Publications

Preprints
  • Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models
    F. Christianos, P. Karkus,
    B. Ivanovic
    , S. V. Albrecht, M. Pavone
    [BibTex] [PDF] [arXiv] arXiv 2022
  • Robust and Controllable Object-Centric Learning through Energy-based Models
    R. Zhang, T. Che,
    B. Ivanovic
    , R. Wang, M. Pavone, Y. Bengio, L. Paull
    [BibTex] [PDF] [arXiv] arXiv 2022
  • Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning
    B. Ivanovic
    , J. Harrison, M. Pavone
    [BibTex] [PDF] [arXiv] arXiv 2022
  • BITS: Bi-level Imitation for Traffic Simulation
    D. Xu, Y. Chen,
    B. Ivanovic
    , M. Pavone
    [BibTex] [PDF] [arXiv] arXiv 2022
Publications
  • DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles
    P. Karkus,
    B. Ivanovic
    , S. Mannor, M. Pavone
    [BibTex] [PDF] Conference on Robot Learning (CoRL) 2022
  • Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles
    A. Farid, S. Veer,
    B. Ivanovic
    , K. Leung, M. Pavone
    [BibTex] [PDF] Conference on Robot Learning (CoRL) 2022
  • Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty
    B. Ivanovic
    , K.-H. Lee, P. Tokmakov, B. Wulfe, R. McAllister, A. Gaidon, M. Pavone
    [BibTex] [PDF] [arXiv] [video] [code] IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems (IROS) 2022
  • Injecting Planning-Awareness into Prediction and Detection Evaluation
    B. Ivanovic
    , M. Pavone
    [BibTex] [PDF] [arXiv] [video] [code] IEEE Intelligent Vehicles Symposium (IV) 2022
  • MTP: Multi-hypothesis Tracking and Prediction for Reduced Error Propagation
    X. Weng,
    B. Ivanovic
    , M. Pavone
    [BibTex] [PDF] [arXiv] [video] [code] IEEE Intelligent Vehicles Symposium (IV) 2022
  • Sample-Efficient Safety Assurances using Conformal Prediction
    R. Luo, S. Zhao, J. Kuck,
    B. Ivanovic
    , S. Savarese, E. Schmerling, M. Pavone
    [BibTex] [PDF] [arXiv] Workshop on the Algorithmic Foundations of Robotics (WAFR) 2022
  • ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning
    Y. Chen,
    B. Ivanovic
    , M. Pavone
    [BibTex] [PDF] [arXiv] [code] IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR) 2022
  • Whose Track Is It Anyway? Improving Robustness to Tracking Errors with Affinity-Based Prediction
    X. Weng,
    B. Ivanovic
    , K. Kitani, M. Pavone
    [BibTex] [PDF] IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR) 2022
  • Propagating State Uncertainty Through Trajectory Forecasting
    B. Ivanovic
    , Y. Lin, S. Shrivastava, P. Chakravarty, M. Pavone
    [BibTex] [PDF] [arXiv] [video] [code] IEEE Int'l Conf. on Robotics and Automation (ICRA) 2022
  • Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactions
    S. Schaefer, K. Leung,
    B. Ivanovic
    , M. Pavone
    [BibTex] [PDF] [arXiv] [code] IEEE Int'l Conf. on Robotics and Automation (ICRA) 2021
  • Multimodal Deep Generative Models for Trajectory Prediction: A Conditional Variational Autoencoder Approach
    B. Ivanovic*
    , K. Leung*, E. Schmerling, M. Pavone (* denotes equal contribution)
    [BibTex] [PDF] [arXiv] IEEE Robotics and Automation Letters (RA-L) 2020
  • MATS: An Interpretable Trajectory Forecasting Representation for Planning and Control
    B. Ivanovic
    , A. Elhafsi, G. Rosman, A. Gaidon, M. Pavone
    [BibTex] [PDF] [arXiv] [video] [code] Conf. on Robot Learning (CoRL) 2020
  • Evidential Sparsification of Multimodal Latent Spaces in Conditional Variational Autoencoders
    M. Itkina,
    B. Ivanovic
    , R. Senanayake, M. J. Kochenderfer, M. Pavone
    [BibTex] [PDF] [arXiv] [video] [code] Conf. on Neural Information Processing Systems (NeurIPS) 2020
  • Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction
    H. Nishimura,
    B. Ivanovic
    , A. Gaidon, M. Pavone, M. Schwager
    Featured on TechXplore

