Publications

Chengran Yuan (2025). PIE: Perception and Interaction Enhanced End-to-End Motion Planning for Autonomous Driving.

Jiawei Sun, Jiahui Li, Tingchen Liu, Chengran Yuan, Shuo Sun, Zefan Huang, Anthony Wong, Keng Peng Tee, Marcelo H Ang (2025). RMP-YOLO: A Robust Motion Predictor forPartially Observable Scenarios even if You Only Look Once. in ICRA 2025.

Shuo Sun, Yimin Zhao, Christina Dao Wen Lee, Jiawei Sun, Chengran Yuan, Zefan Huang, Dongen Li, Justin KW Yeoh, Alok Prakash, Thomas W Malone, Marcelo H Ang Jr (2025). AGI-Elo: How Far Are We From Mastering A Task?. In NeurIPS 2025.

Zhiyang Liu, Ruiteng Zhao, Lei Zhou, Chengran Yuan, Yuwei Wu, Sheng Guo, Zhengshen Zhang, Chenchen Liu, Marcelo H Ang, Francis EH Tay (2024). 3D Affordance Keypoint Detection for Robotic Manipulation. in IROS 2024.

Chengran Yuan, Zhanqi Zhang, Jiawei Sun, Shuo Sun, Zefan Huang, Christina Dao Wen Lee, Dongen Li, Yuhang Han, Anthony Wong, Keng Peng Tee and Marcelo H Ang Jr (2024). Drama: An efficient end-to-end motion planner for autonomous driving with mamba. In ISRR 2024.

Jiawei Sun, Chengran Yuan, Shuo Sun, Shanze Wang, Yuhang Han, Shuailei Ma, Zefan Huang, Anthony Wong, Keng Peng Tee, Marcelo H Ang (2024). ControlMTR: Control-guided motion transformer with scene-compliant intention points for feasible motion prediction. In ITSC 2024.

Jiahui Li, Tianle Shen, Zekai Gu, Jiawei Sun, Chengran Yuan, Yuhang Han, Shuo Sun, Marcelo H Ang (2024). ADM: Accelerated Diffusion Model via Estimated Priors for Robust Motion Prediction under Uncertainties. In ITSC 2024.

Shuo Sun, Zekai Gu, Tianchen Sun, Jiawei Sun, Chengran Yuan, Yuhang Han, Dongen Li, Marcelo H Ang Jr (2023). Drivescenegen: Generating diverse and realistic driving scenarios from scratch. RA-L.