Book and Book Chapters

B2. Designing robot behavior in human-robot interactions


Changliu Liu, Te Tang, Hsien-Chung Lin and Masayoshi Tomizuka
CRC Press, 2019
Abstract | Cover | Link | Bib


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 (Y. Wang and F. Zhang (Eds.)), Springer, 2017
Abstract | Preprint | Link | Bib


  Journal Articles

J11. The Before, During and After of Multi-Robot Deadlock


Jaskaran Grover, Changliu Liu, and Katia Sycara
International Journal of Robotics Research
Abstract


J10. Safe and Sample-efficient Reinforcement Learning for Clustered Dynamic Environments


Hongyi Chen and Changliu Liu
IEEE Control System Letters
Abstract | Link


J9. Algorithms for verifying deep neural networks


Changliu Liu, Tomer Arnon, Christopher Lazarus, Christopher Strong, Clark Barrett, and Mykel J. Kochenderfer
Foundation and Trend in Optimization, vol. 4, No. 3-4, pp. 244–404, 2021
Abstract | Preprint | Link | Code | Slides | Talk | Tutorial | Bib


J8. Human Motion Prediction Using Adaptable Recurrent Neural Networks and Inverse Kinematics


Ruixuan Liu and Changliu Liu
IEEE Control System Letters, vol. 5, no. 5, pp. 1651-1656, Nov. 2021
Abstract | Preprint | Link | Video


J7. Robust Nonlinear Adaptation Algorithms for Multi-Task Prediction Networks


Abulikemu Abuduweili and Changliu Liu
International Journal of Adaptive Control and Signal Processing, vol. 35, no. 3, pp. 314-341, Mar. 2021
Abstract | Preprint | Link


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, vol. 5, no.2, pp. 2602-2609, 2020
Abstract | Preprint | Link | Bib


J5. Graph-Based Modeling, Scheduling, and Verification for Intersection Management of Intelligent Vehicles


Yi-Ting Lin, Hsiang Hsu, Shang-Chien Lin, Chung-Wei Lin, Hui-Ru Jiang, and Changliu Liu
ACM Transactions on Embedded Computing Systems (TECS), vol. 18, no. 5s, 2019
Abstract | Preprint | Link | Bib


J4. Distributed conflict resolution for connected autonomous vehicles


Changliu Liu, Chung-Wei Lin, Shinichi Shiraishi, and Masayoshi Tomizuka
IEEE Transactions on Intelligent Vehicles, vol. 3, no. 1, pp. 18-29, Mar. 2018
Abstract | Preprint | Link | Bib


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, vol. 56, no. 4, pp. 2712–2733, 2018
Abstract | Preprint | Link | Code | Bib


J2. Real time trajectory optimization for nonlinear robotic systems: Relaxation and convexification


Changliu Liu, and Masayoshi Tomizuka
System & Control Letters, vol. 108, pp. 56-63, Oct. 2017
Abstract | Preprint | Link | Bib


J1. Safe robot navigation among moving and steady obstacles [Bookshelf]


Changliu Liu
IEEE Control Systems, vol. 37, no. 1, pp. 123-125, Feb. 2017
Abstract | Preprint | Link


  Refereed Conference Proceedings

C39. Parameter Identification for Optimization-based Controllers in Multirobot Systems


Jaskaran Grover, Changliu Liu, and Katia Sycara
IEEE International Symposium on Multi-Robot and Multi-Agent Systems, 2021
Abstract


C38. Model-free Safe Control for Zero-Violation Reinforcement Learning


Weiye Zhao, Tairan He, and Changliu Liu
Conference on Robot Learning, 2021
Abstract | Link


C37. Safe Adaptation with Multiplicative Uncertainties Using Robust Safe Set Algorithm


Charles Noren, Weiye Zhao, and Changliu Liu
Modeling, Estimation, and Control Conference (MECC), 2021
Abstract | Preprint | Link


C36. System Identification for Safe Controllers using Inverse Optimization


Jaskaran Grover, Changliu Liu, and Katia Sycara
Modeling, Estimation, and Control Conference (MECC), 2021
Abstract | Preprint | Link


C35. Distributed Motion Coordination Using Convex Feasible Set Based Model Predictive Control


Hongyu Zhou and Changliu Liu
IEEE International Conference on Robotics and Automation (ICRA), 2021
Abstract | Preprint | Link


C34. Feasible Region-Based Identification Using Duality


Jaskaran Grover, Katia Sycara, and Changliu Liu
European Control Conference, 2021
Abstract | Preprint | Link


C33. Flexible MPC-based Conflict Resolution Using Online Adaptive ADMM


Jerry An, Giulia Giordano, and Changliu Liu
European Control Conference, 2021
Abstract | Preprint | Link


C32. Augmenting GAIL with BC for sample efficient imitation learning


Rohit Jena, Changliu Liu, and Katia Sycara
Conference on Robot Learning, 2020
Abstract | Preprint | Link


