* denotes equal contribution.


  1. Active Exploration in Iterative Gaussian Process Regression for Uncertainty Modeling in Autonomous Racing
    Tommaso Benciolini, Chen Tang, Marion Leibold, Catherine Weaver, Masayoshi Tomizuka, and Wei Zhan
    arXiv preprint arXiv:2311.01993, 2023
    under review for IEEE Transactions on Control Systems Technology (T-CST)
  2. Double-Iterative Gaussian Process Regression for Modeling Error Compensation in Autonomous Racing
    Shaoshu Su, Ce Hao, Catherine Weaver, Chen Tang, Wei Zhan, and Masayoshi Tomizuka
    In 22nd IFAC World Congress (IFAC), 2023
  3. Editing Driver Character: Socially-Controllable Behavior Generation for Interactive Traffic Simulation
    Wei-Jer Chang*, Chen Tang*, Chenran Li, Yeping Hu, Masayoshi Tomizuka, and Wei Zhan
    IEEE Robotics and Automation Letters (RA-L), 2023
    presented at 2023 CVPR Workshop on Multi-Agent Behavior: Properties, Computation, and Emergence (MABe)
  4. Residual Q-Learning: Offline and Online Policy Customization without Value
    Chenran Li*, Chen Tang*, Haruki Nishimura, Jean Mercat, Masayoshi Tomizuka, and Wei Zhan
    In Advances in Neural Information Processing Systems (NeurIPS), 2023
  5. Skill-Critic: Refining Learned Skills for Reinforcement Learning
    Ce Hao*, Catherine Weaver*, Chen Tang, Kenta Kawamoto, Masayoshi Tomizuka, and Wei Zhan
    arXiv preprint arXiv:2306.08388, 2023
    under review for IEEE Robotics and Automation Letters (RA-L)
  6. Guided Online Distillation: Promoting Safe Reinforcement Learning by Offline Demonstration
    Jinning Li, Xinyi Liu, Banghua Zhu, Jiantao Jiao, Masayoshi Tomizuka, Chen Tang, and Wei Zhan
    arXiv preprint arXiv:2309.09408, 2023
    under review for 2024 IEEE International Conference on Robotics and Automation (ICRA)
  7. Pre-training on Synthetic Driving Data for Trajectory Prediction
    Yiheng Li*, Seth Z Zhao*, Chenfeng Xu, Chen Tang, Chenran Li, Mingyu Ding, Masayoshi Tomizuka, and Wei Zhan
    arXiv preprint arXiv:2309.10121, 2023
    under review for 2024 IEEE International Conference on Robotics and Automation (ICRA)
  8. Quantifying Agent Interaction in Multi-agent Reinforcement Learning for Cost-efficient Generalization
    Yuxin Chen, Chen Tang, Ran Tian, Chenran Li, Jinning Li, Masayoshi Tomizuka, and Wei Zhan
    arXiv preprint arXiv:2310.07218, 2023
    under anonymous review


  1. Dealing with the unknown: Pessimistic offline reinforcement learning
    Jinning Li, Chen Tang, Masayoshi Tomizuka, and Wei Zhan
    In Conference on Robot Learning (CoRL), 2022
  2. Domain Knowledge Driven Pseudo Labels for Interpretable Goal-Conditioned Interactive Trajectory Prediction
    Lingfeng Sun*, Chen Tang*, Yaru Niu, Enna Sachdeva, Chiho Choi, Teruhisa Misu, Masayoshi Tomizuka, and Wei Zhan
    In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
  3. Interventional Behavior Prediction: Avoiding Overly Confident Anticipation in Interactive Prediction
    Chen Tang, Wei Zhan, and Masayoshi Tomizuka
    In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
  4. Hierarchical Planning Through Goal-Conditioned Offline Reinforcement Learning
    Jinning Li, Chen Tang, Wei Zhan, and Masayoshi Tomizuka
    IEEE Robotics and Automation Letters (RA-L), 2022
  5. PreTraM: Self-Supervised Pre-training via Connecting Trajectory and Map
    Chenfeng Xu*, Tian Li*, Chen Tang, Lingfeng Sun, Kurt Keutzer, Masayoshi Tomizuka, Alireza Fathi, and Wei Zhan
    In European Conference on Computer Vision (ECCV), 2022
  6. Outracing Human Racers with Model-based Planning and Control for Time-trial Racing
    Ce Hao, Chen Tang, Eric Bergkvist, Catherine Weaver, Liting Sun, Wei Zhan, and Masayoshi Tomizuka
    arXiv preprint arXiv:2211.09378, 2022
    under revision for IEEE Transactions on Intelligent Vehicles (T-IV)
  7. Designing Explainable Autonomous Driving System for Trustworthy Interaction
    Chen Tang
    PhD Dissertation, 2022
    PhD Advisor: Masayoshi Tomizuka


