Book

  1. Liu, C., Tang, T., Lin, H.-C., & Tomizuka, M. (2019). Designing robot behavior in human-robot interactions. CRC Press.

2021

  1. Zhou, H., & Liu, C. (2021). Distributed Motion Coordination Using Convex Feasible Set Based Model Predictive Control. In ICRA. https://arxiv.org/abs/2101.07994 paper link
  2. An, J., Giordano, G., & Liu, C. (2021). Flexible MPC-based Conflict Resolution Using Online Adaptive ADMM. In ECC. https://arxiv.org/pdf/2103.14118.pdf paper link
  3. Liu, C., Arnon, T., Lazarus, C., Strong, C., Barrett, C., & Kochenderfer, M. J. (2021). Algorithms for Verifying Deep Neural Networks. Foundations and Trends® in Optimization, 4(3-4), 244–404. https://doi.org/10.1561/2400000035 paper link
  4. Liu, R., & Liu, C. (2021). Human Motion Prediction Using Adaptable Recurrent Neural Networks and Inverse Kinematics. IEEE Control Systems Letters, 5(5), 1651–1656. https://doi.org/10.1109/LCSYS.2020.3042609 paper link

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2020

  1. Abuduweili, A., & Liu, C. (2020). Robust Online Model Adaptation by Extended Kalman Filter with Exponential Moving Average and Dynamic Multi-Epoch Strategy. In A. M. Bayen, A. Jadbabaie, G. Pappas, P. A. Parrilo, B. Recht, C. Tomlin, & M. Zeilinger (Eds.), Proceedings of the 2nd Conference on Learning for Dynamics and Control (Vol. 120, pp. 65–74). PMLR. http://proceedings.mlr.press/v120/abuduweili20a.html paper link
  2. Zhao, W., Sun, L., Liu, C., & Tomizuka, M. (2020). Experimental Evaluation of Human Motion Prediction: Toward Safe and Efficient Human Robot Collaboration. American Control Conference. https://arxiv.org/abs/2001.09550 paper link
  3. Cheng, Y., Sun, L., Liu, C., & Tomizuka, M. (2020). Towards Efficient Human-Robot Collaboration With Robust Plan Recognition and Trajectory Prediction. IEEE Robotics and Automation Letters, 5(2), 2602–2609. https://ieeexplore.ieee.org/abstract/document/8990024 paper link
  4. Liu, C. (2020). A Microscopic Epidemic Model and Pandemic Prediction Using Multi-Agent Reinforcement Learning. ArXiv Preprint ArXiv:2004.12959.
  5. Ho, C., Shih, K., Grover, J. S., Liu, C., & Scherer, S. (2020). “Provably Safe” in the Wild: Testing Control Barrier Functions on a Vision-Based Quadrotor in an Outdoor Environment. In Proceedings of RSS ’20 2nd Workshop on Robust Autonomy: Safe Robot Learning and Control in Uncertain Real-World Environments.
  6. Grover, J., Liu, C., & Sycara, K. (2020). Deadlock Analysis and Resolution in Multi-Robot Systems. International Workshop on the Algorithmic Foundations of Robotics (WAFR).
  7. Niu, B., Wang, C., & Liu, C. (2020). Tolerance-guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion, In CoRL. https://corlconf.github.io/paper_452/ paper link
  8. Huang, J., & Liu, C. (2020). Multi-Car Convex Feasible Set Algorithm in Trajectory Planning: Vol. Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions. https://doi.org/10.1115/DSCC2020-3201 paper link
  9. Zhao, W.-Y., He, S., Wen, C., & Liu, C. (2020). Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization: Vol. Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations. https://doi.org/10.1115/DSCC2020-3208 paper link
  10. Lin, S.-C., Hsu, H., Lin, Y.-T., Lin, C.-W., Jiang, I. H.-R., & Liu, C. (2020). A Dynamic Programming Approach to Optimal Lane Merging of Connected and Autonomous Vehicles. 2020 IEEE Intelligent Vehicles Symposium (IV), 349–356. https://doi.org/10.1109/IV47402.2020.9304813 paper link
  11. Abuduweili, A., & Liu, C. (2020). Robust nonlinear adaptation algorithms for multitask prediction networks. International Journal of Adaptive Control and Signal Processing, 35. https://doi.org/10.1002/acs.3198
  12. Grover, J., Liu, C., & Sycara, K. (2020). Why Does Symmetry Cause Deadlocks? IFAC-PapersOnLine, 53(2), 9746–9753. https://doi.org/https://doi.org/10.1016/j.ifacol.2020.12.2644 paper link
  13. Grover, J., Liu, C., & Sycara, K. (2020). Feasible Region-based Identification Using Duality. In ECC.
  14. Jena, R., Liu, C., & Sycara, K. (2020). Augmenting GAIL with BC for sample efficient imitation learning. In CoRL. https://corlconf.github.io/paper_25/ paper link
  15. Grover, J. S., Liu, C., & Sycara, K. (2020). Parameter Identification for Multirobot Systems Using Optimization Based Controllers (Extended Version). ArXiv:2009.13817.

