Publications - MIT AeroAstro

A comprehensive list of Chuchu’s publications is available on Google Scholar page.

Preprints

Chen J, Li J, Huang Y, Garrett C, Sun D, Fan C, Hofmann A, Mueller C, Koenig S, Williams BC. Cooperative Task and Motion Planning for Multi-Arm Assembly Systems. arXiv preprint arXiv:2203.02475. 2022 Mar 4.

2025 (Back to top)

Meng Y, Majcherczyk N, Liu W, Kiesel S, Fan C and Pecora F, Reliable and Efficient Multi-Agent Coordination via Graph Neural Network Variational Autoencoders, IEEE International Conference on Robotics and Automation (ICRA) 2025.
Zhang S, So O, Garg K, Fan C, GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Multi-Agent Control, IEEE Transactions on Robotics (T-RO) 2025
Zhang S, So O, Black M, Fan C, Discrete GCBF Proximal Policy Optimization for Multi-agent Safe Optimal Control, International Conference on Learning Representations (ICLR) 2025

2024

Garg K, Hamilton S, Fan C, Deadlock Resolution in Multi-Agent Systems using Hierarchical Control, IEEE Conference on Decision and Control (CDC), 2024.
Yu M, Fan C. Rigid Body Path Planning Using Mixed-Integer Linear Programming. IEEE Robotics and Automation Letters (RAL) 2024.
Garg K, Zhang S, So O, Dawson C, Fan C. Learning safe control for multi-robot systems: Methods, verification, and open challenges. Annual Reviews in Control 57 (2024): 100948.
Parashar A, Yin J, Dawson C, Tsiotras P, Fan C. Learning-based Bayesian Inference for Testing of Autonomous Systems. IEEE Robotics and Automation Letters (RAL) 2024.
Chen Y, Arkin J, Hao Y, Zhang Y, Roy N, Fan C. Prompt optimization in multi-step tasks (PROMST): Integrating human feedback and preference alignment. (EMNLP 2024 Main, Oral)
Meng Y, Fan C. Diverse Controllable Diffusion Policy with Signal Temporal Logic. IEEE Robotics and Automation Letters (RAL) 2024.
Yang R, Fan C. A Hierarchical Framework for Solving the Constrained Multiple Depot Traveling Salesman Problem. IEEE Robotics and Automation Letters (RAL) 2024.
Zhang S, Fan C. Learning to Stabilize High-dimensional Unknown Systems Using Lyapunov-guided Exploration. 6th Annual Learning for Dynamics & Control Conference (L4DC) 2024.
Yin J, Dawson C, Fan C, Tsiotras P. Shield model predictive path integral: A computationally efficient robust MPC approach using control barrier functions. IEEE International Conference on Robotics and Automation (ICRA) 2024.
So O, Serlin Z, Mann M, Gonzales J, Rutledge K, Roy N, Fan C. How to train your neural control barrier function: Learning safety filters for complex input-constrained systems. IEEE International Conference on Robotics and Automation (ICRA) 2024.
Meng Y, Vemprala S, Bonatti R, Fan C, Kapoor A. ConBaT: Control Barrier Transformer for Safe Policy Learning. IEEE International Conference on Robotics and Automation (ICRA) 2024.
Yu M, Yu C, Naddaf-Sh M, Upadhyay D, Gao S, Fan C. Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Controller. IEEE International Conference on Robotics and Automation (ICRA) 2024.
Chen Y, Arkin J, Zhang Y, Roy N, Fan C. Scalable multi-robot collaboration with large language models: Centralized or decentralized systems? IEEE International Conference on Robotics and Automation (ICRA) 2024.
Chen Y, Arkin J, Zhang Y, Roy N, Fan C. Autotamp: Autoregressive task and motion planning with llms as translators and checkers. IEEE International Conference on Robotics and Automation (ICRA) 2024.

