[J10] F. Jahncke, B. Zarrouki, M. Piccinini, J. D’sa, D. Isele, S. Bae, J. Betz, “Differentiable Weights-Varying Nonlinear MPC via Gradient-Based Policy Learning: An Autonomous Vehicle Guidance Example”, IEEE Robotics and Automation Letters, 2026. [paper] [project]
[J9] F. M. Tariq, Z.-H. Yeh, A. T. Singh, D. Isele, S. Bae, “Frenet Enveloping Planner: An Efficient Local Path Planning Framework for Autonomous Driving”, IEEE Transactions on Intelligent Vehicles, 2025. [paper]
[J8] X. Zhang, G. Chenevert, Y. Su, F. M. Tariq, J. D’sa, S. Bae, D. Lee, “ZSG-MPPI: Robust Model-Predictive Path-Integral Method for Disturbance Handling”, IEEE Robotics and Automation Letters, 2025.
[J7] J. Li, J. Li, S. Bae, D. Isele, “Adaptive Prediction Ensemble: Improving Out-of-Distribution Generalization of Motion Forecasting”, IEEE Robotics and Automation Letters, 2025. [paper] [project]
[J6] H. Hu, D. Isele, S. Bae, J. F. Fisac, “Active Uncertainty Reduction for Safe and Efficient Interaction Planning: A Shielding-Aware Dual Control Approach”, The International Journal of Robotics Research (IJRR), 2024. [paper] [project] [code]
[J5] S. Bae, D. Isele, A. Nakhaei, P. Xu, A. M. Anon, C. Choi, K. Fujimura, S. Moura, “Lane-Change in Dense Traffic with Model Predictive Control and Neural Networks”, IEEE Transactions on Control Systems Technology, 2022.
[J4] K. Lee, D. Isele, E. Theodorou, S. Bae, “Spatiotemporal Costmap Inference for MPC via Deep Inverse Reinforcement Learning”, IEEE Robotics and Automation Letters (RA-L), 2022. [paper]
[J3] S. Bae, Y. Kim, Y. Choi, J. Guanetti, P. Gill, F. Borrelli, S.J. Moura, “Ecological Adaptive Cruise Control of Plug-in Hybrid Electric Vehicle with Connected Infrastructure and On-Road Experiments”, ASME Journal of Dynamic Systems, Measurement and Control, 2022. [paper]
[J2] T. Zeng*, S. Bae*, B. Travacca, S.J. Moura, “Inducing Human Behavior to Maximize Operation Performance at PEV Charging Station”, IEEE Transactions on Smart Grid, 2021. *equal [paper]
[J1] S. Woo, S. Bae, S.J. Moura, “Pareto Optimality in Cost and Service Quality for an Electric Vehicle Charging Facility”, Applied Energy, 2021. [paper]
[C33] K. Ryu, M. Sung, P. Gupta, J. D’sa, F. M. Tariq, D. Isele, S. Bae, “IANN-MPPI: Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral Approach for Autonomous Driving”, IEEE International Conference on Intelligent Transportation Systems (ITSC), 2025. [paper] [project]
[C32] A. Li, S. Bae, D. Isele, R. Beeson, F. M. Tariq, “End-to-End Predictive Planner for Autonomous Driving with Consistency Models”, IEEE International Conference on Intelligent Transportation Systems (ITSC), 2025. [paper] [project] [code]
[C31] F. Nawaz, M. Sung, D. Gadginmath, J. D’sa, S. Bae, D. Isele, N. Figueroa, N. Matni, “Graph-based Path Planning with Dynamic Obstacle Avoidance for Autonomous Parking”, IEEE Intelligent Vehicles Symposium (IV), 2025. [paper]
[C30] F. M. Tariq, Z.-H. Yeh, A. T. Singh, D. Isele, S. Bae, “Frenet Corridor Planner: An Optimal Local Path Planning Framework for Autonomous Driving”, IEEE Intelligent Vehicles Symposium (IV), 2025. [paper]
[C29] D. Gadginmath, F. Nawaz, M. Sung, F. M. Tariq, S. Bae, D. Isele, F. Pasqualetti, J. D’sa, “Active Probing with Multimodal Predictions for Motion Planning”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025. [paper] [project]