    [BibTex] [PDF] [arXiv] [video] [code] IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems (IROS) 2020
  • Map-Predictive Motion Planning in Unknown Environments
    A. Elhafsi,
    B. Ivanovic
    , L. Janson, M. Pavone
    [BibTex] [PDF] [arXiv] IEEE Int'l Conf. on Robotics and Automation (ICRA) 2020
  • The Trajectron: Probabilistic Multi-Agent Trajectory Modeling with Dynamic Spatiotemporal Graphs
    B. Ivanovic
    , M. Pavone
    [BibTex] [PDF] [arXiv] [code] IEEE/CVF Int'l Conf. on Computer Vision (ICCV) 2019
  • BaRC: Backward Reachable Curriculum for Robotic Reinforcement Learning
    B. Ivanovic
    , J. Harrison, A. Sharma, M. Chen, M. Pavone
    [BibTex] [PDF] [arXiv] [code] IEEE Int'l Conf. on Robotics and Automation (ICRA) 2019
  • Generative Modeling of Multimodal Multi-Human Behavior
    B. Ivanovic
    , E. Schmerling, K. Leung, M. Pavone
    [BibTex] [PDF] [arXiv] [video] [code] IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems (IROS) 2018
  • ADAPT: Zero-Shot Adaptive Policy Transfer for Stochastic Dynamical Systems
    J. Harrison, A. Garg,
    B. Ivanovic
    , Y. Zhu, S. Savarese, L. Fei-Fei, M. Pavone
    [BibTex] [PDF] [arXiv] Int'l Symp. on Robotics Research (ISRR) 2017
Invited Talks
  • Integrating Prediction Within the Autonomous Vehicle Stack
    [video] 4th Workshop on Long-term Human Motion Prediction (LHMP) at ICRA 2022
Theses
  • Trajectory Forecasting in the Modern Robotic Autonomy Stack
    B. Ivanovic
    , Ph.D. Thesis. Supervised by Marco Pavone
    [PDF] [video] Stanford University, 2021
  • Streamlining the Training of 3D Scene Segmentation Models
    B. Ivanovic
    , Bachelor Thesis. Supervised by Raquel Urtasun and Sanja Fidler
    [PDF] [files] University of Toronto, 2016
Blog Posts
  • Back to the Future: Planning-Aware Trajectory Forecasting for Autonomous Driving
    B. Ivanovic

    [Post] [SAIL Blog] Stanford AI Lab (SAIL) 2020
  • How to Deploy Deep Learning Models with AWS Lambda and TensorFlow
    B. Ivanovic
    , Z. Ivanovic
    5th most viewed blog post in all of AWS in 2018

    [Post] [AWS Machine Learning Blog] Amazon Web Services (AWS) 2017

Service

Conference Reviewing
  • International Conference on Learning Representations (ICLR): 2022
  • IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR): 2021, 2022
  • European Conference on Computer Vision (ECCV): 2022
  • International Conference on Machine Learning (ICML): 2020, 2021, 2022
  • Neural Information Processing Systems (NeurIPS): 2019, 2020, 2021, 2022
  • Robotics: Science and Systems (RSS): 2020, 2021
  • IEEE International Conference on Robotics and Automation (ICRA): 2020, 2021, 2022, 2023
  • IEEE International Conference on Intelligent Robots and Systems (IROS): 2021, 2022
  • IEEE Conference on Decision and Control (CDC): 2021
  • IEEE-RAS International Conference on Humanoid Robots (Humanoids): 2020
  • IEEE Intelligent Vehicles Symposium (IV): 2021, 2022
  • IEEE Intelligent Transportation Systems Conference (ITSC): 2019
Journal Reviewing
  • Nature Machine Intelligence: 2022
  • Transactions on Machine Learning Research (TMLR): 2022
  • IEEE Robotics and Automation Letters (RA-L): 2020, 2021, 2022
  • IEEE Control Systems Letters (L-CSS): 2021
  • IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI): 2020, 2022