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2019

  1. Bhattacharyya, R. P., Phillips, D. J., Liu, C., Gupta, J. K., Driggs-Campbell, K., & Kochenderfer, M. J. (2019). Simulating emergent properties of human driving behavior using multi-agent reward augmented imitation learning. 2019 International Conference on Robotics and Automation (ICRA), 789–795. https://ieeexplore.ieee.org/abstract/document/9029720 paper link
  2. Cheng, Y., Zhao, W., Liu, C., & Tomizuka, M. (2019). Human motion prediction using semi-adaptable neural networks. 2019 American Control Conference (ACC), 4884–4890. https://ieeexplore.ieee.org/document/8814980 paper link
  3. Si, W., Wei, T., & Liu, C. (2019). Agen: Adaptable generative prediction networks for autonomous driving. 2019 IEEE Intelligent Vehicles Symposium (IV), 281–286. https://ieeexplore.ieee.org/document/8814238 paper link
  4. Xu, Z., Chang, H., Tang, C., Liu, C., & Tomizuka, M. (2019). Toward Modularization of Neural Network Autonomous Driving Policy Using Parallel Attribute Networks. 2019 IEEE Intelligent Vehicles Symposium (IV), 1400–1407. https://ieeexplore.ieee.org/document/8813861 paper link
  5. Wei, T., & Liu, C. (2019). Safe Control Algorithms Using Energy Functions: A Unified Framework, Benchmark, and New Directions. 2019 IEEE 58th Conference on Decision and Control (CDC), 238–243.
  6. Liu, C., Arnon, T., Lazarus, C., & Kochenderfer, M. J. (2019). NeuralVerification.jl: Algorithms for verifying deep neural networks. ICLR 2019 Debugging Machine Learning Models Workshop. https://debug-ml-iclr2019.github.io/cameraready/DebugML-19_paper_22.pdf paper link
  7. Abuduweili, A., Li, S., & Liu, C. (2019). Adaptable Human Intention and Trajectory Prediction for Human-Robot Collaboration. AAAI 2019 Fall Symposium Series, AI for HRI. https://arxiv.org/abs/1909.05089 paper link
  8. Lin, Y.-T., Hsu, H., Lin, S.-C., Lin, C.-W., Jiang, I. H.-R., & Liu, C. (2019). Graph-Based Modeling, Scheduling, and Verification for Intersection Management of Intelligent Vehicles. ACM Transactions on Embedded Computing Systems (TECS), 18(5s), 1–21. https://dl.acm.org/doi/10.1145/3358221 paper link
  9. Noren, C., & Liu, C. (2019). Safe Adaptation in Confined Environment Using Energy Functions. ArXiv Preprint ArXiv:1912.09095.
  10. Liu, C., Tang, T., Lin, H.-C., & Tomizuka, M. (2019). Designing robot behavior in human-robot interactions. CRC Press.

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2018

  1. Liu, C., Lin, C.-Y., & Tomizuka, M. (2018). The convex feasible set algorithm for real time optimization in motion planning. SIAM Journal on Control and Optimization, 56(4), 2712–2733.
  2. Chen, J., Liu, C., & Tomizuka, M. (2018). FOAD: Fast optimization-based autonomous driving motion planner. 2018 Annual American Control Conference (ACC), 4725–4732.
  3. Liu, C., Lin, C.-W., Shiraishi, S., & Tomizuka, M. (2018). Improving efficiency of autonomous vehicles by V2V communication. 2018 Annual American Control Conference (ACC), 4778–4783.
  4. Liu, C., & Kochenderfer, M. J. (2018). Analytically Modeling Unmanaged Intersections with Microscopic Vehicle Interactions. 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2352–2357.
  5. Liu, C., & Kochenderfer, M. J. (2018). Analyzing traffic delay at unmanaged intersections. ArXiv Preprint ArXiv:1806.02660.
  6. Liu, C., & Tomizuka, M. (2018). Robot safe interaction system for intelligent industrial co-robots. ArXiv Preprint ArXiv:1808.03983.
  7. Liu, C., Tang, T., Lin, H.-C., Cheng, Y., & Tomizuka, M. (2018). Serocs: Safe and efficient robot collaborative systems for next generation intelligent industrial co-robots. ArXiv Preprint ArXiv:1809.08215.
  8. Lin, H.-C., Liu, C., & Tomizuka, M. (2018). Fast Robot Motion Planning with Collision Avoidance and Temporal Optimization. 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), 29–35.