C31. Tolerance-guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion


Boshen Niu*, Chenxi Wang*, and Changliu Liu
Conference on Robot Learning, 2020
Abstract | Preprint | Link


C30. Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimizationg


Weiye Zhao, Suqin He, Chengtao Wen, and Changliu Liu
Dynamics Systems and Control Conference (DSCC), ASME, 2020
Abstract | Preprint | Video


C29. Multi-car convex feasible set algorithm in trajectory planning


Jing Huang and Changliu Liu
Dynamics Systems and Control Conference (DSCC), ASME, 2020
Abstract | Preprint | Video


C28. Deadlock Analysis and Resolution in Multi-Robot Systems


Jaskaran Grover, Changliu Liu, and Katia Sycara
International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2020
Abstract | Preprint


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 Vehicle Symposium, 2020
Abstract | Preprint


C26. Robust online model adaptation by EKF with exponential moving average and dynamic multi-epoch strategy


Abulikemu Abuduweili, and Changliu Liu
Learning for Dynamics and Control Conference, 2020
Abstract | Preprint | Poster | Code | Video


C25. Why does symmetry cause deadlocks?


Jaskaran Grover, Changliu Liu, and Katia Sycara
IFAC World Congress, 2020
Abstract | Preprint | Link | Video


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
Abstract | Preprint | Link | Video


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, IEEE, 2019, pp. 238 - 243.
Abstract | Preprint | Link | Bib


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 Vehicle Symposium, IEEE, 2019, pp. 1400 - 1407.
Abstract | Preprint | Link | Bib


C21. AGen: Adaptable generative prediction networks for autonomous driving


Wenwen Si, Tianhao Wei, and Changliu Liu
IEEE Intelligent Vehicle Symposium, IEEE, 2019, pp. 281 - 286.
Abstract | Preprint | Poster | Link | Bib


C20. Human motion prediction using semi-adaptable neural networks


Yujiao Cheng*, Weiye Zhao*, Changliu Liu, and Masayoshi Tomizuka
American Control Conference, IEEE, 2019, pp. 4884 - 4890.
Abstract | Preprint | Link | Code | Bib


C19. Simulating emergent properties of human driving behavior using multi-agent RAIL


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 (ICRA), IEEE, 2019, pp. 789 - 795.
Abstract | Preprint | Link | Bib


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 (ICARCV), IEEE, 2018, pp. 29 - 35. Best Paper Award
Abstract | Preprint | Link | Bib


C17. Analytically modeling unmanaged intersections with microscopic vehicle interactions


Changliu Liu, and Mykel J. Kochenderfer
Intelligent Transportation Systems Conference (ITSC), IEEE, 2018, pp. 2352 - 2357.
Abstract | Preprint | Link | Code | Bib | Talk | Blog


C16. Improving efficiency of autonomous vehicles via V2V communication


Changliu Liu, Chung-Wei Lin, Shinichi Shiraishi, and Masayoshi Tomizuka
American Control Conference, IEEE, 2018, pp. 4778 - 4783.
Abstract | Preprint | Link | Bib


C15. FOAD: Fast optimization-based autonomous driving motion planner


Jianyu Chen, Changliu Liu, and Masayoshi Tomizuka
American Control Conference, IEEE, 2018, pp. 4725-4732.
Abstract | Preprint | Link | Bib


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 (CCTA), IEEE, 2017, pp. 1294 - 1299.
Abstract | Preprint | Link | Bib


C13. Boundary layer heuristic for search-based nonholonomic path planning in maze-like environments


Changliu Liu, Yizhou Wang, and Masayoshi Tomizuka
IEEE Intelligent Vehicle Symposium, IEEE, 2017, pp. 831 - 836.
Abstract | Preprint | Poster | Link | Code | Bib


C12. Speed profile planning in dynamic environments via temporal optimization


Changliu Liu, Wei Zhan, and Masayoshi Tomizuka
IEEE Intelligent Vehicle Symposium, IEEE, 2017, pp. 154 - 159.
Abstract | Preprint | Poster | Link | Code | Bib


C11. Spatially-partitioned environmental representation and planning architecture for on-road autonomous driving


Wei Zhan, Jianyu Chen, Chin-Yao Chan, Changliu Liu, and Masayoshi Tomizuka
IEEE Intelligent Vehicle Symposium, IEEE, 2017, pp. 632 - 639.
Abstract | Preprint | Link | Bib


C10. Convex feasible set algorithm for constrained trajectory smoothing


Changliu Liu, Chung-Yen Lin, Yizhou Wang, and Masayoshi Tomizuka
American Control Conference, IEEE, 2017, pp. 4177 - 4182.
Abstract | Preprint | Link | Code | Bib


C9. The robustly-safe automated driving system for enhanced active safety


Changliu Liu, Jianyu Chen, Trong-Duy Nguyen, and Masayoshi Tomizuka
SAE World Congress, SAE Technical Paper 2017-01-1406, 2017
Abstract | Preprint | Link | Bib