[C28] D. Isele, A. M. Anon, F. M. Tariq, G. Yeh, A. T. Singh, S. Bae, “Delayed-Decision Motion Planning in the Presence of Multiple Predictions”, IEEE International Conference on Robotics and Automation (ICRA), 2025. [paper]
[C27] P. Gupta, D. Isele, E. Sachdeva, P.-H. Huang, B. Dariush, K. Lee, S. Bae, “Generalized Mission Planning for Heterogeneous Multi-Robot Teams via LLM-Constructed Hierarchical Trees”, IEEE International Conference on Robotics and Automation (ICRA), 2025. [paper]
[C26] H. Kang, E. Sachdeva, P. Gupta, S. Bae, K. Lee, “GFlowVLM: Enhancing Multi-step Reasoning in Vision-Language Models with Generative Flow Networks”, IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025. [paper] [project]
[C25] F. Baldini, F. M. Tariq, S. Bae, D. Isele, “Don’t Get Stuck: A Deadlock Recovery Approach”, IEEE International Conference on Intelligent Transportation Systems (ITSC), 2024. [paper]
[C24] D. Isele, P. Gupta, X. Liu, S. Bae, “Gaussian Lane Keeping: A Robust Prediction Baseline”, IEEE International Conference on Intelligent Transportation Systems (ITSC), 2024. [paper]
[C23] A. M. Anon, S. Bae, M. Saroya, D. Isele, “Multi-Profile Quadratic Programming (MPQP) for Optimal Gap Selection and Speed Planning of Autonomous Driving”, IEEE International Conference on Robotics and Automation (ICRA), 2024. [paper]
[C22] K. Ji, S. Bae, N. Li, K. Han, “Competition-Aware Decision-Making Approach for Mobile Robots in Racing Scenarios”, IEEE Intelligent Vehicles Symposium (IV), 2024. [paper]
[C21] P. Gupta, D. Isele, S. Bae, “Towards Scalable & Efficient Interaction-Aware Planning in Autonomous Vehicles using Knowledge Distillation”, IEEE Intelligent Vehicles Symposium (IV), 2024. [paper]
[C20] L. Song, D. Isele, N. Hovakimyan, S. Bae, “Efficient and Interaction-Aware Trajectory Planning for Autonomous Vehicles with Particle Swarm Optimization”, IEEE Intelligent Vehicles Symposium (IV), 2024. [paper]
[C19] A. Abughaida, M. Gandhi, J. Heo, V. Tadiparthi, Y. Sakamoto, J. Woo, S. Bae, “ATLS: Automated Trailer Loading for Surface Vessels”, IEEE Intelligent Vehicles Symposium (IV), 2024. [paper]
[C18] F. M. Tariq, D. Isele, J. S. Baras, S. Bae, “RCMS: Risk-Aware Crash Mitigation System for Autonomous Vehicles”, IEEE International Conference on Intelligent Transportation Systems (ITSC), 2023.
[C17] P. Gupta, D. Isele, D. Lee, S. Bae, “Interaction-Aware Trajectory Planning for Autonomous Vehicles with Analytic Integration of Neural Networks into Model Predictive Control”, IEEE International Conference on Robotics and Automation (ICRA), 2023.
[C16] F. M. Tariq, D. Isele, J. S. Baras, S. Bae, “SLAS: Speed and Lane Advisory System for Highway Navigation”, 61st IEEE Conference on Decision and Control (CDC), 2022.
[C15] K. Lee, D. Isele, E. Theodorou, S. Bae, “Risk-sensitive MPCs with Deep Distributional Inverse RL for Autonomous Driving”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
[C14] A. Moradipari, S. Bae, M. Alizadeh, E. Moradi-Pari, D. Isele, “Predicting Parameters for Modeling Traffic Participants”, IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), 2022.