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2017

  1. Liu, C., & Tomizuka, M. (2017). Designing the Robot Behavior for Safe Human–Robot Interactions. In Trends in Control and Decision-Making for Human–Robot Collaboration Systems (pp. 241–270). Springer, Cham.
  2. Liu, C. (2017). Designing robot behavior in human-robot interactions [PhD thesis]. UC Berkeley.
  3. Liu, C., Chen, J., Nguyen, T.-D., & Tomizuka, M. (2017). The robustly-safe automated driving system for enhanced active safety. SAE Technical Paper.
  4. Liu, C., Lin, C.-Y., Wang, Y., & Tomizuka, M. (2017). Convex feasible set algorithm for constrained trajectory smoothing. 2017 American Control Conference (ACC), 4177–4182.
  5. Zhan, W., Chen, J., Chan, C.-Y., Liu, C., & Tomizuka, M. (2017). Spatially-partitioned environmental representation and planning architecture for on-road autonomous driving. 2017 IEEE Intelligent Vehicles Symposium (IV), 632–639.
  6. Liu, C., Zhan, W., & Tomizuka, M. (2017). Speed profile planning in dynamic environments via temporal optimization. 2017 IEEE Intelligent Vehicles Symposium (IV), 154–159.
  7. Liu, C., Wang, Y., & Tomizuka, M. (2017). Boundary layer heuristic for search-based nonholonomic path planning in maze-like environments. 2017 IEEE Intelligent Vehicles Symposium (IV), 831–836.
  8. Liu, C. (2017). Safe Robot Navigation Among Moving and Steady Obstacles [Bookshelf]. IEEE Control Systems Magazine, 37(1), 123–125.
  9. Liu, C., & Tomizuka, M. (2017). Real time trajectory optimization for nonlinear robotic systems: Relaxation and convexification. Systems & Control Letters, 108, 56–63.
  10. Lin, H.-C., Liu, C., Fan, Y., & Tomizuka, M. (2017). Real-time collision avoidance algorithm on industrial manipulators. 2017 IEEE Conference on Control Technology and Applications (CCTA), 1294–1299.
  11. Liu, C., Lin, C.-W., Shiraishi, S., & Tomizuka, M. (2017). Distributed conflict resolution for connected autonomous vehicles. IEEE Transactions on Intelligent Vehicles, 3(1), 18–29.

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2016

  1. Liu, C., & Tomizuka, M. (2016). Algorithmic safety measures for intelligent industrial co-robots. 2016 IEEE International Conference on Robotics and Automation (ICRA), 3095–3102.
  2. Liu, C., Zhang, W., & Tomizuka, M. (2016). Who to blame? learning and control strategies with information asymmetry. 2016 American Control Conference (ACC), 4859–4864.
  3. Liu, C., & Tomizuka, M. (2016). Enabling safe freeway driving for automated vehicles. 2016 American Control Conference (ACC), 3461–3467.
  4. Tang, T., Liu, C., Chen, W., & Tomizuka, M. (2016). Robotic manipulation of deformable objects by tangent space mapping and non-rigid registration. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2689–2696.
  5. Zhan, W., Liu, C., Chan, C.-Y., & Tomizuka, M. (2016). A non-conservatively defensive strategy for urban autonomous driving. 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), 459–464.

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2015

  1. Liu, C., & Tomizuka, M. (2015). Safe exploration: Addressing various uncertainty levels in human robot interactions. 2015 American Control Conference (ACC), 465–470.

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2014

  1. Liu, C., & Tomizuka, M. (2014). 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, 1386–1391. https://arxiv.org/abs/1903.02199 paper link
  2. Liu, C., & Tomizuka, M. (2014). Control in a safe set: Addressing safety in human-robot interactions. 2014 ASME Dynamic Systems and Control Conference.

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