Publications

Journal Papers

Foundation models taxonomy

Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysis

Yuan Gao*, Mattia Piccinini, Yuchen Zhang, Dingrui Wang, Korbinian Moller, Roberto Brusnicki, Baha Zarrouki, Alessio Gambi, Jan Frederik Totz, Kai Storms, Steven Peters, Andrea Stocco, Bassam Alrifaee, Marco Pavone, Johannes Betz

IEEE Open Journal of Intelligent Transportation Systems, 2026

Full Text (PDF) | GitHub Repository

H2 Suboptimal Containment Control of Homogeneous and Heterogeneous Multi-Agent Systems

Yuan Gao*, Junjie Jiao, Zhongkui Li, Sandra Hirche

IEEE Transactions on Control of Network Systems (Under Review)

Conference Papers

EgoDyn-Bench framework

EgoDyn-Bench: Evaluating Ego-Motion Understanding in Vision-Centric Foundation Models for Autonomous Driving

Finn Rasmus Schäfer, Yuan Gao, Dingrui Wang, Thomas Stauner, Stephan Günnemann, Mattia Piccinini, Sebastian Schmidt, Johannes Betz

European Conference on Computer Vision (ECCV), 2026

arXiv | Full Text (PDF) | GitHub Repository | Project Homepage | Dataset

Target-Bench framework

Target-Bench: Can Video World Models Achieve Mapless Path Planning with Semantic Targets?

Dingrui Wang, Zhihao Liang, Hongyuan Ye, Zhexiao Sun, Zhaowei Lu, Yuchen Zhang, Yuyu Zhao, Yuan Gao, Marvin Seegert, Finn Schäfer, Haotong Qin, Wei Li, Luigi Palmieri, Felix Jahncke, Mattia Piccinini, Johannes Betz

European Conference on Computer Vision (ECCV), 2026

arXiv | Full Text (PDF) | GitHub Repository | Project Homepage | Dataset

Chat2Scenic framework

Chat2Scenic: An Iterative RAG-Based Framework for Scenario Generation in Autonomous Driving

Yuan Gao*, Wenting Miao, Mattia Piccinini, Haoyu Wang, Qunying Song, Johannes Betz

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

arXiv | Full Text (PDF) | GitHub Repository | Project Homepage | Dataset

Can VLMs Unlock Semantic Anomaly Detection framework

Can VLMs Unlock Semantic Anomaly Detection? A Framework for Structured Reasoning

Roberto Brusnicki, David Pop, Yuan Gao, Mattia Piccinini, Johannes Betz

IEEE International Conference on Intelligent Transportation Systems (ITSC), 2026

arXiv | Full Text (PDF) | GitHub Repository | Project Homepage | Dataset

NuRisk framework

NuRisk: A Visual Question Answering Dataset for Agent-Level Risk Assessment in Autonomous Driving

Yuan Gao*, Mattia Piccinini, Roberto Brusnicki, Yuchen Zhang, Johannes Betz

IEEE International Conference on Robotics and Automation (ICRA), 2026

arXiv | Full Text (PDF) | GitHub Repository | Project Homepage | Dataset

IEEE ITSC scenarios

From Words to Collisions: LLM-Guided Evaluation and Adversarial Generation of Safety-Critical Driving Scenarios

Yuan Gao*, Mattia Piccinini, Korbinian Moller, Amr Alanwar, Johannes Betz

IEEE International Conference on Intelligent Transportation Systems (ITSC), 2025

arXiv | Full Text (PDF) | GitHub Repository

H2 Suboptimal Leader-Follower Consensus Control of Multi-Agent Systems

Yuan Gao*, Junjie Jiao, Sandra Hirche

IFAC World Congress, 2023

Full Text (PDF) | GitHub Repository | Presentation (PDF)

H2 Suboptimal Containment Control of Multi-Agent Systems

Yuan Gao*, Junjie Jiao, Sandra Hirche

American Control Conference (ACC), 2023

Full Text (PDF) | GitHub Repository | Poster (PDF)