Book

  1. Changliu Liu , Te Tang , Hsien-Chung Lin & Masayoshi Tomizuka , "Designing robot behavior in human-robot interactions", CRC Press, 2019.

2022

  1. Simin Liu , Changliu Liu & John Dolan , "Safe Control Under Input Limits with Neural Control Barrier Functions", 6th Annual Conference on Robot Learning, 2022. paper link
  2. Ankur Deka , Changliu Liu & Katia Sycara , "ARC - Actor Residual Critic for Adversarial Imitation Learning", 6th Annual Conference on Robot Learning, 2022. paper link
  3. Nishant Mohanty , Jaskaran Grover , Changliu Liu & Katia Sycara , "Distributed Multirobot Control for Non-Cooperative Herding", Distributed Autonomous Robotic Systems (DARS), 2022. paper link
  4. Ruixuan Liu , Rui Chen & Changliu Liu , "Task-agnostic Adaptation for Safe Human-robot Handover", 4th IFAC Workshop on Cyber-Physical Human Systems, 2022. paper link
  5. Jaskaran Grover , Yiwei Lyu , Wenhao Luo , Changliu Liu , John Dolan & Katia Sycara , "Semantically-Aware Pedestrian Intent Prediction With Barrier Functions and Mixed-Integer Quadratic Programming", 4th IFAC Workshop on Cyber-Physical Human Systems, 2022. paper link
  6. Haoyu He , Tianhao Wei , Huan Zhang , Changliu Liu & Cheng Tan , "Characterizing Neural Network Verification for Systems with NN4SYSBENCH", ICML Workshop on Formal Verification of Machine Learning, 2022. paper link
  7. Jaskaran Grover , Nishant Mohanty , Wenhao Luo , Changliu Liu & Katia Sycara , "Noncooperative Herding With Control Barrier Functions: Theory and Experiments", IEEE Conference on Decision and Control (CDC), 2022. paper link
  8. Chenran Li , Tu Trinh , Letian Wang , Changliu Liu , Masayoshi Tomizuka & Wei Zhan , "Efficient Game-Theoretic Planning With Prediction Heuristic for Socially-Compliant Autonomous Driving", IEEE Robotics and Automation Letters, 2022. paper link
  9. Ravi Pandya & Changliu Liu , "Safe and Efficient Exploration of Human Models During Human-Robot Interaction", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. paper link
  10. Rui Chen , Chenxi Wang , Tianhao Wei & Changliu Liu , "A Composable Framework for Policy Design, Learning, and Transfer Toward Safe and Efficient Industrial Insertion", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. paper link
  11. Ruixuan Liu , Rui Chen & Changliu Liu , "Task-agnostic Adaptation for Safe Human-robot Handover", RSS Workshop on Close-Proximity Human-Robot Collaboration, 2022. paper link
  12. ABULIKEMU ABUDUWEILI & Changliu Liu , "An Optical Controlling Environment and Reinforcement Learning Benchmarks", ICML 2022 2nd AI for Science Workshop, 2022. paper link
  13. Weiye Zhao , Suqin He & Changliu Liu , "Provably Safe Tolerance Estimation for Robot Arms via Sum-of-Squares Programming", IEEE Control Systems Letters, 2022. paper link
  14. Ruixuan Liu , Rui Chen , Yifan Sun , Yu Zhao & Changliu Liu , "Jerk-bounded Position Controller with Real-Time Task Modification for Interactive Industrial Robots", 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022. paper link
  15. Jessica Leu , Yujiao Cheng , Changliu Liu & Masayoshi Tomizuka , "Robust Task Planning for Assembly Lines with Human-Robot Collaboration", International Symposium on Flexible Automation, 2022. paper link
  16. Ruixuan Liu , Rui Chen & Changliu Liu , "Safe Interactive Industrial Robots using Jerk-based Safe Set Algorithm", International Symposium on Flexible Automation, 2022. paper link
  17. Haitong Ma , Changliu Liu , Shengbo Eben Li , Sifa Zheng & Jianyu Chen , "Joint Synthesis of Safety Certificate and Safe Control Policy Using Constrained Reinforcement Learning", Proceedings of The 4th Annual Learning for Dynamics and Control Conference, 2022. paper link
  18. Tianhao Wei & Changliu Liu , "Safe Control with Neural Network Dynamic Models", Proceedings of The 4th Annual Learning for Dynamics and Control Conference, 2022. paper link

