Publications

1. Wenhan Cao, Tianyi Zhang, Zeju Sun, Chang Liu, Stephen S.-T. Yau, Shengbo Eben Li (2026). Nonlinear Bayesian Filtering with Natural Gradient Gaussian Approximation . IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) .

2. Xuru Yang, Yuqiao Zhao, Yunze Hu, Zongru Yang, Pingping Zhu, Ying Sun, Chang Liu (2026). Risk-Aware and Scalable Hierarchical Motion Planning for Large-Scale Robotic Swarms via CVaR-Constrained MPC . IEEE Transactions on Automation Science and Engineering (T-ASE) .

3. Kangjie Zhou, Yao Mu, Haoyang Song, Yi Zeng, Pengying Wu, Han Gao, Chang Liu (2026). AINav: Large Language Model-Based Adaptive Interactive Navigation . IEEE Robotics & Automation Magazine (RAM) .

4. Kangjie Zhou, Zhaoyang Li, Han Gao, Yao Su, Hangxin Liu, Junzhi Yu, Chang Liu (2026). ReSPIRe: Informative and Reusable Belief Tree Search for Robot Probabilistic Search and Tracking in Unknown Environments . IEEE Transactions on Systems, Man, and Cybernetics: Systems (TSMC) .

5. Kang Ding, Chunxuan Jiao, Yunze Hu, Kangjie Zhou, Pengying Wu, Yao Mu, Chang Liu (2025). SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer . IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW) .

6. James Gao, Jacob Lee, Yuting Zhou, Yunze Hu, Chang Liu, Pingping Zhu (2025). SwarmCVT: Centroidal Voronoi Tessellation-Based Path Planning for Very-Large-Scale Robotics . American Control Conference (ACC) .

7. Shiqi Liu, Wenhan Cao, Chang Liu, Zeyu He, Tianyi Zhang, Yinuo Wang, Shengbo Eben Li (2025). One Filters All: A Generalist Filter for State Estimation . Advances in Neural Information Processing Systems (NeurIPS) .

8. Tianyi Zhang, Wenhan Cao, Chang Liu, Feihong Zhang, Wei Wu, Shengbo Eben Li (2025). NANO-SLAM: Natural Gradient Gaussian Approximation for Vehicle SLAM . IEEE International Conference on Intelligent Transportation Systems (ITSC) .

9. Tianyi Zhang, Wenhan Cao, Chang Liu, Tao Zhang, Jiangtao Li, Shengbo Eben Li (2025). Robust State Estimation for Legged Robots With Dual Beta Kalman Filter . IEEE Robotics and Automation Letters (RA-L) .

10. Wei Wu, Chang Liu, Ruofei Zhong, Hongbo Li, Tao Zhang, Hong Chen, Shengbo Eben Li (2025). Enhancing LiDAR SLAM Mapping in Challenging Industrial Environments Using Nonholonomic Constraints . Chinese Control and Decision Conference (CCDC) .

11. Wenhan Cao, Chang Liu, Zhiqian Lan, Shengbo Eben Li, Wei Pan, Angelo Alessandri (2025). Robust Bayesian Inference for Moving Horizon Estimation . Automatica .

12. Jingliang Duan, Wenxuan Wang, Liming Xiao, Jiaxin Gao, Shengbo Eben Li, Chang Liu, Ya-Qin Zhang, Bo Cheng, Keqiang Li (2025). Distributional Soft Actor-Critic With Three Refinements . IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) .

13. Shiqi Liu, Wenhan Cao, Chang Liu, Tianyi Zhang, Shengbo Eben Li (2025). Convolutional Unscented Kalman Filter for Multi-Object Tracking With Outliers . IEEE Transactions on Intelligent Vehicles (T-IV) .

14. Haoyu Gao, Chang Liu, Yingxi Piao, Sen Yang, Beiyan Jiang, Shengbo Eben Li (2024). Design of Explicit and Lateral-Longitudinal Integrated Motion Controller with Safety Guarantee for Autonomous Vehicles . 16th International Symposium on Advanced Vehicle Control (AVEC) .

15. Pingping Zhu, Chang Liu, Peter Estephan (2024). A Novel Multivariate Skew-Normal Mixture Model and Its Application in Path-Planning for Very-Large-Scale Robotic Systems . American Control Conference (ACC) .

16. Dongyoon Kim, Sen Yang, Wenjun Zou, Bin Shuai, Dezhao Zhang, Fang Zhang, Chang Liu, Shengbo Eben Li (2024). Control Safety Function for Explicit Safety-Critical Control of Autonomous Vehicles . IEEE Intelligent Vehicles Symposium (IV) .

17. Xuru Yang, Yunze Hu, Han Gao, Kang Ding, Pingping Zhu, Ying Sun, Chang Liu (2024). Risk-Aware Non-Myopic Motion Planner for Large-Scale Robotic Swarm Using CVaR Constraints . IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) .

