Publications


2021

W. Ding and B. Li and K. Ji Eun and D. Zhao, ''Semantically Controllable Scene Generation with Guidance of Explicit Knowledge, '' arXiv:2106.04066, 2021. | Bib
B. Chen, M. Xu, L. Li, D. Zhao, ''Delay-Aware Model-Based Reinforcement Learning for Continuous Control,'' Neurocomputing, 2021. | Bib
M. Xu, P. Huang, F. Li, J. Zhu, X. Qi, Z. Huang, H. Lam, D. Zhao, ''Accelerated Policy Evaluation with Adaptive Importance Sampling, '' ICLR 2021 Workshop on Security and Safety in Machine Learning Systems. (To be Online)
Z. Liu, H. Zhou, B. Cheng, S. Zhong, D. Zhao, ''Safe Model-based Reinforcement Learning with Robust Cross-entropy Method, '' ICLR 2021 Workshop on Security and Safety in Machine Learning Systems. (To be Online)
M. Arief, Z. Huang, G. Kumar, Y. Bai, S. He, W. Ding, H. Lam, D. Zhao, ''Deep Probabilistic Accelerated Evaluation: A Robust Certifiable Rare-Event Simulation Methodology for Black-Box Safety-Critical Systems,'' Proceedings of the 24th International Conference on Artificial Intelligence and Statistics (AISTATS) 2021, San Diego, USA, 2021. | Bib
W. Ding and B. Chen and B. Li and K. Eun and D. Zhao, ''Multimodal Safety-Critical Scenarios Generation for Decision-Making Algorithms Evaluation, '' IEEE Robotics and Automation Letters (RA-L/ICRA), 2021. | Bib
B. Chen, Z. Liu, J. Zhu, M. Xu, W. Ding, D. Zhao, ''Context-Aware Safe Reinforcement Learning for Non-Stationary Environments,'' 2021 International Conference on Robotics and Automation (ICRA), 2021. | Bib

2020

Y. Bai, Z. Huang, H. Lam, D. Zhao, ''Rare-Event Simulation for Neural Network and Random Forest Predictors,'' arXiv preprint, 2020. | Bib
M. Xu, W. Ding, J. Zhu, Z. Liu, B. Chen, D. Zhao, ''Task-Agnostic Online Reinforcement Learning with an Infinite Mixture of Gaussian Processes,'' Advances in Neural Information Processing Systems (NeurIPS), 2020. | Bib
W. Ding and B. Chen and M. Xu and D. Zhao, ''Learning to Collide: An Adaptive Safety-Critical Scenarios Generating Method, '' Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, Oct 25 - 29, 2020. | Bib
Zuxin Liu, Baiming Chen, Hongyi Zhou, Guru Koushik, Martial Hebert, D. Zhao, ''Mapper: Multi-Agent Path Planning with Evolutionary Reinforcement Learning in Mixed Dynamic Environments '' Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, Oct 25 - 29 | Bib
Baiming Chen, Mengdi Xu, Zuxin Liu, Liang Li, D. Zhao, ''Delay-Aware Multi-Agent Reinforcement Learning,'' arXiv preprint arXiv:2005.05441, 2020. | Bib
Arief, Hasan Asy’ari, Mansur Arief, Guilin Zhang, Zuxin Liu, Manoj Bhat, Ulf Geir Indahl, Håvard Tveite, D. Zhao, ''SAnE: Smart Annotation and Evaluation tools for point cloud data '' IEEE Access, July 2020 | Bib
W. Ding and M. Xu and D. Zhao, ''CMTS: Conditional Multiple Trajectory Synthesizer for Generating Safety-critical Driving Scenarios,'' Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 31 - June 4, 2020. | Bib

