                                        4. [C7] Robotic manipulation of deformable objects by tangent space mapping and non-rigid registration
                                                          Te Tang, Changliu Liu, Wenjie Chen and Masayoshi Tomizuka
                                                          IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016
                                                        5. [C8] A non-conservatively defensive strategy for urban autonomous driving
                                                          Wei Zhan, Changliu Liu, Ching-Yao Chan and Masayoshi Tomizuka
                                                          IEEE International Conference on Intelligent Transportation Systems, 2016

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                                                                  2015

                                                                    1. [C3] Safe exploration: Addressing various uncertainty levels in human robot interactions
                                                                      Changliu Liu and Masayoshi Tomizuka
                                                                      American Control Conference, 2015

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                                                                              2014

                                                                                1. [C1] Modeling and controller design of cooperative robots in workspace sharing human-robot assembly teams
                                                                                  Changliu Liu and Masayoshi Tomizuka
                                                                                  IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
                                                                                2. [C2] Control in a safe set: Addressing safety in human-robot interactions
                                                                                  Changliu Liu and Masayoshi Tomizuka
                                                                                  Dynamic Systems and Control Conference, 2014
                                                                                  Best Student Paper Finalist

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