Luke Rowe

Luke Rowe, Martin Ethier, Eli-Henry Dykhne et al.

Predicting the future motion of road agents is a critical task in an autonomous driving pipeline. In this work, we address the problem of generating a set of scene-level, or joint, future trajectory predictions in multi-agent driving scenarios. To this end, we propose FJMP, a Factorized Joint Motion Prediction framework for multi-agent interactive driving scenarios. FJMP models the future scene interaction dynamics as a sparse directed interaction graph, where edges denote explicit interactions between agents. We then prune the graph into a directed acyclic graph (DAG) and decompose the joint prediction task into a sequence of marginal and conditional predictions according to the partial ordering of the DAG, where joint future trajectories are decoded using a directed acyclic graph neural network (DAGNN). We conduct experiments on the INTERACTION and Argoverse 2 datasets and demonstrate that FJMP produces more accurate and scene-consistent joint trajectory predictions than non-factorized approaches, especially on the most interactive and kinematically interesting agents. FJMP ranks 1st on the multi-agent test leaderboard of the INTERACTION dataset.

Chengjie Huang, Van Duong Nguyen, Vahdat Abdelzad et al.

3D object detection is an essential part of automated driving, and deep neural networks (DNNs) have achieved state-of-the-art performance for this task. However, deep models are notorious for assigning high confidence scores to out-of-distribution (OOD) inputs, that is, inputs that are not drawn from the training distribution. Detecting OOD inputs is challenging and essential for the safe deployment of models. OOD detection has been studied extensively for the classification task, but it has not received enough attention for the object detection task, specifically LiDAR-based 3D object detection. In this paper, we focus on the detection of OOD inputs for LiDAR-based 3D object detection. We formulate what OOD inputs mean for object detection and propose to adapt several OOD detection methods for object detection. We accomplish this by our proposed feature extraction method. To evaluate OOD detection methods, we develop a simple but effective technique of generating OOD objects for a given object detection model. Our evaluation based on the KITTI dataset shows that different OOD detection methods have biases toward detecting specific OOD objects. It emphasizes the importance of combined OOD detection methods and more research in this direction.

Luke Rowe, Benjamin Thérien, Krzysztof Czarnecki et al.

In adversarial machine learning, the popular $\ell_\infty$ threat model has been the focus of much previous work. While this mathematical definition of imperceptibility successfully captures an infinite set of additive image transformations that a model should be robust to, this is only a subset of all transformations which leave the semantic label of an image unchanged. Indeed, previous work also considered robustness to spatial attacks as well as other semantic transformations; however, designing defense methods against the composition of spatial and $\ell_{\infty}$ perturbations remains relatively underexplored. In the following, we improve the understanding of this seldom investigated compositional setting. We prove theoretically that no linear classifier can achieve more than trivial accuracy against a composite adversary in a simple statistical setting, illustrating its difficulty. We then investigate how state-of-the-art $\ell_{\infty}$ defenses can be adapted to this novel threat model and study their performance against compositional attacks. We find that our newly proposed TRADES$_{\text{All}}$ strategy performs the strongest of all. Analyzing its logit's Lipschitz constant for RT transformations of different sizes, we find that TRADES$_{\text{All}}$ remains stable over a wide range of RT transformations with and without $\ell_\infty$ perturbations.

Lili Gao, Yanbo Xu, William Koch et al.

We introduce ScenarioControl, the first vision-language control mechanism for learned driving scenario generation. Given a text prompt or an input image, Scenario-Control synthesizes diverse, realistic 3D scenario rollouts - including map, 3D boxes of reactive actors over time, pedestrians, driving infrastructure, and ego camera observations. The method generates scenes in a vectorized latent space that represents road structure and dynamic agents jointly. To connect multimodal control with sparse vectorized scene elements, we propose a cross-global control mechanism that integrates crossattention with a lightweight global-context branch, enabling fine-grained control over road layout and traffic conditions while preserving realism. The method produces temporally consistent scenario rollouts from the perspectives different actors in the scene, supporting long-horizon continuation of driving scenarios. To facilitate training and evaluation, we release a dataset with text annotations aligned to vectorized map structures. Extensive experiments validate that the control adherence and fidelity of ScenarioControl compare favorable to all tested methods across all experiments. Project webpage: https://light.princeton.edu/ScenarioControl

Roger Girgis, Rodrigue de Schaetzen, Luke Rowe et al.

While Group Relative Policy Optimization (GRPO) has emerged as a scalable framework for critic-free policy learning, extending it to settings with explicit behavioral constraints remains underexplored. We introduce Constrained GRPO, a Lagrangian-based extension of GRPO for constrained policy optimization. Constraints are specified via indicator cost functions, enabling direct optimization of violation rates through a Lagrangian relaxation. We show that a naive multi-component treatment in advantage estimation can break constrained learning: mismatched component-wise standard deviations distort the relative importance of the different objective terms, which in turn corrupts the Lagrangian signal and prevents meaningful constraint enforcement. We formally derive this effect to motivate our scalarized advantage construction that preserves the intended trade-off between reward and constraint terms. Experiments in a toy gridworld confirm the predicted optimization pathology and demonstrate that scalarizing advantages restores stable constraint control. In addition, we evaluate Constrained GRPO on robotics tasks, where it improves constraint satisfaction while increasing task success, establishing a simple and effective recipe for constrained policy optimization in embodied AI domains that increasingly rely on large multimodal foundation models.

Luca Scimeca, Siddarth Venkatraman, Moksh Jain et al. · mila

This paper presents a practical application of Relative Trajectory Balance (RTB), a recently introduced off-policy reinforcement learning (RL) objective that can asymptotically solve Bayesian inverse problems optimally. We extend the original work by using RTB to train conditional diffusion model posteriors from pretrained unconditional priors for challenging linear and non-linear inverse problems in vision, and science. We use the objective alongside techniques such as off-policy backtracking exploration to improve training. Importantly, our results show that existing training-free diffusion posterior methods struggle to perform effective posterior inference in latent space due to inherent biases.