C8. A non-conservatively defensive strategy for urban autonomous driving


Wei Zhan, Changliu Liu, Chin-Yao Chan, and Masayoshi Tomizuka
Intelligent Transportation Systems Conference (ITSC), IEEE, 2016, pp. 459 - 464.
Abstract | Preprint | Link | Bib


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 (IROS), IEEE, 2016, pp. 2689 - 2696.
Abstract | Preprint | Link | Bib


C6. Enabling safe freeway driving for automated vehicles


Changliu Liu, and Masayoshi Tomizuka
American Control Conference, IEEE, 2016, pp. 3461 - 3467.
Abstract | Preprint | Link | Bib


C5. Who to blame? Learning and control strategies with information asymmetry


Changliu Liu, Wenlong Zhang and Masayoshi Tomizuka
American Control Conference, IEEE, 2016, pp. 4859 - 4864.
Abstract | Preprint | Link | Bib


C4. Algorithmic safety measures for intelligent industrial co-robots


Changliu Liu, and Masayoshi Tomizuka
IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2016, pp. 3095 - 3102.
Abstract | Preprint | Link | Code | Bib


C3. Safe exploration: addressing various uncertainty levels in human robot interactions


Changliu Liu, and Masayoshi Tomizuka
American Control Conference, IEEE, 2015, pp. 465 - 470.
Abstract | Preprint | Link | Code | Bib


C2. Control in a safe set: addressing safety in human-robot interactions


Changliu Liu, and Masayoshi Tomizuka
Dynamic Systems and Control Conference (DSCC), ASME, 2014, p. V003T42A003. Best Student Paper Finalist.
Abstract | Preprint | Link | Code | Supplementary | Bib


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 (IROS), IEEE, 2014, pp. 1386 - 1391.
Abstract | Preprint | Link | Code | Bib


  Workshop Papers

W10. 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
in AAAI Workshop on Human-Centric Self-Supervised Learning, 2021.
Abstract | Preprint


W9. Hierarchical Adaptable and Transferable Networks (HATN) for Driving Behavior Prediction


Letian Wang, Yeping Hu, Liting Sun, Wei Zhan, Masayoshi Tomizuka, and Changliu Liu
in NeurIPS workshop on Machine Learning for Autonomous Driving, 2021.
Abstract | Preprint


W8. A hierarchical long short term safety framework for efficient robot manipulation under uncertainty


Suqin He, Weiye Zhao, Chuxiong Hu, Yu Zhu, and Changliu Liu
in MECC Workshop on Safe Control and Learning under Uncertainty, 2021.
Abstract | Preprint


W7. 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
in MECC Workshop on Safe Control and Learning under Uncertainty, 2021.
Abstract | Preprint


W6. Safe Control with Neural Network Dynamic Models


Tianhao Wei and Changliu Liu
in RSS Workshop on Robotics for People: Perspectives on Interaction, Learning and Safety, 2021.
Abstract | Preprint


W5. IADA: Iterative Adversarial Data Augmentation using Formal Verification and Expert Guidance


Ruixuan Liu and Changliu Liu
in ICML Workshop on Human In the Loop Learning, 2021.
Abstract | Preprint


W4. Simultaneously learning safety margins and task parameters of multirobot systems


Jaskaran Grover, Changliu Liu, and Katia Sycara
in RSS Workshop on Behavioral Inference of Remotely Sensed Multi-agent Systems, 2021.


W3. "Provably Safe" in the Wild: Testing Control Barrier Functions on a Vision-Based Quadrotor in an Outdoor Environment


Cherie Ho*, Katherine Shih*, Jaskaran Grover, Changliu Liu, and Sebastian Scherer
in RSS Workshop on Robust Autonomy, 2020.
Link


W2. Adaptable Human Intention and Trajectory Prediction for Human-Robot Collaboration


Abulikemu Abuduweili, Siyan Li, and Changliu Liu
in AAAI 2019 Fall Symposium Series, AI for HRI.
Abstract | Preprint


W1. NeuralVerification.jl: Algorithms for verifying deep neural networks


Changliu Liu, Tomer Arnon, Christopher Lazarus, and Mykel J. Kochenderfer
in ICLR 2019 Debugging Machine Learning Models Workshop. Best Applied Paper Award.
Abstract | Preprint | Link | Code | Tutorial


  Preprints

A Microscopic Epidemic Model and Pandemic Prediction Using Multi-Agent Reinforcement Learning


Changliu Liu
Abstract | Preprint


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
Abstract | Preprint | Link | Bib


Analyzing traffic delay at unmanaged intersections


Changliu Liu, and Mykel J. Kochenderfer
Abstract | Preprint | Link | Code | Talk | Bib


Robot safe interaction system for intelligent industrial co-robots


Changliu Liu, and Masayoshi Tomizuka
Abstract | Preprint | Link | Bib


© 2021 Changliu Liu. Last Update: 12-26-2021