Yuanfei Lin joined the Cyber Physical Systems Group as a PhD candidate under the supervision of Prof. Dr.-Ing. Matthias Althoff in 2021. He graduated with the Master of Science degree in Mechanical Engineering from the Technical University of Munich, Germany, in 2020. He received the Bachelor of Engineering degree in Automotive Engineering from the Tongji University, Shanghai, China, in 2018. During the period from August 2023 to February 2024, he was a visiting research scholar at the University of California, Berkeley, working with Prof. Masayoshi Tomizuka.
His research focuses on safe motion planning for autonomous vehicles, safe cooperative motion planning, and formal methods. More information can be found in his personal page.
Research Highlight
DrPlanner: the first framework to autonomously diagnose and repair motion planners, harnessing the power of LLMs that improve as they scale
Model Predictive Robustness: a novel approach to determine the robustness of STL predicates, where the model capability for rule compliance is explicitly considered
Offered Thesis Topics
I am always looking for self-motivated students to solve interesting problems arising in my research areas. General ideas could be to apply formal methods and machine learning technologies to motion planning algorithms for autonomous vehicles to increase their safety, liability, and efficiency.
Please note: I will not be able to supervise further theses. However, if you are interested in collaborating on exciting research, feel free to reach out to me.
[GR] DrPlanner+ & DrPlanner++
[Practical Course] Enhancing the Performance of Motion Planners with Large Language Models
[Hiwi] Sim-to-Real Transfer of Trajectory Repair to A Real Vehicle
Thesis & Hiwi
Bachelor Thesis
[BA] Sebastian Illing DrSamplingPlanner: Diagnosis and Repair of Sampling-based Motion PlannersOct 2024
[BA] Carl Heimann - Risk-aware Motion Planning for Autonomous VehiclesMarch 2024
Zihao Cao, Pavel Kh, Hao Sun - Real-World Cooperative Motion Planning (co-supervised with Eivind Meyer)2023
Till Grutschus, Kaian Ni, Wei-Lin Pai, Alexander Zimmer - Coupling Autoware with the CommonRoad Motion Planning Framework (co-supervised with Gerald Würsching)2023
Aashya Khanduja, Matteo Esposito Marroccella, Xixi Yue - Sim2Real: Real World Cooperative Motion Planning (co-supervised with Sebastian Mair)2024
He Chen, Nico Aigner, Sinuo Song - Repairing Motion Planners using Large Language Models2024
Seminar – Cyber-Physical Systems [WiSe 21/22, SoSe 22, WiSe 23/24]
Jianyu Tang - Trajectory Repairing for Autonomous Mobile Robots2021
Riccardo Heger - Trajectory Repairing for Autonomous Vehicles2022
Baris Tura - Gaussian Process and its Application to Motion Planning and Control2022
Dawen Zhou - Motion Planning with Rule Specifications (co-supervised with Patrick Halder)2022
Evald Nexhipi - Minimum-Violation Motion Planning (co-supervised with Patrick Halder)2022
Wenzhao Tang - Motion Planning with STL Constraints (co-supervised with Patrick Halder)2022
Lin, Yuanfei; Li, Chenran; Ding, Mingyu; Tomizuka, Masayoshi; Zhan, Wei; Althoff, Matthias: DrPlanner: Diagnosis and Repair of Motion Planners for Automated Vehicles Using Large Language Models. IEEE Robotics and Automation Letters 9 (10), 2024, 8218-8225 mehr…BibTeX
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Würsching, Gerald; Mascetta, Tobias; Lin, Yuanfei; Althoff, Matthias: Simplifying Sim-to-Real Transfer in Autonomous Driving: Coupling Autoware with the CommonRoad Motion Planning Framework. 2024 IEEE Intelligent Vehicles Symposium (IV), 2024 mehr…BibTeX
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Youran Wang, Yuanfei Lin, and Matthias Althoff: Interaction-Aware Trajectory Repair in Compliance with Formalized Traffic Rules. The 27th IEEE International Conference on Intelligent Transportation Systems (IEEE ITSC 2024), 2024 mehr…BibTeX
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2023
Lin, Yuanfei; Althoff, Matthias: CommonRoad-CriMe: A Toolbox for Criticality Measures of Autonomous Vehicles. 2023 IEEE Intelligent Vehicles Symposium (IV), 2023, 1-8 mehr…BibTeX
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Lin, Yuanfei; Li, Haoxuan; Althoff, Matthias: Model Predictive Robustness of Signal Temporal Logic Predicates. IEEE Robotics and Automation Letters 08 (12), 2023, 8050 - 8057 mehr…BibTeX
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Lin, Yuanfei; Ratzel, Michael; Althoff, Matthias: Automatic Traffic Scenario Conversion from OpenSCENARIO to CommonRoad. 2023 IEEE International Conference on Intelligent Transportation Systems (ITSC), 2023, 4941-4946 mehr…BibTeX
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