IntentNet: Learning to Predict Intention from Raw Sensor Data. - Sergio Casas 002; Wenjie Luo 002; Raquel Urtasun (CoRL, 2018)

Discrete Residual Flow for Probabilistic Pedestrian Behavior Prediction. - Ajay Jain; Sergio Casas 002; Renjie Liao; Yuwen Xiong; Song Feng; Sean Segal; Raquel Urtasun (CoRL, 2019)

End-To-End Interpretable Neural Motion Planner. - Wenyuan Zeng; Wenjie Luo 002; Simon Suo; Abbas Sadat; Bin Yang 021; Sergio Casas 002; Raquel Urtasun (CVPR, 2019)

Spatially-Aware Graph Neural Networks for Relational Behavior Forecasting from Sensor Data. - Sergio Casas 002; Cole Gulino; Renjie Liao; Raquel Urtasun (CoRR, 2019)

StrObe: Streaming Object Detection from LiDAR Packets. - Davi Frossard; Shun Da Suo; Sergio Casas 002; James Tu; Raquel Urtasun (CoRL, 2020)

PnPNet: End-to-End Perception and Prediction With Tracking in the Loop. - Ming Liang; Bin Yang 021; Wenyuan Zeng; Yun Chen 014; Rui Hu 001; Sergio Casas 002; Raquel Urtasun (CVPR, 2020)

Implicit Latent Variable Model for Scene-Consistent Motion Forecasting. - Sergio Casas 002; Cole Gulino; Simon Suo; Katie Luo; Renjie Liao; Raquel Urtasun (ECCV (23), 2020)

Perceive, Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representations. - Abbas Sadat; Sergio Casas 002; Mengye Ren; Xinyu Wu; Pranaab Dhawan; Raquel Urtasun (ECCV (23), 2020)

RadarNet: Exploiting Radar for Robust Perception of Dynamic Objects. - Bin Yang 021; Runsheng Guo 003; Ming Liang; Sergio Casas 002; Raquel Urtasun (ECCV (18), 2020)

SpAGNN: Spatially-Aware Graph Neural Networks for Relational Behavior Forecasting from Sensor Data. - Sergio Casas 002; Cole Gulino; Renjie Liao; Raquel Urtasun (ICRA, 2020)

The Importance of Prior Knowledge in Precise Multimodal Prediction. - Sergio Casas 002; Cole Gulino; Simon Suo; Raquel Urtasun (IROS, 2020)

StrObe: Streaming Object Detection from LiDAR Packets. - Davi Frossard; Simon Suo; Sergio Casas 002; James Tu; Rui Hu 001; Raquel Urtasun (CoRR, 2020)

Just Label What You Need: Fine-Grained Active Selection for P&P through Partially Labeled Scenes. - Sean Segal; Nishanth Kumar; Sergio Casas 002; Wenyuan Zeng; Mengye Ren; Jingkang Wang; Raquel Urtasun (CoRL, 2021)

MP3: A Unified Model To Map, Perceive, Predict and Plan. - Sergio Casas 002; Abbas Sadat; Raquel Urtasun (CVPR, 2021)

Deep Multi-Task Learning for Joint Localization, Perception, and Prediction. - John Phillips; Julieta Martinez 001; Ioan Andrei Barsan; Sergio Casas 002; Abbas Sadat; Raquel Urtasun (CVPR, 2021)

TrafficSim: Learning To Simulate Realistic Multi-Agent Behaviors. - Simon Suo; Sebastian Regalado; Sergio Casas 002; Raquel Urtasun (CVPR, 2021)

AdvSim: Generating Safety-Critical Scenarios for Self-Driving Vehicles. - Jingkang Wang; Ava Pun; James Tu; Sivabalan Manivasagam; Abbas Sadat; Sergio Casas 002; Mengye Ren; Raquel Urtasun (CVPR, 2021)

LookOut: Diverse Multi-Future Prediction and Planning for Self-Driving. - Alexander Cui; Sergio Casas 002; Abbas Sadat; Renjie Liao; Raquel Urtasun (ICCV, 2021)

Safety-Oriented Pedestrian Occupancy Forecasting. - Katie Luo; Sergio Casas 002; Renjie Liao; Xinchen Yan; Yuwen Xiong; Wenyuan Zeng; Raquel Urtasun (IROS, 2021)

Diverse Complexity Measures for Dataset Curation in Self-Driving. - Abbas Sadat; Sean Segal; Sergio Casas 002; James Tu; Bin Yang 021; Raquel Urtasun; Ersin Yumer (IROS, 2021)