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2021

  1. Hongyu Zhou & Changliu Liu , "Distributed Motion Coordination Using Convex Feasible Set Based Model Predictive Control", ICRA, 2021. paper link
  2. Jerry An , Giulia Giordano & Changliu Liu , "Flexible MPC-based Conflict Resolution Using Online Adaptive ADMM", ECC, 2021. paper link
  3. Changliu Liu , Tomer Arnon , Christopher Lazarus , Christopher Strong , Clark Barrett & Mykel J. Kochenderfer , "Algorithms for Verifying Deep Neural Networks", Foundations and Trends in Optimization, 2021. paper link
  4. Ruixuan Liu & Changliu Liu , "Human Motion Prediction Using Adaptable Recurrent Neural Networks and Inverse Kinematics", IEEE Control Systems Letters, 2021. paper link
  5. Charles Noren , Weiye Zhao & Changliu Liu , "Safe Adaptation with Multiplicative Uncertainties Using Robust Safe Set Algorithm", MECC, 2021. paper link
  6. Jaskaran Singh Grover , Changliu Liu & Katia Sycara , "System Identification for Safe Controllers using Inverse Optimization", MECC, 2021.
  7. Jaskaran Singh Grover , Changliu Liu & Katia Sycara , "Simultaneously learning safety margins and task parameters of multirobot systems", RSS BI-MAS Workshop, 2021.
  8. Tianhao Wei & Changliu Liu , "Online Verification of Deep Neural Networks under Domain or Weight Shift", RSS R4P Workshop, 2021. paper link
  9. Ruixuan Liu & Changliu Liu , "IADA: Iterative Adversarial Data Augmentation Using Formal Verification and Expert Guidance", HIIL Workshop, 2021. paper link
  10. Tianhao Wei & Changliu Liu , "Safe Control with Neural Network Dynamic Models", RSS R4P Workshop, 2021. paper link
  11. Weiye Zhao , Tairan He & Changliu Liu , "Model-free Safe Control for Zero-Violation Reinforcement Learning", 5th Annual Conference on Robot Learning, 2021. paper link
  12. Haitong Ma , Changliu Liu , Shengbo Eben Li , Sifa Zheng & Jianyu Chen , "Joint Synthesis of Safety Certificate and Safe Control Policy using Constrained Reinforcement Learning", MECC SCLU Workshop, 2021. paper link
  13. Suqin He , Weiye Zhao , Chuxiong Hu , Yu Zhu & Changliu Liu , "A Hierarchical Long Short Term Safety Framework for Efficient Robot Manipulation Under Uncertainty", MECC SCLU Workshop, 2021. paper link
  14. Letian Wang , Yeping Hu , Liting Sun , Wei Zhan , Masayoshi Tomizuka & Changliu Liu , "Hierarchical Adaptable and Transferable Networks (HATN) for Driving Behavior Prediction", NeurIPS workshop on Machine Learning for Autonomous Driving, 2021. paper link
  15. Letian Wang , Yeping Hu & Changliu Liu , "Online Adaptation of Neural Network Models by Modified Extended Kalman Filter for Customizable and Transferable Driving Behavior Prediction", AAAI Workshop HCSSL, 2021. paper link
  16. Hongyi Chen & Changliu Liu , "Safe and Sample-efficient Reinforcement Learning for Clustered Dynamic Environments", ACC/LCSS, 2021.
  17. Jaskaran Grover , Changliu Liu & Katia Sycara , "The before, during, and after of multi-robot deadlock", The International Journal of Robotics Research, 2021. paper link
  18. Jaskaran Grover , Changliu Liu & Katia Sycara , "Parameter Identification for Multirobot Systems Using Optimization-based Controllers", International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2021. paper link

