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!
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2019 - Present |
2015 - 2019 |
Publications
Conference Publications
* denotes student mentee co-author
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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)
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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 ]
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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 ]
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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 ]
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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)
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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)
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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
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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
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Yiwei Lyu, "Safe Interactive Autonomy for Multi-agent Systems." Thirty-Seventh AAAI Conference on Artificial Intelligence Doctoral Consortium (AAAI-DC), 2023
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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
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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)
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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 ]
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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)
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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 ]
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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)
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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 ]
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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 ]
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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
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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 ]
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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 ]
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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
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Selected talk at Twenty-Eighth AAAI/SIGAI Doctoral Consortium.
"Safe Interactive Autonomy for Multi-agent Systems." Feb, 2023.
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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 ]
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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
- Qualcomm Innovation Fellowship (North America), Qualcomm2023
- Best Paper Award, ICRA TAS Workshop2023
- ICRA Student Scholarship, ICRA2023
- Pragnesh Jay Modi Best Student Paper Award Runner-Up, AAMAS2023
- AAMAS Student Scholarship, AAMAS2023
- AAAI Student Scholarship, AAAI2023
- AAAI/SIGAI-23 Doctoral Consoritum, AAAI2023
- CPHS Fellow, IFAC CPHS2022
- Best Student Paper Finalist, IFAC CPHS2022
- NSF WAFR Travel Award, Workshop on the Algorithmic Foundations of Robotics2022
- GSA conference funding, CMU2020, 2022
- RSS Inclusion Fellowship, Robotics: Science and Systems (RSS)2021
- Best Paper Runner-Up, IJCAI AI4AD Workshop2021
- ECE Exemplary Qual Exam Performance Distinction, CMU2021
- Outstanding Performance and Leadership Presidential Award, CUHK-SZ2019
- Best Student Paper Finalist, WCICA2018
- Robotics Institute Summer Scholar, CMU2018
- Award for Entrepreneur - Personal Innovative Spirit of the Year 2016, CUHK-SZ2016
Yiwei Lyu - Carnegie Mellon University Last Update: April 2023
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