2019

Chengyuan Zhang, Jiacheng Zhu, Wenshuo Wang, D. Zhao, ''A General Framework of Learning Multi-Vehicle Interaction Patterns from Videos,'' Proceedings of the IEEE 22nd International Intelligent Transportation Systems Conference (ITSC), Auckland, NZ, October 27-30, 2019. | Bib
Yaohui Guo, Vinay Varma Kalidindi, Mansur Arief, Wenshuo Wang, Jiacheng Zhu, Huei Peng, D. Zhao, ''Modeling Multi-Vehicle Interaction Scenarios Using Gaussian Random Field,'' Proceedings of the IEEE 22nd International Intelligent Transportation Systems Conference (ITSC), Auckland, NZ, October 27-30, 2019. | Bib
Hasan A Arief , Mansur Arief , Manoj Bhat, Ulf Indahl, Havard Tveite, D. Zhao, ''Density-Adaptive Sampling for Heterogeneous Point Cloud Object Segmentation in Autonomous Vehicle Applications,'' The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, Long Beach, USA, Jun 2019. | Bib
Macheng Shen, Jing Sun, Huei Peng, D. Zhao, ''Improving Localization Accuracy in Connected Vehicle Networks Using Rao-Blackwellized Particle Filters: Theory, Simulations, and Experiments,'' IEEE Transactions on Intelligent Transportation Systems, Jun. 2019. | Bib
W. Ding and W. Wang and D. Zhao, ''Multi-Vehicle Trajectories Generation for Vehicle-to-Vehicle Encounters,'' Proceedings of 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 20-24, 2019. | Bib
Zuxin Liu, Mansur Arief, D. Zhao, ''Where Should We Place LiDARs on the Autonomous Vehicle?-An Optimal Design Approach,'' Proceedings of 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 20-24, 2019. | Bib
Zhiyuan Huang, Mansur Arief, Henry Lam, D. Zhao, ''Evaluation Uncertainty in Data-Driven Self-Driving Testing,'' Proceedings of the IEEE 22nd International Intelligent Transportation Systems Conference (ITSC), Auckland, NZ, October 27-30, 2019. | Bib
Shenyu Mou, Yan Chang, Wenshuo Wang, D. Zhao, ''An Optimal LiDAR Configuration Approach for Self-Driving Cars, '' 98th TRB Annual Meeting (TRB), Washington, USA, January 13–17, 2019.​ | Bib

