Publications

1. Han Gao, Ieng Hou U, Zhaoyang Li, Kangjie Zhou, Kang Ding, Yao Su, Hangxin Liu, Shengbo Eben Li, Junzhi Yu, Chang Liu (2026). BELTA: Moving Target Tracking in Unknown Environments With Belief-Space Visibility Optimization . IEEE Transactions on Industrial Informatics (TII) .

2. Kang Ding, Chunxuan Jiao, Yunze Hu, Zhejia Wen, Kangjie Zhou, Han Gao, Pengying Wu, Tao Sun, Yao Mu, Chang Liu (2026). CHORD: Closed-Loop Hierarchical Motion Planning for Multi-Robot Systems via Diffusion Transformers and Density-Informed DMPC . IEEE Transactions on Automation Science and Engineering (T-ASE) .

3. Kangjie Zhou, Zhejia Wen, Zhiyong Zhuo, Zike Yan, Pengying Wu, U Ieng Hou, Shengbo Eben Li, Han Gao, Kang Ding, Wenhan Cao, Wei Pan, Chang Liu (2026). CoIN: Interactive Navigation with Counterfactual Reasoning via Vision-Language Models . IEEE Transactions on Automation Science and Engineering (T-ASE) .

4. Yixue Zhang, Kun Wu, Zhi Gao, Zhen Zhao, Pei Ren, Zhiyuan Xu, Fei Liao, Xinhua Wang, Shichao Fan, Di Wu, Qiuxuan Feng, Meng Li, Zhengping Che, Chang Liu, Jian Tang (2026). RoboGene: Boosting VLA Pre-training via Diversity-Driven Agentic Framework for Real-World Task Generation . Conference on Robot Learning (CoRL) .

5. Yuqiao Zhao, Jingliang Duan, Shengbo Eben Li, Chang Liu (2026). Multi-agent reinforcement learning with beta distribution for thrust sampling in stochastic orbital pursuit-evasion games . Neurocomputing .

6. 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) .

7. 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) .

8. 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) .

9. 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) .

10. 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) .

11. 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) .

12. 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) .

13. 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) .

14. 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) .

15. 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) .

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

17. 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) .

18. 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) .

19. 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) .

20. 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) .

21. 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) .

22. 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) .

23. 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) .

24. 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) .

25. 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) .

26. 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) .

27. 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) .

28. 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) .

29. 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 .

30. 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) .

31. 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) .

32. 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) .

33. 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) .

34. 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) .

35. 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) .

36. 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 .

37. 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 .

38. 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) .

39. 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) .

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

41. 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) .

42. 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 .

43. 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 .

44. 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 .

45. 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 .

46. 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) .

47. 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) .

48. 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 .

49. 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) .

50. 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 .

51. 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) .

52. 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) .

53. 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 .

54. 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 .

55. 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 .

56. 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 .

57. 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) .

58. 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) .

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

60. 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 .

61. 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) .

62. 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 .