me
YIWEI LYU
Newell-Simon Hall 1609
Carnegie Mellon University
Pittsburgh, PA, 15213
email yiweilyu[at]andrew.cmu.edu (she/her/hers)
Google Scholar

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. I am broadly interested in safety-critical control and human-robot interaction for multi-robot systems, with targeted applications such as autonomous driving. I am fortunate to be a recipient of the 2023-2024 Qualcomm Innovation Fellowship, and the honorable mention for the 2024 Jane Street Graduate Research Fellowship. I was proudly named a 2024 Human-Robot Interaction (HRI) Pioneer. My research has received best paper awards and nominations at multiple conferences including AAMAS, AAAI, IFAC CPHS and workshops at ICRA and IJCAI.

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-Shenzhen). I was advised by Prof. Yangsheng Xu and Prof. Huihuan Qian during my undergraduate study and research.

In my downtime, I'm an avid adventurer who finds solace in the great outdoors. Whether I'm conquering new trails on a hiking expedition, exploring captivating destinations during my travels, or casting a line in serene waters while camping, I'm always seeking new experiences and embracing the beauty of nature.

Carnegie Mellon University Chinese University of Hong Kong, Shenzhen
2019 - Present 2015 - 2019

Publications

Peer-Reviewed Full-Length Papers

* denotes student mentee co-author

  1. Nate Ludlow*, Yiwei Lyu, John Dolan, "Hierarchical Learned Risk-Aware Planning Framework for Human Driving Modeling." International Conference on Robotics and Automation (ICRA), 2024
  2. Yiwei Lyu, Wenhao Luo, John Dolan, "Risk-based Socially-Compliant Behavior Planning for Autonomous Driving." American Control Conference (ACC), 2024
  3. Yiwei Lyu, Wenhao Luo, John Dolan, "Risk-aware Safe Control for Decentralized Multi-agent Systems via Dynamic Responsibility Allocation." International Conference on Intelligent Robots and Systems (IROS), 2023 [ PDF ] (ICRA 2023 TAS Workshop Best Paper Award)
  4. Shuangge Wang*, Yiwei Lyu, John M. Dolan, "Active Probing and Influencing Human Behaviors Via Autonomous Agents." IEEE International Conference on Robotics and Automation (ICRA), 2023 [ PDF ]
  5. Soumith Udatha*, Yiwei Lyu, John M. Dolan, "Reinforcement Learning with Probabilistically Safe Control Barrier Functions for Ramp Merging." IEEE International Conference on Robotics and Automation (ICRA), 2023 [ PDF ]
  6. Yupeng Yang, Yiwei Lyu, Wenhao Luo, "Minimally Constrained Multi-Robot Coordination with Line-of-sight Connectivity Maintenance." IEEE International Conference on Robotics and Automation (ICRA), 2023 [ PDF ]
  7. Yiwei Lyu, John Dolan, Wenhao Luo, "Decentralized Safe Navigation for Multi-agent Systems via Risk-aware Weighted Buffered Voronoi Cells." The 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2023 [ PDF ] (Pragnesh Jay Modi Best Student Paper Award Runner-Up)
  8. Wenli Xiao*,Yiwei Lyu, John Dolan, "Model-based Dynamic Shielding for Safe and Efficient Multi-agent Reinforcement Learning." The 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2023 [ PDF ]
  9. Yiwei Lyu, John M. Dolan, Wenhao Luo, "CBF-Inspired Weighted Buffered Voronoi Cells for Distributed Multi-Agent Collision Avoidance." American Control Conference (ACC), 2023 [ PDF ]
  10. Jaskaran Grover, Yiwei Lyu, Wenhao Luo, Changliu Liu, John Dolan, and Katia Sycara, "Pedestrian Dynamics Inference Using Control Barrier Functions and Mixed-Integer Quadratic Programming." The 4th IFAC Workshop on Cyber-Physical Human Systems (IFAC CPHS), 2022 [ PDF ] (Best Student Paper Finalist)
  11. Yiwei Lyu, Wenhao Luo, and John M. Dolan, "Responsibility-associated Multi-agent Collision Avoidance with Social Preferences." The 25th IEEE International Conference on Intelligent Transportation Systems (ITSC), 2022 [ PDF ]
  12. Spencer Van Koevering*, Yiwei Lyu, Wenhao Luo, and John M. Dolan, "Provable Probabilistic Safety and Feasibility-Assured Control for Autonomous Vehicles using Exponential Control Barrier Functions." IEEE Intelligent Vehicles Symposium (IV), 2022 [ PDF ] (~10% Oral Presentation)
  13. Yiwei Lyu, Wenhao Luo, and John M. Dolan, "Adaptive Safe Merging Control for Heterogeneous Autonomous Vehicles Using Parametric Control Barrier Functions." IEEE Intelligent Vehicles Symposium (IV), 2022 [ PDF ]
  14. 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 ] (IJCAI 2021 AI4AD Workshop Best Paper Runner-Up)
  15. 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 ]
  16. 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)

Peer-Reviewed Short Papers

  1. Yiwei Lyu, "Interactive Control and Decision-Making for Multi-Robots Systems." The 23rd International Conference on Autonomous Agents and Multiagent Systems (AAMAS Doctoral Consortium), 2024
  2. Yiwei Lyu, "Reliable Interactive Autonomy for Multi-Agent Systems." ACM/IEEE International Conference on Human-Robot Interaction (HRI Pioneer), 2024 [ PDF ]
  3. Yupeng Yang, Yiwei Lyu, Wenhao Luo, "Minimally Constraining Line-of-Sight Connectivity Maintenance for Collision-free Multi-Robot Networks under Uncertainty." The 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS Extended Abstract), 2023
  4. Yiwei Lyu, Wenhao Luo, and John M. Dolan, "Risk-aware Decentralized Safe Control via Dynamic Responsibility Allocation." Thirty-Seventh AAAI Conference on Artificial Intelligence (AAAI Student Abstract), 2023 [ PDF ](Student Abstract Award Finalist)
  5. Yiwei Lyu, "Safe Interactive Autonomy for Multi-agent Systems." Thirty-Seventh AAAI Conference on Artificial Intelligence (AAAI Doctoral Consortium), 2023
  6. Yiwei Lyu, Wenhao Luo, and John M. Dolan, "Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions." Thirty-Sixth AAAI Conference on Artificial Intelligence (AAAI Student Abstract), 2022 [ PDF ] [ video ] (Student Abstract Award Finalist)

Selected Honors and Awards


Yiwei Lyu - Carnegie Mellon University       Last Update: April 2024

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