2018

Zhiyuan Huang, Henry Lam, D. Zhao, ''Designing Importance Samplers to Simulate Machine Learning Predictors via Optimization,'' Proceedings of the 2018 Winter Simulation Conference, Gothenberg, Sweden, December 9-12, 2018.​ | Bib
Zhiyuan Huang, Henry Lam, D. Zhao, ''Rare-event Simulation without Structural Information: A Learning-based Approach,'' Proceedings of the 2018 Winter Simulation Conference, Gothenberg, Sweden, December 9-12, 2018.​ | Bib
Jiacheng Zhu, Wenshuo Wang, D. Zhao, ''Attempt to Unify Heterogeneous Driving Databases using Traffic Primitives,'' Proceedings of the IEEE 21st International Intelligent Transportation Systems Conference (ITSC), Hawaii, USA, November 4-7, 2018. | Bib
Mansur Arief, Peter Glynn, D. Zhao, ''An Accelerated Approach to Safely and Efficiently Test Pre-Production Autonomous Vehicles on Public Streets,'' Proceedings of the IEEE 21st International Intelligent Transportation Systems Conference (ITSC), Hawaii, USA, November 4-7, 2018. | Bib
Xun Gong, Yaohui Guo, Yiheng Feng, Jing Sun, D. Zhao, ''Evaluation of the Energy Efficiency in a Mixed Traffic with Automated Vehicles and Human Controlled Vehicles,'' Proceedings of the IEEE 21st International Intelligent Transportation Systems Conference (ITSC), Hawaii, USA, November 4-7, 2018.​ | Bib
Yan Chang, Weiqing Yang, D. Zhao, ''Fuel Economy and Emission Testing for Connected and Automated Vehicles Using Real-world Driving Datasets,'' Proceedings of the IEEE 21st International Intelligent Transportation Systems Conference (ITSC), Hawaii, USA, November 4-7, 2018. | Bib
Zhiyuan Huang, Mansur Arief, Henry Lam, D. Zhao, ''Synthesis of Different Autonomous Vehicles Test Approaches,'' Proceedings of the IEEE 21st International Intelligent Transportation Systems Conference (ITSC), Hawaii, USA, November 4-7, 2018.​ | Bib
Diange Yang, Kun Jiang, D. Zhao, Chunlei Yu, Zhong Cao, Shichao Xie, Zhongyang Xiao, Xinyu Jiao, Sijia Wang, Kai Zhang, ''Intelligent and connected vehicles: Current status and future perspectives,'' Science China Technological Sciences, Oct. 2018. | Bib
Macheng Shen, Jing Sun, D. Zhao ''The Impact of Road Configuration in V2V-based Cooperative Localization: Mathematical Analysis and Real-world Evaluation,'' IEEE Transactions on Intelligent Transportation Systems, Oct. 2018. | Bib
Wenshuo Wang, D. Zhao, Junqiang Xi, Wei Han, ''A Learning-Based Approach for Lane Departure Warning Systems with a Personalized Driver Model,'' IEEE Transactions on Vehicular Technology, Oct. 2018. | Bib
Zhiyuan Huang, Henry Lam, David J. LeBlanc, D. Zhao, ''Accelerated Evaluation of Automated Vehicles using Piecewise Mixture Models,'' IEEE Transactions on Intelligent Transportation Systems, Sep. 2018. | Bib
Zhaobin Mo, Sisi Li, Diange Yang, D. Zhao, ''Extracting V2V Encountering Scenarios from Naturalistic Driving Database, '' 14th International Symposium on Advanced Vehicle Control (AVEC), Beijing, China, July 16-20, 2018.​ | Bib
Zhiyuan Huang, Yaohui Guo, Mansur Arief, Henry Lam, D. Zhao, ''A Versatile Approach to Evaluating and Testing Automated Vehicles based on Kernel Methods,'' American Control Conference (ACC), Milwaukee, June 27-29, 2018. | Bib
Sisi Li, Wenshuo Wang, Zhaobin Mo, D. Zhao, ''Clustering of Naturalistic Driving Encounters Using Unsupervised Learning,'' 2018 IEEE Intelligent Vehicle Symposium (IV), Changshu, China, June 26-30, 2018. | Bib
Wenshuo Wang, D. Zhao, ''Extracting Traffic Primitives Directly from Naturalistically Logged Data for Self-Driving Applications,'' IEEE International Conference on Robotics and Automation (ICRA), Brisbane, May 21-25, 2018. | Bib
Wenshuo Wang, Junqiang Xi, D. Zhao, ''Learning and Inferring a Driver’s Braking Action in Car-Following Scenarios,'' IEEE Transactions on Vehicle Technology, May 2018.  | Bib
D. Zhao, Xianan Huang, Huei Peng, Henry Lam, David J. LeBlanc, ''Accelerated Evaluation of Automated Vehicles in Car-Following Maneuvers,'' IEEE Transactions on Intelligent Transportation Systems, Mar. 2018. | Bib
Huajing Zhao, Zhaobin Mo, Macheng Shen, Jing Sun, D. Zhao, ''Interpenetrating Cooperative Localization in Dynamic Connected Vehicle Networks,'' arXiv preprint arXiv:1804.10064, 2018. | Bib
Rui Chen, Mansur Arief, D. Zhao, ''An "Xcity" Optimization Approach to Designing Proving Grounds for Connected and Autonomous Vehicles,'' arXiv preprint arXiv:1808.03089, 2018. | Bib
Wenshuo Wang, Aditya Ramesh, D. Zhao, ''Clustering of Driving Scenarios Using Connected Vehicle Datasets,'' arXiv preprint arXiv:1807.08415, 2018.​ | Bib
Wenshuo Wang, Junqiang Xi, D. Zhao, ''Driving Style Analysis Using Primitive Driving Patterns With Bayesian Nonparametric Approaches,'' IEEE Transactions on Intelligent Transportation Systems (Early Access), 2018. | Bib
Wenshuo Wang, Weiyang Zhang, D. Zhao, ''Understanding V2V Driving Scenarios through Traffic Primitives,'' arXiv preprint arXiv:1807.10422, 2018.​ | Bib