[C13] S. Bae, D. Isele, K. Fujimura, S.J. Moura, “Risk-Aware Lane Selection on Highway with Dynamic Obstacles”, 32nd IEEE Intelligent Vehicles Symposium, 2021. [paper]
[C12] A. Pozzi, S. Bae, Y. Choi, F. Borrelli, D.M. Raimondo, S.J. Moura, “Ecological Velocity Planning through Signalized Intersections: A Deep Reinforcement Learning Approach”, IEEE Conference on Decision and Control (CDC), 2020. [paper]
[C11] J. Kim, S. Bae, “Optimal Installation of Electric Vehicle Charging Stations Using Fleet-vehicles Data”, IEEE PES General Meeting (PESGM), 2020. [paper]
[C10] S. Bae, D. Saxena, A. Nakhaei, C. Choi, K. Fujimura, S.J. Moura, “Cooperation-Aware Lane Change Maneuver in Dense Traffic based on Model Predictive Control with Recurrent Neural Network”, American Control Conference (ACC), 2020. [paper]
[C9] S. Bae, T. Zeng, B. Travacca, S.J. Moura, “Inducing Human Behavior to Alleviate Overstay at PEV Charging Station”, American Control Conference (ACC), 2020. [paper]
[C8] D. Saxena, S. Bae, A. Nakhaei, K. Fujimura, M. Likhachev, “Driving in Dense Traffic with Model-Free Reinforcement Learning”, IEEE International Conference on Robotics and Automation (ICRA), 2020. [paper]
[C7] S. Bae, Y. Choi, Y. Kim, J. Guanetti, F. Borrelli, S.J. Moura, “Real-time Ecological Velocity Planning for Plug-in Hybrid Vehicles with Partial Communication to Traffic Lights”, IEEE Conference on Decision and Control (CDC), 2019. [paper]
[C6] S. Bae, Y. Kim, J. Guanetti, F. Borrelli, S.J. Moura, “Design and Implementation of Ecological Adaptive Cruise Control for Autonomous Driving with Communication to Traffic Lights”, American Control Conference (ACC), 2019. [paper]
[C5] S. Bae, S.M. Han, S.J. Moura, “Modeling and Control of Human Actuated Systems”, IFAC on Cyber Physical and Human Systems (CPHS), 2018. IFAC Young Author Award Finalist [paper]
[C4] S. Bae, S.M. Han, S.J. Moura, “System Analysis and Optimization of Human-Actuated Dynamical Systems”, American Control Conference (ACC), 2018. [paper]
[C3] C. Sheppard, L. Dunn, S. Bae, M. Gardner, “Optimal Dispatch of Electrified Autonomous Mobility on Demand Vehicles during Power Outages”, IEEE PES General Meeting, 2017. [paper]
[C2] B. Travacca, S. Bae, J. Wu, S.J. Moura, “Stochastic Day Ahead Load Scheduling for Aggregated Distributed Energy Resources”, IEEE conference on Control Technology and Applications (CCTA), 2017. [paper]
[C1] S. Bae, H. Zhang, D. Wang, C. Sheppard, S. Saxena, “Optimal Bidding Strategy for V2G Regulation Service under Uncertainty”, IEEE PES General Meeting, 2017. [paper]
[P8] L. K. Chung, D. Isele, F. M. Tariq, S. Bae, S. Kousik, J. D’sa, “Selecting Spots by Explicitly Predicting Intention from Motion History Improves Performance in Autonomous Parking”, arXiv, 2026.
[P7] F. M. Tariq, A. Singh, V. Ramtekkar, J. D’sa, D. Isele, Y. Sakamoto, S. Bae, “ONRAP: Occupancy-driven Noise-Resilient Autonomous Path Planning”, arXiv, 2026. [paper] [project]
[P6] A. Trivedi, A. Li, M. Elnoor, Y. U. Ciftci, A. Singh, J. D’sa, S. Bae, D. Isele, T. Padir, “Adaptive Time Step Flow Matching for Autonomous Driving Motion Planning”, arXiv, 2026. [paper] [project]
[P5] C. L. Shek, F. M. Tariq, S. Bae, D. Isele, P. Gupta, “KGLAMP: Knowledge Graph-guided Language Model for Adaptive Multi-robot Planning and Replanning”, arXiv, 2026. [paper]
[P4] F. Nawaz, F. M. Tariq, S. Bae, D. Isele, A. Singh, N. Figueroa, N. Matni, J. D’sa, “Occupancy-aware Trajectory Planning for Autonomous Valet Parking in Uncertain Dynamic Environments”, arXiv, 2025. [paper]
[P3] P. Gupta, S. Bae, D. Isele, “Graph-Grounded LLMs: Leveraging Graphical Function Calling to Minimize LLM Hallucinations”, arXiv, 2025. [paper]
[P2] G. Chenevert, J. Li, S. Bae, D. Lee, “Solving Reach-Avoid-Stay Problems Using Deep Deterministic Policy Gradients”, arXiv, 2024. [paper]
[P1] S. Dai, S. Bae, D. Isele, “Game Theoretic Decision Making by Actively Learning Human Intentions Applied on Autonomous Driving”, arXiv, 2023. [paper]
[PT26] A. Abughaida, Y. Al-Nadawi, S. Bae, S. K. Al-Stouhi, “Automated trailer loading system for boats”, US Patent 12,522,123, 2026.
