About

I am currently a PhD student in the Department of Electrical and Computer Engineering (ECE) at Carnegie Mellon University, advised by Dr. John Dolan. We are investigating novel approaches in safe control, bahavior planning and prediction under uncertainty in autonomous driving.

I started my PhD journey in fall 2019, after receiving my Bachelor degree in Electronic and Information Engineering from the Chinese University of Hong Kong, Shenzhen (CUHK-SZ). I was advised by Prof. Yangsheng Xu and Prof. Huihuan Qian during my undergraduate study and research.

In my free time, I enjoy hiking and cooking, sometimes fishing a bit. Pittsburgh also makes me learn to snowboard in winter which is fun!

Publications

Conference Publications

1. Yiwei Lyu, Wenhao Luo, and John M. Dolan, "Probabilistic Safety-Assured Adaptive Merging Control for Autonomous Vehicles." IEEE International Conference on Robotics and Automation (ICRA), 2021 [ PDF ]
2. Yiwei Lyu, Chiyu Dong, and John M. Dolan, "FG-GMM-based Interactive Behavior Estimation for Autonomous Driving Vehicles in Ramp Merging Control." IEEE International Conference on Robotics and Automation (ICRA), 2020 [ PDF ]
3. Ziran Zhang, Yiwei Lyu, Fahad Raza, and Huihuan Qian, "Design and Control of A Hybrid Sailboat for Enhanced Tacking Maneuver." 13th World Congress on Intelligent Control and Automation (WCICA), 2018 [ PDF ] (Best Student Paper Finalist)

Workshop Paper

1. Yiwei Lyu, Wenhao Luo, and John M. Dolan, "Probabilistic Safety-Assured Adaptive Merging Control for Autonomous Vehicles." Workshop on Artificial Intelligence for Autonomous Driving, International Joint Conferences on Artificial Intelligence Organization (IJCAI Workshop), 2021 [ PDF ] (Best Paper Runner-Up)

Preprints

* indicates equal contribution

1. Qin Lin*, Yiwei Lyu*, Wenhao Luo, and John M. Dolan, "Probabilistic Safety Assured Learning-enabled Merging Control for Autonomous Ground Vehicles."[ PDF ]

Talks

1. Spotlight talk at ICRA 2021 Workshop on Safe Robot Control with Learned Motion and Environment Models. "Probabilistic Safe Adaptive Merging Control for Autonomous Vehicles under motion uncertainty." June, 2021. [ video ]
2. Invited talk at to the founders’ group at Reflex.ai. "Safe Control with formally provable safety guarantees in autonomous driving." May, 2021.

Selected Honors and Awards