2017

Zhiyuan Huang, Henry Lam, D. Zhao, ''Sequential Experimentation to Efficiently Test Automated Vehicles, '' Winter Simulation Conference (WSC), Las Vegas, December 3-6, 2017. | Bib
D. Zhao, Yaohui Guo, Yunhan Jack Jia, ''TrafficNet: An Open Naturalistic Driving Scenario Library, '' Proceedings of the IEEE 20th International Intelligent Transportation Systems Conference (ITSC), Yokohama, Japan, October 16-19, 2017. | Bib
Macheng Shen, Jing Sun, D. Zhao, ''Optimization of Vehicle Connections in V2V-based Cooperative Localization, '' Proceedings of the IEEE 20th International Intelligent Transportation Systems Conference (ITSC), Yokohama, Japan, October 16-19, 2017. | Bib
Zhiyuan Huang, Henry Lam, D. Zhao, ''An Accelerated Testing Approach for Automated Vehicles with Background Traffic Described by Joint Distributions, '' Proceedings of the IEEE 20th International Intelligent Transportation Systems Conference (ITSC), Yokohama, Japan, October 16-19, 2017. | Bib
Zhiyuan Huang, Henry Lam, D. Zhao, ''Towards Affordable On-track Testing for Autonomous Vehicle - A Kriging-based Statistical Approach, '' Proceedings of the IEEE 20th International Intelligent Transportation Systems Conference (ITSC), Yokohama, Japan, October 16-19, 2017. | Bib
Xianan Huang, D. Zhao, Huei Peng, ''Empirical Study of DSRC Performance Based on Safety Pilot Model Deployment Data,'' IEEE Transactions on Intelligent Transportation Systems, Oct. 2017. | Bib
Wenshuo Wang, D. Zhao, ''Evaluation of Lane Departure Correction Systems Using a Stochastic Driver Model,'' IEEE Transactions on Intelligent Vehicles, Sep. 2017. | Bib
Baiming Chen, D. Zhao, Huei Peng, ''Evaluation of Automated Vehicles Encountering Pedestrians at Unsignalized Crossings,'' IEEE Intelligent Vehicle Symposium (IV), Redondo Beach, U.S.A., June 11-14, 2017. | Bib
D. Zhao, Wenshuo Wang, David J. LeBlanc, J. Karl Hedrick, ''Evaluation of a Semi-autonomous Lane Departure Assistant System with Naturalistic Driving Data,'' IEEE Intelligent Vehicle Symposium (IV), Redondo Beach, U.S.A., June 11-14, 2017. | Bib
Xinpeng Wang, D. Zhao, Huei Peng, David J. LeBlanc, ''Analysis of Unprotected Intersection Left-Turn Conflicts based on Naturalistic Driving Data, '' IEEE Intelligent Vehicle Symposium (IV), Redondo Beach, U.S.A., June 11-14, 2017. | Bib
Yunhan Jack Jia, D. Zhao, Qi Alfred Chen, Z. Morley Mao, ''Towards Secure and Safe Appified Automated Vehicles,'' IEEE Intelligent Vehicle Symposium (IV), Redondo Beach, U.S.A., June 11-14, 2017. | Bib
Wenshuo Wang, Chang Liu, D. Zhao, ''How Much Data is Enough? - A Statistical Approach with Case Study on Longitudinal Driving Behavior,'' IEEE Transactions on Intelligent Vehicle, Jun. 2017. | Bib
Zhiyuan Huang, D. Zhao, Henry Lam, David J. LeBlanc, Huei Peng, ''Evaluation of Automated Vehicles in the Frontal Cut-in Scenario - an Enhanced Approach using Piecewise Mixture Model,'' IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 29-June 3, 2017. | Bib
Wenshuo Wang, D. Zhao, Junqiang Xi, David J. LeBlanc, J. Karl Hedrick, ''Development and Evaluation of Two Learning-Based Personalized Driver Models for Car-Following Behaviors,'' American Control Conference (ACC), Seattle, U.S.A., May 24–26, 2017. | Bib
D. Zhao, Henry Lam, Huei Peng, David J. LeBlanc, Shan Bao, Kazutoshi Nobukawa, Christopher S. Pan, ''Accelerated Evaluation of Automated Vehicles Safety in Lane Change Scenarios Based on Importance Sampling Techniques,'' IEEE Transactions on Intelligent Transportation Systems, vol. 18, no. 3, pp. 595-607, Mar. 2017. | Bib
Macheng Shen, Huajing Zhao, Jing Sun, D. Zhao, ''Semi-Interpenetrating Cooperative Localization in Connected Vehicle Networks,'' arXiv preprint arXiv:1709.05457, 2017. | Bib