[PT25] J. Li, J. Li, S. Bae, D. Isele, “Adaptive prediction ensemble for motion forecasting”, US Patent App. 18/971,695, 2026.
[PT24] F. M. Tariq, A. Singh, D. Isele, S. Bae, “Local path planning”, US Patent App. 19/190,548, 2025.
[PT23] F. Baldini, F. M. Tariq, S. Bae, D. Isele, “Deadlock recovery”, US Patent App. 19/068,565, 2025.
[PT22] F. M. Tariq, A. Singh, D. Isele, S. Bae, “Local path planning”, US Patent App. 19/040,097, 2025.
[PT21] A. M. Anon, S. Bae, D. Isele, M. Saroya, K. Fujimura, “Multi-profile quadratic programming (MPQP) for optimal gap selection and speed planning of autonomous driving”, US Patent 12,441,360, 2025.
[PT20] L. Song, D. Isele, S. Bae, “Trajectory planning for autonomous vehicle with particle swarm optimization”, US Patent App. 18/617,570, 2025.
[PT19] A. M. Anon, S. Bae, D. Isele, M. Saroya, K. Fujimura, “Multi-profile quadratic programming (MPQP) for optimal gap selection and speed planning of autonomous driving”, US Patent 12,428,025, 2025.
[PT18] A. Moradipari, S. Bae, E. Moradi-Pari, D. Isele, “Systems and methods for parameter prediction for agent modeling”, US Patent 12,420,842, 2025.
[PT17] S. Dai, S. Bae, D. Isele, “Game theoretic decision making”, US Patent 12,251,631, 2025.
[PT16] D. Isele, P. Gupta, S. Bae, “Vehicle control while predicting the future position of other vehicles”, US Patent App. 18/623,744, 2025.
[PT15] F. M. Tariq, D. Isele, S. Bae, “Vehicle control system, method for controlling vehicle, and vehicle”, US Patent App. 18/521,911, 2025.
[PT14] D. Isele, S. Bae, P. Gupta, “Autonomous vehicle trajectory planning using neural network trained based on knowledge distillation”, US Patent App. 18/531,510, 2025.
[PT13] A. M. Anon, S. Bae, D. Isele, M. Saroya, K. Fujimura, “Multi-profile quadratic programming (MPQP) for optimal gap selection and speed planning of autonomous driving”, US Patent App. 18/389,282, 2025.
[PT12] A. M. Anon, S. Bae, D. Isele, M. Saroya, K. Fujimura, “Multi-profile quadratic programming (MPQP) for optimal gap selection and speed planning of autonomous driving”, US Patent App. 18/386,319, 2025.
[PT11] C. Choi, S. Malla, S. Bae, “System and method for completing trajectory prediction from agent-augmented environments”, US Patent 12,110,041, 2024.
[PT10] F. M. Tariq, D. Isele, S. Bae, “System and methods for speed and lane advisory in evaluating lane change events and opportunities”, US Patent 12,065,173, 2024.
[PT9] P. Gupta, D. Isele, S. Bae, “Interaction-aware trajectory planning”, US Patent App. 18/188,323, 2024.
[PT8] S. Moura, T. Zeng, S. Bae, W. Zeng, C. Lenox, B. Travacca, “Methods and systems for optimal pricing and charging control of a plug-in electric vehicle charging station”, US Patent 11,845,353, 2023.
[PT7] S. Bae, D. Isele, K. Fujimura, “Lane selection”, US Patent 11,780,470, 2023.
[PT6] D. Isele, K. Fujimura, S. Bae, “Lane selection”, US Patent 11,708,092, 2023.
[PT5] A. Nakhaei, K. Fujimura, C. Choi, S. Bae, D. Saxena, “System and method for providing cooperation-aware lane change control in dense traffic”, US Patent 11,608,083, 2023.
[PT4] K. Lee, D. Isele, S. Bae, “System and method for providing spatiotemporal costmap inference for model predictive control”, US Patent App. 17/568,951, 2023.
[PT3] D. Saxena, S. Bae, A. Nakhaei, K. Fujimura, “Model-free reinforcement learning”, US Patent 11,465,650, 2022.
[PT2] S. Moura, T. Zeng, S. Bae, W. Zeng, C. Lenox, B. Travacca, “Customer-centric method and system for pricing options and pricing/charging co-optimization at multiple plug-in electric vehicle charging stations”, US Patent App. 17/541,510, 2022.
[PT1] S. Bae, D. Isele, K. Fujimura, “Lane selection”, US Patent App. 17/229,126, 2022.