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. 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-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

* denotes student mentee co-author

1. Yiwei Lyu, Wenhao Luo, John Dolan, "Responsibility Allocation in Risk-aware Safe Control for Multi-agent Systems." International Conference on Intelligent Robots and Systems (IROS), 2023 (ICRA TAS Workshop Best Paper Award)
2. 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 ]
3. 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 ]
4. 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 ]
5. 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 (~23.3% Acceptance Rate) (Pragnesh Jay Modi Best Student Paper Award Runner-Up)
6. 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 ] (~23.3% Acceptance Rate)
7. 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), 2023
8. Yiwei Lyu, John M. Dolan, Wenhao Luo, "CBF-Inspired Weighted Buffered Voronoi Cells for Dis- tributed Multi-Agent Collision Avoidance." American Control Conference (ACC), 2023
9. Yiwei Lyu, "Safe Interactive Autonomy for Multi-agent Systems." Thirty-Seventh AAAI Conference on Artificial Intelligence Doctoral Consortium (AAAI-DC), 2023
10. Yiwei Lyu, Wenhao Luo, and John M. Dolan, "Risk-aware Decentralized Safe Control via Dynamic Responsibility Allocation." Thirty-Seventh AAAI Conference on Artificial Intelligence Student Abstract (AAAI-SA), 2023
11. 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)
12. 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 ]
13. 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)
14. Yiwei Lyu, Wenhao Luo, and John M. Dolan, "Adaptive Safe Merging Control for Heterogeneous Autonomous Vehicles Using Parametric Control Barrier Functions (extended version)." IEEE Intelligent Vehicles Symposium (IV), 2022 [ PDF ]
15. 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 Student Abstract (AAAI-SA), 2022 [ PDF ] [ video ] (Student Abstract Award Finalist)
16. 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 ]
17. 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 ]
18. 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, "Responsibility-associated Multi-agent Collision Avoidance with Social Preferences." Workshop on Risk Aware Decision Making: From Optimal Control to RL, Robotics: Science and Systems (RSS Workshop), 2022 [ PDF ]
2. Yiwei Lyu, Wenhao Luo, and John M. Dolan, "Parametric-Control Barrier Function-based Adaptive Safe Merging Control for Heterogeneous Vehicles." Workshop on Safe and Robust Control of Uncertain Systems, Thirty-fifth Conference on Neural Information Processing Systems (NeurIPS Workshop), 2021 [ PDF ]
3. 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)

Talks

1. Selected talk at Twenty-Eighth AAAI/SIGAI Doctoral Consortium. "Safe Interactive Autonomy for Multi-agent Systems." Feb, 2023.
2. 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 ]
3. Invited talk to the founders’ group at Reflex.ai. "Safe Control with Formally Provable Safety Guarantees in Autonomous Driving." May, 2021.

Selected Honors and Awards