Safety-Oriented Pedestrian Motion and Scene Occupancy Forecasting. - Katie Luo; Sergio Casas 002; Renjie Liao; Xinchen Yan; Yuwen Xiong; Wenyuan Zeng; Raquel Urtasun (CoRR, 2021)

Just Label What You Need: Fine-Grained Active Selection for Perception and Prediction through Partially Labeled Scenes. - Sean Segal; Nishanth Kumar; Sergio Casas 002; Wenyuan Zeng; Mengye Ren; Jingkang Wang; Raquel Urtasun (CoRR, 2021)

4D-Former: Multimodal 4D Panoptic Segmentation. - Ali Athar; Enxu Li; Sergio Casas 002; Raquel Urtasun (CoRL, 2023)

LabelFormer: Object Trajectory Refinement for Offboard Perception from LiDAR Point Clouds. - Anqi Joyce Yang; Sergio Casas 002; Nikita Dvornik; Sean Segal; Yuwen Xiong; Jordan Sir Kwang Hu; Carter Fang; Raquel Urtasun (CoRL, 2023)

Implicit Occupancy Flow Fields for Perception and Prediction in Self-Driving. - Ben Agro; Quinlan Sykora; Sergio Casas 002; Raquel Urtasun (CVPR, 2023)

MIXSIM: A Hierarchical Framework for Mixed Reality Traffic Simulation. - Simon Suo; Kelvin Wong; Justin Xu; James Tu; Alexander Cui; Sergio Casas 002; Raquel Urtasun (CVPR, 2023)

Towards Unsupervised Object Detection from LiDAR Point Clouds. - Lunjun Zhang; Anqi Joyce Yang; Yuwen Xiong; Sergio Casas 002; Bin Yang 021; Mengye Ren; Raquel Urtasun (CVPR, 2023)

MemorySeg: Online LiDAR Semantic Segmentation with a Latent Memory. - Enxu Li; Sergio Casas 002; Raquel Urtasun (ICCV, 2023)

GoRela: Go Relative for Viewpoint-Invariant Motion Forecasting. - Alexander Cui; Sergio Casas 002; Kelvin Wong; Simon Suo; Raquel Urtasun (ICRA, 2023)

Learning Unsupervised World Models for Autonomous Driving via Discrete Diffusion. - Lunjun Zhang; Yuwen Xiong; Ze Yang 003; Sergio Casas 002; Rui Hu 001; Raquel Urtasun (CoRR, 2023)

UnO: Unsupervised Occupancy Fields for Perception and Forecasting. - Ben Agro; Quinlan Sykora; Sergio Casas 002; Thomas Gilles; Raquel Urtasun (CVPR, 2024)

DeTra: A Unified Model for Object Detection and Trajectory Forecasting. - Sergio Casas 002; Ben Agro; Jiageng Mao; Thomas Gilles; Alexander Cui; Thomas Li; Raquel Urtasun (ECCV (88), 2024)

Learning to Drive via Asymmetric Self-Play. - Chris Zhang 001; Sourav Biswas 001; Kelvin Wong; Kion Fallah; Lunjun Zhang; Dian Chen; Sergio Casas 002; Raquel Urtasun (ECCV (62), 2024)

Copilot4D: Learning Unsupervised World Models for Autonomous Driving via Discrete Diffusion. - Lunjun Zhang; Yuwen Xiong; Ze Yang 003; Sergio Casas 002; Rui Hu 001; Raquel Urtasun (ICLR, 2024)

QuAD: Query-based Interpretable Neural Motion Planning for Autonomous Driving. - Sourav Biswas 001; Sergio Casas 002; Quinlan Sykora; Ben Agro; Abbas Sadat; Raquel Urtasun (ICRA, 2024)

End-to-end Autonomy with Spatial-Temporal World Models - Sergio Casas 002 (2024)

MAD: Memory-Augmented Detection of 3D Objects. - Ben Agro; Sergio Casas 002; Patrick Wang; Thomas Gilles; Raquel Urtasun (CVPR, 2025)

DIO: Decomposable Implicit 4D Occupancy-Flow World Model. - Christopher Diehl; Quinlan Sykora; Ben Agro; Thomas Gilles; Sergio Casas 002; Raquel Urtasun (CVPR, 2025)

Scaling Laws of Motion Forecasting and Planning - A Technical Report. - Mustafa Baniodeh; Kratarth Goel; Scott Ettinger; Carlos Fuertes; Ari Seff; Tim Shen; Cole Gulino; Chenjie Yang; Ghassen Jerfel; Dokook Choe; Rui Wang; Vinutha Kallem; et al. (CoRR, 2025)