  1. Grounded Relational Inference: Domain Knowledge-driven Explainable Autonomous Driving
    Chen Tang, Nishan Srishankar, Sujitha Martin, and Masayoshi Tomizuka
    arXiv preprint arXiv:2102.11905, 2021
    under revision for IEEE Transactions on Intelligent Transportation Systems (T-ITS) presented at 2020 NeurIPS Workshop on Machine Learning for Autonomous Driving
  2. Exploring Social Posterior Collapse in Variational Autoencoder for Interaction Modeling
    Chen Tang, Wei Zhan, and Masayoshi Tomizuka
    In Advances in Neural Information Processing Systems (NeurIPS), 2021


  1. Application Specific System Identification for Model-Based Control in Self-Driving Cars
    Julian M. Salt Ducaju, Chen Tang, and Masayoshi Tomizuka
    In 2020 IEEE Intelligent Vehicles Symposium (IV), 2020


  1. A Remote Control Strategy for an Autonomous Vehicle with Slow Sensor Using Kalman Filtering and Dual-Rate Control
    Ángel Cuenca, Wei Zhan, Julián Salt, José Alcaina, Chen Tang, and Masayoshi Tomizuka
    Sensors, 2019
  2. Toward Modularization of Neural Network Autonomous Driving Policy Using Parallel Attribute Networks
    Zhuo Xu, Haonan Chang, Chen Tang, Changliu Liu, and Masayoshi Tomizuka
    In 2019 IEEE Intelligent Vehicles Symposium (IV), 2019
  3. Disturbance-observer-based tracking controller for neural network driving policy transfer
    Chen Tang*, Zhuo Xu*, and Masayoshi Tomizuka
    IEEE Transactions on Intelligent Transportation Systems (T-ITS), 2019
  4. Adaptive Probabilistic Vehicle Trajectory Prediction Through Physically Feasible Bayesian Recurrent Neural Network
    Chen Tang, Jianyu Chen, and Masayoshi Tomizuka
    In 2019 International Conference on Robotics and Automation (ICRA), 2019


  1. Zero-shot Deep Reinforcement Learning Driving Policy Transfer for Autonomous Vehicles based on Robust Control
    Zhuo Xu*, Chen Tang*, and Masayoshi Tomizuka
    In 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2018
    Best Student-Paper Runner-up
  2. Continuous Decision Making for On-Road Autonomous Driving under Uncertain and Interactive Environments
    Jianyu Chen, Chen Tang, Long Xin, Shengbo Eben Li, and Masayoshi Tomizuka
    In 2018 IEEE Intelligent Vehicles Symposium (IV), 2018


  1. A Highly Sensitive Graphene Woven Fabric Strain Sensor for Wearable Wireless Musical Instruments
    Xu Liu, Chen Tang, Xiaohan Du, Shuai Xiong, Siyuan Xi, Yuefeng Liu, Xi Shen, Qingbin Zheng, Zhenyu Wang, Ying Wu, and  others
    Materials Horizons, 2017


  1. The Capillary Number Effect on the Capture Efficiency of Cancer Cells on Composite Microfluidic Filtration Chips
    Cong Zhao, Rui Xu, Kui Song, Dayu Liu, Shuo Ma, Chen Tang, Chun Liang, Yitshak Zohar, and Yi-Kuen Lee
    In 2015 28th IEEE International Conference on Micro Electro Mechanical Systems (MEMS), 2015