18. Yunze Hu, Xuru Yang, Kangjie Zhou, Qinghang Liu, Kang Ding, Han Gao, Pingping Zhu, Chang Liu (2024). SwarmPRM: Probabilistic Roadmap Motion Planning for Swarm Robotic Systems . IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) .

19. Pengying Wu, Yao Mu, Kangjie Zhou, Ji Ma, Junting Chen, Chang Liu (2024). CAMON: Cooperative Agents for Multi-Object Navigation with LLM-based Conversations . 2024 Workshop at Robotics: Science and Systems (RSS) .

20. Ji Ma, Hongming Dai, Yao Mu, Pengying Wu, Hao Wang, Xiaowei Chi, Yang Fei, Shanghang Zhang, Chang Liu (2024). DOZE: A Dataset for Open-Vocabulary Zero-Shot Object Navigation in Dynamic Environments . 2024 IEEE Robotics and Automation Letters (RAL) .

21. Pengying Wu, Yao Mu, Bingxian Wu, Yi Hou, Ji Ma, Shanghang Zhang, Chang Liu (2024). VoroNav: Voronoi-based Zero-shot Object Navigation with Large Language Model . 2024 International Conference on Machine Learning (ICML) .

22. Kangjie Zhou, Pengying Wu, Yao Su, Han Gao, Ji Ma, Hangxin Liu, Chang Liu (2024). ASPIRe: An Informative Trajectory Planner with Mutual Information Approximation for Target Search and Tracking . 2024 IEEE International Conference on Robotics and Automation (ICRA) .

23. Han Gao, Pengying Wu, Yao Su, Kangjie Zhou, Ji Ma, Hangxin Liu, Chang Liu (2024). Probabilistic visibility-aware trajectory planning for target tracking in cluttered environments . 2024 American Control Conference (ACC) .

24. Yuxuan Jiang, Guojian Zhan, Zhiqian Lan, Chang Liu, Bo Cheng, Shengbo Eben Li (2023). A reinforcement learning benchmark for autonomous driving in general urban scenarios . IEEE Transactions on Intelligent Transportation Systems .

25. Yunze Hu, Jiaao Chen, Kangjie Zhou, Han Gao, Yutong Li, Chang Liu (2023). Informative path planning of autonomous vehicle for parking occupancy estimation . 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC) .

26. Wei Wu, Chang Liu, Wenhan Cao, Chao Chen, Hongbo Li, Shengbo Eben Li (2023). Multi-sensor Calibration System for Mobile Robots . 2023 7th CAA International Conference on Vehicular Control and Intelligence (CVCI) .

27. Xuru Yang, Han Gao, Pingping Zhu, Chang Liu (2023). Risk-aware motion planning for very-large-scale robotics systems using conditional value-at-risk . 2023 International Conference on Intelligent Robotics and Applications (ICIRA) .

28. Yao Mu, Zhiqian Lan, Chen Chen, Chang Liu, Ping Luo, Shengbo Eben Li (2023). Neural MPC-Based Decision-Making Framework for Autonomous Driving in Multi-Lane Roundabout . 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC) .

29. Wenhan Cao, Chang Liu, Zhiqian Lan, Yingxi Pia, Shengbo Eben Li (2023). Generalized moving horizon estimation for nonlinear systems with robustness to measurement outliers . 2023 American Control Conference (ACC) .

30. Wenhan Cao, Jingliang Duan, Shengbo Eben Li, Chen Chen, Chang Liu, Yu Wang (2022). Primal-dual estimator learning method with feasibility and near-optimality guarantees . 2022 IEEE 61st Conference on Decision and Control (CDC) .

31. Qingze Huo, Yifeng Shi, Chang Liu, Vahid Tarokh, Silvia Ferrari (2022). Online Action Change Detection for Automatic Vision-based Ground Control of Aircraft . AIAA SCITECH Forum .

32. Pingping Zhu, Chang Liu, Silvia Ferrari (2021). Adaptive online distributed optimal control of very-large-scale robotic systems . IEEE Transactions on Control of Network Systems .

33. Chang Liu, Zhihao Liao, Silvia Ferrari (2020). Rumor-robust Decentralized Gaussian Process Learning, Fusion, and Planning for Modeling Multiple Moving Targets . 2020 59th IEEE Conference on Decision and Control (CDC) .

34. Yao Mu, Baiyu Peng, Ziqing Gu, Shengbo Eben Li, Chang Liu, Bingbing Nie, Jianfeng Zheng, Bo Zhang (2020). Mixed reinforcement learning for efficient policy optimization in stochastic environments . 2020 20th International Conference on Control, Automation and Systems (ICCAS) .

35. Chang Liu, Silvia Ferrari (2019). Vision-guided planning and control for autonomous taxiing via convolutional neural networks . AIAA Scitech 2019 Forum .

36. Chang Liu, Yucheng Chen, Jake Gemerek, Hengye Yang, Silvia Ferrari (2019). Learning recursive bayesian nonparametric modeling of moving targets via mobile decentralized sensors . 2019 International Conference on Robotics and Automation (ICRA) .

