Chebyshev Pseudospectral Method for Nonlinear Stabilization using Control Contraction Metrics. - Karen Leung; Ian R. Manchester (CoRR, 2016)

Nonlinear stabilization via Control Contraction Metrics: A pseudospectral approach for computing geodesics. - Karen Leung; Ian R. Manchester (ACC, 2017)

Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction. - Edward Schmerling; Karen Leung; Wolf Vollprecht; Marco Pavone 001 (ICRA, 2018)

Generative Modeling of Multimodal Multi-Human Behavior. - Boris Ivanovic; Edward Schmerling; Karen Leung; Marco Pavone 001 (IROS, 2018)

On Infusing Reachability-Based Safety Assurance Within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions. - Karen Leung; Edward Schmerling; Mo Chen 001; John Talbot; J. Christian Gerdes; Marco Pavone 001 (ISER, 2018)

Backpropagation for Parametric STL. - Karen Leung; Nikos Aréchiga; Marco Pavone 001 (IV, 2019)

Better AI through Logical Scaffolding. - Nikos Aréchiga; Jonathan A. DeCastro; Soonho Kong; Karen Leung (CoRR, 2019)

Infusing Reachability-Based Safety into Planning and Control for Multi-agent Interactions. - Xinrui Wang; Karen Leung; Marco Pavone 001 (IROS, 2020)

Interpretable Policies from Formally-Specified Temporal Properties. - Jonathan A. DeCastro; Karen Leung; Nikos Aréchiga; Marco Pavone 001 (ITSC, 2020)

On infusing reachability-based safety assurance within planning frameworks for human-robot vehicle interactions. - Karen Leung; Edward Schmerling; Mengxuan Zhang 002; Mo Chen 001; John Talbot; J. Christian Gerdes; Marco Pavone 001 (Int. J. Robotics Res., 2020)

Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactions. - Simon Schaefer; Karen Leung; Boris Ivanovic; Marco Pavone 001 (ICRA, 2021)

Back-Propagation Through Signal Temporal Logic Specifications: Infusing Logical Structure into Gradient-Based Methods. - Karen Leung; Nikos Aréchiga; Marco Pavone 001 (WAFR, 2021)

Towards the Unification and Data-Driven Synthesis of Autonomous Vehicle Safety Concepts. - Andrea Bajcsy; Karen Leung; Edward Schmerling; Marco Pavone 001 (CoRR, 2021)

Multimodal Deep Generative Models for Trajectory Prediction: A Conditional Variational Autoencoder Approach. - Boris Ivanovic; Karen Leung; Edward Schmerling; Marco Pavone 001 (IEEE Robotics Autom. Lett., 2021)

Semi-Supervised Trajectory-Feedback Controller Synthesis for Signal Temporal Logic Specifications. - Karen Leung; Marco Pavone 001 (ACC, 2022)

Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles. - Alec Farid; Sushant Veer; Boris Ivanovic; Karen Leung; Marco Pavone 001 (CoRL, 2022)

WiSARD: A Labeled Visual and Thermal Image Dataset for Wilderness Search and Rescue. - Daniel Broyles; Christopher R. Hayner; Karen Leung (IROS, 2022)

Interaction-Dynamics-Aware Perception Zones for Obstacle Detection Safety Evaluation. - Sever Topan; Karen Leung; Yuxiao Chen 008; Pritish Tupekar; Edward Schmerling; Jonas Nilsson 001; Michael Cox; Marco Pavone 001 (IV, 2022)

Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles. - Sushant Veer; Karen Leung; Ryan K. Cosner; Yuxiao Chen 008; Marco Pavone 001 (CoRR, 2022)

Learning Autonomous Vehicle Safety Concepts from Demonstrations. - Karen Leung; Sushant Veer; Edward Schmerling; Marco Pavone 001 (ACC, 2023)

Learning Responsibility Allocations for Safe Human-Robot Interaction with Applications to Autonomous Driving. - Ryan K. Cosner; Yuxiao Chen 008; Karen Leung; Marco Pavone 001 (ICRA, 2023)

HALO: Hazard-Aware Landing Optimization for Autonomous Systems. - Christopher R. Hayner; Samuel C. Buckner; Daniel Broyles; Evelyn Madewell; Karen Leung; Behçet Açikmese (ICRA, 2023)

Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles. - Sushant Veer; Karen Leung; Ryan K. Cosner; Yuxiao Chen 008; Péter Karkus; Marco Pavone 001 (ICRA, 2023)

Interpretable Trajectory Prediction for Autonomous Vehicles via Counterfactual Responsibility. - Kai-Chieh Hsu; Karen Leung; Yuxiao Chen 008; Jaime F. Fisac; Marco Pavone 001 (IROS, 2023)

Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition. - Sever Topan; Yuxiao Chen 008; Edward Schmerling; Karen Leung; Jonas Nilsson 001; Michael Cox; Marco Pavone 001 (IV, 2023)

Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles. - Pasquale Antonante; Sushant Veer; Karen Leung; Xinshuo Weng; Luca Carlone; Marco Pavone 001 (Robotics: Science and Systems, 2023)

MISFIT-V: Misaligned Image Synthesis and Fusion using Information from Thermal and Visual. - Aadhar Chauhan; Isaac Remy; Danny Broyles; Karen Leung (CoRR, 2023)

Backpropagation through signal temporal logic specifications: Infusing logical structure into gradient-based methods. - Karen Leung; Nikos Aréchiga; Marco Pavone 001 (Int. J. Robotics Res., 2023)

Driving Everywhere with Large Language Model Policy Adaptation. - Boyi Li; Yue Wang 041; Jiageng Mao; Boris Ivanovic; Sushant Veer; Karen Leung; Marco Pavone 001 (CVPR, 2024)

Legible and Proactive Robot Planning for Prosocial Human-Robot Interactions. - Jasper Geldenbott; Karen Leung (ICRA, 2024)

CoBL-Diffusion: Diffusion-Based Conditional Robot Planning in Dynamic Environments Using Control Barrier and Lyapunov Functions. - Kazuki Mizuta; Karen Leung (IROS, 2024)

Learning responsibility allocations for multi-agent interactions: A differentiable optimization approach with control barrier functions. - Isaac Remy; David Fridovich-Keil; Karen Leung (ACC, 2025)

Surprise Potential as a Measure of Interactivity in Driving Scenarios. - Wenhao Ding; Sushant Veer; Karen Leung; Yulong Cao; Marco Pavone 001 (CoRR, 2025)

Pretrained Embeddings as a Behavior Specification Mechanism. - Parv Kapoor; Abigail Hammer; Ashish Kapoor; Karen Leung; Eunsuk Kang (CoRR, 2025)

Continuous-Time Line-of-Sight Constrained Trajectory Planning for 6-Degree of Freedom Systems. - Christopher R. Hayner; John M. Carson III; Behçet Açikmese; Karen Leung (IEEE Robotics Autom. Lett., 2025)

Unified Generation-Refinement Planning: Bridging Flow Matching and Sampling-Based MPC. - Kazuki Mizuta; Karen Leung (CoRR, 2025)

STLCG++: A Masking Approach for Differentiable Signal Temporal Logic Specification. - Parv Kapoor; Kazuki Mizuta; Eunsuk Kang; Karen Leung (IEEE Robotics Autom. Lett., 2025)