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2020

  1. Abulikemu Abuduweili & Changliu Liu , "Robust Online Model Adaptation by Extended Kalman Filter with Exponential Moving Average and Dynamic Multi-Epoch Strategy", Proceedings of the 2nd Conference on Learning for Dynamics and Control, 2020. paper link
  2. Weiye Zhao , Liting Sun , Changliu Liu & Masayoshi Tomizuka , "Experimental Evaluation of Human Motion Prediction: Toward Safe and Efficient Human Robot Collaboration", American Control Conference, 2020. paper link
  3. Yujiao Cheng , Liting Sun , Changliu Liu & Masayoshi Tomizuka , "Towards Efficient Human-Robot Collaboration With Robust Plan Recognition and Trajectory Prediction", IEEE Robotics and Automation Letters, 2020. paper link
  4. Changliu Liu & "A Microscopic Epidemic Model and Pandemic Prediction Using Multi-Agent Reinforcement Learning", arXiv preprint arXiv:2004.12959, 2020.
  5. Cherie Ho , Katherine Shih , Jaskaran Singh Grover , Changliu Liu & Sebastian Scherer , "“Provably Safe” in the Wild: Testing Control Barrier Functions on a Vision-Based Quadrotor in an Outdoor Environment", Proceedings of RSS ’20 2nd Workshop on Robust Autonomy: Safe Robot Learning and Control in Uncertain Real-World Environments, 2020.
  6. Jaskaran Grover , Changliu Liu & Katia Sycara , "Deadlock Analysis and Resolution in Multi-Robot Systems", International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2020.
  7. Boshen Niu , Chenxi Wang & Changliu Liu , "Tolerance-guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion,", CoRL, 2020. paper link
  8. Jing Huang & Changliu Liu , "Multi-Car Convex Feasible Set Algorithm in Trajectory Planning", 2020. paper link
  9. Wei-Ye Zhao , Suqin He , Chengtao Wen & Changliu Liu , "Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization", 2020. paper link
  10. Shang-Chien Lin , Hsiang Hsu , Yi-Ting Lin , Chung-Wei Lin , Iris Hui-Ru Jiang & Changliu Liu , "A Dynamic Programming Approach to Optimal Lane Merging of Connected and Autonomous Vehicles", 2020 IEEE Intelligent Vehicles Symposium (IV), 2020. paper link
  11. Abulikemu Abuduweili & Changliu Liu , "Robust nonlinear adaptation algorithms for multitask prediction networks", International Journal of Adaptive Control and Signal Processing, 2020.
  12. Jaskaran Grover , Changliu Liu & Katia Sycara , "Why Does Symmetry Cause Deadlocks?", IFAC-PapersOnLine, 2020. paper link
  13. Jaskaran Grover , Changliu Liu & Katia Sycara , "Feasible Region-based Identification Using Duality", ECC, 2020.
  14. Rohit Jena , Changliu Liu & Katia Sycara , "Augmenting GAIL with BC for sample efficient imitation learning", CoRL, 2020. paper link
  15. Jaskaran Singh Grover , Changliu Liu & Katia Sycara , "Parameter Identification for Multirobot Systems Using Optimization Based Controllers (Extended Version)", arXiv:2009.13817, 2020.

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2019

  1. Raunak P Bhattacharyya , Derek J Phillips , Changliu Liu , Jayesh K Gupta , Katherine Driggs-Campbell & Mykel J Kochenderfer , "Simulating emergent properties of human driving behavior using multi-agent reward augmented imitation learning", 2019 International Conference on Robotics and Automation (ICRA), 2019. paper link
  2. Yujiao Cheng , Weiye Zhao , Changliu Liu & Masayoshi Tomizuka , "Human motion prediction using semi-adaptable neural networks", 2019 American Control Conference (ACC), 2019. paper link
  3. Wenwen Si , Tianhao Wei & Changliu Liu , "Agen: Adaptable generative prediction networks for autonomous driving", 2019 IEEE Intelligent Vehicles Symposium (IV), 2019. paper link
  4. Zhuo Xu , Haonan Chang , Chen Tang , Changliu Liu & Masayoshi Tomizuka , "Toward Modularization of Neural Network Autonomous Driving Policy Using Parallel Attribute Networks", 2019 IEEE Intelligent Vehicles Symposium (IV), 2019. paper link
  5. Tianhao Wei & Changliu Liu , "Safe Control Algorithms Using Energy Functions: A Unified Framework, Benchmark, and New Directions", 2019 IEEE 58th Conference on Decision and Control (CDC), 2019.
  6. Changliu Liu , Tomer Arnon , Christopher Lazarus & Mykel J Kochenderfer , "NeuralVerification.jl: Algorithms for verifying deep neural networks", ICLR 2019 Debugging Machine Learning Models Workshop, 2019. paper link
  7. Abulikemu Abuduweili , Siyan Li & Changliu Liu , "Adaptable Human Intention and Trajectory Prediction for Human-Robot Collaboration", AAAI 2019 Fall Symposium Series, AI for HRI, 2019. paper link
  8. Yi-Ting Lin , Hsiang Hsu , Shang-Chien Lin , Chung-Wei Lin , Iris Hui-Ru Jiang & Changliu Liu , "Graph-Based Modeling, Scheduling, and Verification for Intersection Management of Intelligent Vehicles", ACM Transactions on Embedded Computing Systems (TECS), 2019. paper link
  9. Charles Noren & Changliu Liu , "Safe Adaptation in Confined Environment Using Energy Functions", arXiv preprint arXiv:1912.09095, 2019.
  10. Changliu Liu , Te Tang , Hsien-Chung Lin & Masayoshi Tomizuka , "Designing robot behavior in human-robot interactions", CRC Press, 2019.