2023 (Back to top)

Dawson C, Fan C. Adversarial optimization leads to over-optimistic security-constrained dispatch, but sampling can help. North American Power Symposium (NAPS). IEEE, 2023.
Dawson C, Fan C, A Bayesian approach to breaking things: efficiently predicting and repairing failure modes via sampling, Conference on Robot Learning 2023.
Zhang S, Garg K, Fan C, Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control, Conference on Robot Learning 2023.
Meng Y, Fan C. Signal Temporal Logic Neural Predictive Control. IEEE Robotics and Automation Letters (RAL) 2023.
Chen Y, Gandhi R, Zhang Y, Fan C. NL2TL: Transforming Natural Languages to Temporal Logics using Large Language Models. The Conference on Empirical Methods on Natural Language Processing (EMNLP) 2023.
Garg K, Fan, C Neural Network-based Fault Detection and Identification for Quadrotors using Dynamic Symmetry, Allerton Conference on Communication, Control and Computing 2023.
Garg K, Dawson C, Xu K, Ornik, M, Fan, C Model-free Neural Fault Detection and Isolation for Safe Control IEEE Control Systems Letters (L-CSS) 2023.
So O, Fan C, Solving Stabilize-Avoid Optimal Control via Epigraph Form and Deep Reinforcement Learning Proceedings of Robotics: Science and Systems 2023.
Zhang S, Xiu Y, Qu G, Fan C. Compositional Neural Certificates for Networked Dynamical Systems. 5th Annual Learning for Dynamics & Control Conference (L4DC) 2023.
Meng Y, Fan C. Hybrid Systems Neural Control with Region-of-Attraction Planner. 5th Annual Learning for Dynamics & Control Conference (L4DC) 2023.
Tong M, Dawson C, Fan C. Enforcing safety for vision-based controllers via Control Barrier Functions and Neural Radiance Fields. IEEE International Conference on Robotics and Automation (ICRA) 2023.
Lützow L, Meng Y, Armijos A C, Fan C. Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles using Density-based Reachability. IEEE International Conference on Robotics and Automation (ICRA) 2023.

2022 (Back to top)

Dawson C, Gao S, Fan C. Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods. IEEE Transactions on Robotics 2022.
Zhang R, Yu C, Chen J, Fan C, Gao S. Learning-based Manipulation Planning in Dynamic Environments Using GNNs and Temporal Encoding. Conference on Neural Information Processing Systems 2022.
Dawson C, Fan C. Robust Counterexample-guided Optimization for Planning from Differentiable Temporal Logic. IEEE/RSJ International Conference on Intelligent Robots and Systems 2022.
Dawson C, Fan C. Certifiable Robot Design Optimization using Differentiable Programming. Robotics: Science and Systems 2022.
Zhang H, Chen J, Li J, Williams BC, Koenig S. Multi-Agent Path Finding for Precedence-Constrained Goal Sequences. In Proceedings of the 21st International Conference on Autonomous Agents and Multiagent Systems 2022 May 9 (pp. 1464-1472).
Qin X, Xian Y, Zutshi A, Fan C, Deshmukh JV. Statistical Verification of Cyber-Physical Systems using Surrogate Models and Conformal Inference. In 2022 ACM/IEEE 13th International Conference on Cyber-Physical Systems (ICCPS) 2022 May 4 (pp. 116-126). IEEE.
Ning Q, Zhou B, Wu H, Peng H, Fan C, Gardner M. A Meta-framework for Spatiotemporal Quantity Extraction from Text. In Proceedings of the 60th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) 2022 May (pp. 2736-2749).
Sun D, Chen J, Mitra S, Fan C. 2022. Multi-agent motion planning from signal temporal logic specifications, IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp 3451-3458.
Qin Z, Sun D, Fan C. SABLAS: Learning Safe Control for Black-box Dynamical Systems. IEEE Robotics and Automation Letters. 2022 Jan 13;7(2):1928-35.
Dawson C, Qin Z, Gao S, Fan C. Safe nonlinear control using robust neural Lyapunov-barrier functions. In Conference on Robot Learning 2022 Jan 11 (pp. 1724-1735). PMLR.
Dawson C, Lowenkamp B, Goff D, Fan C. Learning safe, generalizable perception-based hybrid control with certificates. IEEE Robotics and Automation Letters. 2022 Jan 10;7(2):1904-11.
Meng Y, Qiu Z, Waez MT, Fan C. Case Studies for Computing Density of Reachable States for Safe Autonomous Motion Planning. In NASA Formal Methods Symposium 2022 (pp. 251-271). Springer, Cham.
Taye AG, Bertram J, Fan C, Wei P. Reachability based Online Safety Verification for High-Density Urban Air Mobility Trajectory Planning. In AIAA AVIATION 2022 Forum 2022 (p. 3542).