Pre-2017

Macheng Shen, D. Zhao, Jing Sun, ''Enhancement of Low-cost GNSS Localization in Connected Vehicle Networks Using Rao-Blackwellized Particle Filters, '' Proceedings of the IEEE 19th International Intelligent Transportation Systems Conference (ITSC), Rio de Janeiro, Brazil, Nov 1-4, 2016. | Bib
Weichao Zhuang, Xiaowu Zhang, D. Zhao, Huei Peng, and Lianmou Wang, ''Optimal Design of Three-planetary-gear Power-split Hybrid Powertrains,'' International Journal of Automotive Technology, vol. 17, no. 2, pp. 299-309, Apr. 2016. | Bib
Kazutoshi Nobukawa, Shan Bao, David J. LeBlanc, D. Zhao, Huei Peng, and Christopher S. Pan, ''Gap Acceptance During Lane Changes by Large-Truck Drivers—An Image-Based Analysis,'' IEEE Transactions on Intelligent Transportation Systems, vol. 17, no. 3, Mar. 2016. | Bib
D. Zhao, Huei Peng, Shan Bao, Kazutoshi Nobukawa, David J. LeBlanc, and Christopher S. Pan, ''Accelerated evaluation of automated vehicles using extracted naturalistic driving data,'' in The Dynamics of Vehicles on Roads and Tracks: Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics (IAVSD 2015), 2016. | Bib
D. Zhao, Huei Peng, Henry Lam, Shan Bao, Kazutoshi Nobukawa, David J. LeBlanc, Christopher S. Pan, ''Accelerated evaluation of automated vehicles in lane change scenarios, 2015,'' in Proceedings of the ASME 2015 Dynamic Systems and Control Conference (DSCC), Columbus, U.S.A., Oct 28-30, 2015. | Bib
D. Zhao, Huei Peng, Kazutoshi Nobukawa, Shan Bao, David J. LeBlanc, Christopher S. Pan, ''Analysis of mandatory and discretionary lane change behaviors for heavy trucks,'' in 14th International Symposium on Advanced Vehicle Control (AVEC), Tokyo, Japan, September 22-26, 2014. | Bib

Patents

  • CN101973307 B, Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle. |
  • CN 201842130 U, Electromobile and drive-by-wire independent driving and steering automobile traveling mechanism with zero-offset master pin. |
  • CN 101648573 B, Automobile traveling mechanism with wheel hub comprehensively drive and turning. |
  • CN201187538 Y, Sliding clutch. |
  • CN 201494493 U, Vehicle walking mechanism with wheel edge combination driving and steering. |
  • CN 201198869 Y, Bidirectional bearing. |
  • CN201187538 Y, Sliding clutch. |