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2018

  1. Changliu Liu , Chung-Yen Lin & Masayoshi Tomizuka , "The convex feasible set algorithm for real time optimization in motion planning", SIAM Journal on Control and optimization, 2018.
  2. Jianyu Chen , Changliu Liu & Masayoshi Tomizuka , "FOAD: Fast optimization-based autonomous driving motion planner", 2018 Annual American Control Conference (ACC), 2018.
  3. Changliu Liu , Chung-Wei Lin , Shinichi Shiraishi & Masayoshi Tomizuka , "Improving efficiency of autonomous vehicles by V2V communication", 2018 Annual American Control Conference (ACC), 2018.
  4. Changliu Liu & Mykel J Kochenderfer , "Analytically Modeling Unmanaged Intersections with Microscopic Vehicle Interactions", 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2018.
  5. Changliu Liu & Mykel J Kochenderfer , "Analyzing traffic delay at unmanaged intersections", arXiv preprint arXiv:1806.02660, 2018.
  6. Changliu Liu & Masayoshi Tomizuka , "Robot safe interaction system for intelligent industrial co-robots", arXiv preprint arXiv:1808.03983, 2018.
  7. Changliu Liu , Te Tang , Hsien-Chung Lin , Yujiao Cheng & Masayoshi Tomizuka , "Serocs: Safe and efficient robot collaborative systems for next generation intelligent industrial co-robots", arXiv preprint arXiv:1809.08215, 2018.
  8. Hsien-Chung Lin , Changliu Liu & Masayoshi Tomizuka , "Fast Robot Motion Planning with Collision Avoidance and Temporal Optimization", 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2018.

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2017

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

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2016

  1. Changliu Liu & Masayoshi Tomizuka , "Algorithmic safety measures for intelligent industrial co-robots", 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016.
  2. Changliu Liu , Wenlong Zhang & Masayoshi Tomizuka , "Who to blame? learning and control strategies with information asymmetry", 2016 American Control Conference (ACC), 2016.
  3. Changliu Liu & Masayoshi Tomizuka , "Enabling safe freeway driving for automated vehicles", 2016 American Control Conference (ACC), 2016.
  4. Te Tang , Changliu Liu , Wenjie Chen & Masayoshi Tomizuka , "Robotic manipulation of deformable objects by tangent space mapping and non-rigid registration", 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
  5. Wei Zhan , Changliu Liu , Ching-Yao Chan & Masayoshi Tomizuka , "A non-conservatively defensive strategy for urban autonomous driving", 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), 2016.

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2015

  1. Changliu Liu & Masayoshi Tomizuka , "Safe exploration: Addressing various uncertainty levels in human robot interactions", 2015 American Control Conference (ACC), 2015.

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2014

  1. Changliu Liu & Masayoshi Tomizuka , "Modeling and controller design of cooperative robots in workspace sharing human-robot assembly teams", Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014. paper link
  2. Changliu Liu & Masayoshi Tomizuka , "Control in a safe set: Addressing safety in human-robot interactions", 2014 ASME Dynamic Systems and Control Conference, 2014.

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