37. Shun Yang, Wenshuo Wang, Chang Liu, Weiwen Deng (2018). Scene understanding in deep learning-based end-to-end controllers for autonomous vehicles . IEEE Transactions on Systems, Man, and Cybernetics: Systems .

38. Shengbo Eben Li, Guofa Li, Jiaying Yu, Chang Liu, Bo Cheng, Jianqiang Wang, Keqiang Li (2018). Kalman filter-based tracking of moving objects using linear ultrasonic sensor array for road vehicles . Mechanical Systems and Signal Processing .

39. Chang Liu, Shengbo Eben Li, Diange Yang, J Karl Hedrick (2018). Distributed Bayesian Filter Using Measurement Dissemination for Multiple Unmanned Ground Vehicles With Dynamically Changing Interaction Topologies . Journal of Dynamic Systems, Measurement, and Control .

40. Jaime F Fisac, Monica A Gates, Jessica B Hamrick, Chang Liu, Dylan Hadfield-Menell, Malayandi Palaniappan, Dhruv Malik, S Shankar Sastry, Thomas L Griffiths, Anca D Dragan (2017). Pragmatic-pedagogic value alignment . Robotics Research .

41. Chang Liu, Seungho Lee, Scott Varnhagen, H Eric Tseng (2017). Path planning for autonomous vehicles using model predictive control . 2017 IEEE Intelligent Vehicles Symposium (IV) .

42. Chang Liu, J Karl Hedrick (2017). Model predictive control-based target search and tracking using autonomous mobile robot with limited sensing domain . 2017 American Control Conference (ACC) .

43. Chang Liu, Shengbo Eben Li, J Karl Hedrick (2017). Measurement dissemination-based distributed Bayesian filter using the latest-in-and-full-out exchange protocol for networked unmanned vehicles . IEEE Transactions on Industrial Electronics .

44. Viktor Rausch, Andreas Hansen, Eugen Solowjow, Chang Liu, Edwin Kreuzer, J Karl Hedrick (2017). Learning a deep neural net policy for end-to-end control of autonomous vehicles . 2017 American Control Conference (ACC) .

45. Wenshuo Wang, Chang Liu, Ding Zhao (2017). How much data are enough? A statistical approach with case study on longitudinal driving behavior . IEEE Transactions on Intelligent Vehicles .

46. Shun Yang, Wenshuo Wang, Chang Liu, Weiwen Deng, J Karl Hedrick (2017). Feature analysis and selection for training an end-to-end autonomous vehicle controller using deep learning approach . 2017 IEEE Intelligent Vehicles Symposium (IV) .

47. Chang Liu, Shengbo Eben Li, J Karl Hedrick (2017). Distributed Bayesian filters for multi-vehicle network by using Latest-In-and-Full-Out exchange protocol of measurements . 2017 American Control Conference (ACC) .

48. Donghan Lee, Chang Liu, Yi-Wen Liao, J Karl Hedrick (2016). Parallel interacting multiple model-based human motion prediction for motion planning of companion robots . IEEE Transactions on Automation Science and Engineering .

49. Wenshuo Wang, Junqiang Xi, Chang Liu, Xiaohan Li (2016). Human-centered feed-forward control of a vehicle steering system based on a driver’s path-following characteristics . IEEE transactions on intelligent transportation systems .

50. Chang Liu, Jessica B Hamrick, Jaime F Fisac, Anca D Dragan, J Karl Hedrick, S Shankar Sastry, Thomas L Griffiths (2016). Goal Inference Improves Objective and Perceived Performance in Human-Robot Collaboration . Proceedings of the 2016 International Conference on Autonomous Agents & Multiagent Systems .

51. Jaime F Fisac, Chang Liu, Jessica B Hamrick, Shankar Sastry, J Karl Hedrick, Thomas L Griffiths, Anca D Dragan (2016). Generating plans that predict themselves . Algorithmic Foundations of Robotics XII .

52. Jiaying Yu, Shengbo Eben Li, Chang Liu, Bo Cheng (2016). Dynamical tracking of surrounding objects for road vehicles using linearly-arrayed ultrasonic sensors . 2016 IEEE Intelligent Vehicles Symposium (IV) .

53. Chang Liu, Shengbo Eben Li, J Karl Hedrick (2016). Distributed target localization using a group of UGVs under dynamically changing interaction topologies . 2016 American Control Conference (ACC) .

54. Chang Liu, J Karl Hedrick (2016). Cooperative search using human-UAV teams . AIAA Infotech@ Aerospace .

55. Chang Liu, Shengbo Eben Li, J Karl Hedrick (2015). Model predictive control-based probabilistic search method for autonomous ground robot in a dynamic environment . Dynamic Systems and Control Conference .

56. Donghan Lee, Chang Liu, J Karl Hedrick (2015). Interacting multiple model-based human motion prediction for motion planning of companion robots . 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) .

57. Chang Liu, Shih-Yuan Liu, Elena L Carano, J Karl Hedrick (2014). A framework for autonomous vehicles with goal inference and task allocation capabilities to support peer collaboration with human agents . Dynamic Systems and Control Conference .