2021 (Back to top)

Tsukamoto H, Chung SJ, Slotine JJ, Fan C. A theoretical overview of neural contraction metrics for learning-based control with guaranteed stability. In 2021 60th IEEE Conference on Decision and Control (CDC) 2021 Dec 14 (pp. 2949-2954). IEEE..

Meng Y, Qin Z, Fan C. Reactive and safe road user simulations using neural barrier certificates. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021 Sep 27 (pp. 6299-6306). IEEE.
Fan C, Qin Z, Mathur U, Ning Q, Mitra S, Viswanathan M. 2021. Controller synthesis for linear system with reach-avoid specifications. Transactions on Automatic Control, 2021 Mar 30;67(4):1713-27..
Qin Z, Chen Y, Fan C. 2021. Density constrained reinforcement learning. International Conference on Machine Learning. 2021 Jul 1 (pp. 8682-8692). PMLR.
Fan C, Miller K, Mitra S. 2021. Fast and Guaranteed Safe Controller Synthesis for Aerial Vehicle Models. AIAA Scitech 2021 Forum.
Meng Y, Sun D, Qiu Z, Waez MT, Fan C. Learning density distribution of reachable states for autonomous systems. In Conference on Robot Learning (CoRL), 2021.
Qin Z, Zhang K, Chen Y, Chen J, Fan C. 2021. Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificates. Conference on Learning Representations.
Chen J, Williams B, Fan C. 2021. Optimal mixed discrete-continuous planning for linear hybrid systems. The 24th ACM International Conference on Hybrid Systems: Computation and Control (HSCC), 2021 May 19 (pp. 1-12).
Miller K, Fan C, Mitra S. 2021. Planning in Dynamic and Partially Unknown Environments. IFAC-PapersOnLine. 2021 Jan 1;54(5):169-74.
Sun D, Khojasteh MJavad, Shekhar S, Fan C. 2021. Uncertainty-aware Safe Exploratory Planning using Gaussian Process and Neural Control Contraction Metric. Conference on Learning for Dynamics and Control (L4DC), 2021 May 29 (pp. 728-741). PMLR.
Sun D, Jha S, Fan C. Learning Certified Control using Contraction Metric. Conference on Robot Learning (CoRL), 2021 Oct 4 (pp. 1519-1539). PMLR.

2020 (Back to top)

Chen J, Li J, Fan C, Williams BC. Scalable and safe multi-agent motion planning with nonlinear dynamics and bounded disturbances. In Proceedings of the AAAI Conference on Artificial Intelligence 2021 May 18 (Vol. 35, No. 13, pp. 11237-11245).
Fan C, Miller K, Mitra S. 2020. Fast and guaranteed safe controller synthesis for nonlinear vehicle models. International Conference on Computer Aided Verification (CAV). :629–652.
Sibai H, Mokhlesi N, Fan C, Mitra S. 2020. Multi-agent safety verification using symmetry transformations. 26th International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS). 12078 LNCS:173–190.
Chen Y, Rosolia U, Fan C, Ames AD, Murray R. 2020. Reactive motion planning with probabilistics safety guarantees. Conference on Robot Learning (CoRL).