Publications

Xuanjin Jin, Chendong Zeng, Shengfa Zhu, Chunxiao Liu, Panpan Cai (2025). Hi-Drive: Hierarchical POMDP Planning for Safe Autonomous Driving in Diverse Urban Environments. https://ieeexplore.ieee.org/document/11197904/.

Siyin Wang, Zhaoye Fei, Qinyuan Cheng, Shiduo Zhang, Panpan Cai, Jinlan Fu, Xipeng Qiu (2025). World Modeling Makes a Better Planner: Dual Preference Optimization for Embodied Task Planning. arXiv preprint arXiv:2503.10480.

Wenjing Tang, Xinyu He, Yongxi Huang, Yunxiao Xiao, Cewu Lu, Panpan Cai (2025). Tru-POMDP: Task Planning Under Uncertainty via Tree of Hypotheses and Open-Ended POMDPs. arXiv preprint arXiv:2506.02860.

Haoming Ye, Yunxiao Xiao, Cewu Lu, Panpan Cai (2025). Pretraining a Unified PDDL Domain from Real-World Demonstrations for Generalizable Robot Task Planning. arXiv preprint arXiv:2507.21545.

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Haiyao Cao, Zhen Zhang, Panpan Cai, Yuhang Liu, Jinan Zou, Ehsan Abbasnejad, Biwei Huang, Mingming Gong, Anton Van Den Hengel, Javen Qinfeng Shi (2024). Rethinking State Disentanglement in Causal Reinforcement Learning. arXiv preprint arXiv:2408.13498.

Yunfan Lu, Yuchen Ma, David Hsu, Panpan Cai (2024). Neural randomized planning for whole body robot motion. arXiv preprint arXiv:2405.11317.

Ruiqi Zhang, Jing Hou, Florian Walter, Shangding Gu, Jiayi Guan, Florian Röhrbein, Yali Du, Panpan Cai, Guang Chen, Alois Knoll (2024). Multi-agent reinforcement learning for autonomous driving: A survey. arXiv preprint arXiv:2408.09675.

Xuanjin Jin, Chendong Zeng, Shengfa Zhu, Chunxiao Liu, Panpan Cai (2024). BoT-Drive: Hierarchical Behavior and Trajectory Planning for Autonomous Driving using POMDPs. arXiv preprint arXiv:2409.18411.

Tran Phong, Haoran Wu, Cunjun Yu, Panpan Cai, Sifa Zheng, David Hsu (2023). What truly matters in trajectory prediction for autonomous driving?. Advances in Neural Information Processing Systems.

Mohamad H Danesh, Panpan Cai, David Hsu (2022). LEADER: Learning Attention over Driving Behaviors for Planning under Uncertainty. Conference on Robot Learning.

Yuanfu Luo, Panpan Cai, Yiyuan Lee, David Hsu (2022). GAMMA: A general agent motion model for autonomous driving. IEEE Robotics and Automation Letters.

Panpan Cai, David Hsu (2022). Closing the planning--learning loop with application to autonomous driving. IEEE Transactions on Robotics.

Panpan Cai, Yiyuan Lee, Yuanfu Luo, David Hsu (2020). Summit: A simulator for urban driving in massive mixed traffic. 2020 IEEE International Conference on Robotics and Automation (ICRA).

Yiyuan Lee, Panpan Cai, David Hsu (2020). MAGIC: Learning Macro-Actions for Online POMDP Planning using Generator-Critic. Robotics: Science & Systems.

Panpan Cai, Yuanfu Luo, Aseem Saxena, David Hsu, Wee Sun Lee (2019). LeTS-Drive: Driving in a Crowd by Learning from Tree Search. Robotics: Science & Systems.

Malika Meghjani, Yuanfu Luo, Qi Heng Ho, Panpan Cai, Shashwat Verma, Daniela Rus, David Hsu (2019). Context and intention aware planning for urban driving. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Yuanfu Luo, Panpan Cai, Aniket Bera, David Hsu, Wee Sun Lee, Dinesh Manocha (2018). Porca: Modeling and planning for autonomous driving among many pedestrians. IEEE Robotics and Automation Letters.

Lihui Huang, Yuzhe Zhang, Jianmin Zheng, Panpan Cai, Souravik Dutta, Yufeng Yue, Nadia Thalmann, Yiyu Cai (2018). Point cloud based path planning for tower crane lifting. Proceedings of Computer Graphics International 2018.

Panpan Cai, Yuanfu Luo, David Hsu, Wee Sun Lee (2018). HyP-DESPOT: A hybrid parallel algorithm for online planning under uncertainty. Robotics: Science & Systems.

Panpan Cai, Indhumathi Chandrasekaran, Jianmin Zheng, Yiyu Cai (2017). Automatic path planning for dual-crane lifting in complex environments using a prioritized multiobjective PGA. IEEE Transactions on Industrial Informatics.

Panpan Cai, Indhumathi Chandrasekaran, Yiyu Cai, Yong Chen, Xiaoqun Wu (2016). Simulation-enabled vocational training for heavy crane operations. Simulation and Serious Games for Education.

Panpan Cai, Yiyu Cai, Indhumathi Chandrasekaran, Jianmin Zheng (2016). Parallel genetic algorithm based automatic path planning for crane lifting in complex environments. Automation in Construction.

Panpan Cai, Yiyu Cai, Indhumathi Chandrasekaran, Jianmin Zheng (2014). A GPU-enabled parallel genetic algorithm for path planning of robotic operators. GPU Computing and Applications.

Panpan Cai, Chandrasekaran Indhumathi, Yiyu Cai, Jianmin Zheng, Yi Gong, Teng Sam Lim, Peng Wong (2013). Collision detection using axis aligned bounding boxes. Simulations, Serious Games and Their Applications.

Juzheng Zhang, Panpan Cai, Guojin Wang (2011). A New Approach to Design Rational Harmonic Surface over Rectangular or Triangular Domain. JOURNAL OF INFORMATION &COMPUTATIONAL SCIENCE.