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Closing the Planning-Learning Loop with Application to Autonomous Driving in a Crowd



Panpan Cai , David Hsu


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Simulating Autonomous Driving in Massive Mixed Urban Traffic



Yuanfu Luo , Panpan Cai , Yiyuan Lee , David Hsu

* Journal extension of the ICRA2020 paper (arXiv:1911.04074) 

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MAGIC: Learning Macro-Actions for Online POMDP Planning using Generator-Critic



Yiyuan Lee , Panpan Cai , David Hsu

* 6 pages (+ 1 page references). 7 figures. Submitted to International Conference on Robotics and Automation (ICRA), 2021 

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SUMMIT: A Simulator for Urban Driving in Massive Mixed Traffic



Panpan Cai , Yiyuan Lee , Yuanfu Luo , David Hsu


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GAMMA: A General Agent Motion Prediction Model for Autonomous Driving



Yuanfu Luo , Panpan Cai


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LeTS-Drive: Driving in a Crowd by Learning from Tree Search



Panpan Cai , Yuanfu Luo , Aseem Saxena , David Hsu , Wee Sun Lee

* Proc. Robotics: Science & Systems (RSS), 2019 

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PORCA: Modeling and Planning for Autonomous Driving among Many Pedestrians



Yuanfu Luo , Panpan Cai , Aniket Bera , David Hsu , Wee Sun Lee , Dinesh Manocha


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HyP-DESPOT: A Hybrid Parallel Algorithm for Online Planning under Uncertainty



Panpan Cai , Yuanfu Luo , David Hsu , Wee Sun Lee


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