For metrics and citations, please refer to David’s Google Scholar profile.

2026

Bhatt, N. P., Li, P.-han, Gupta, K., Siva, R., Milan, D., Hogue, A. T., Chinchali, S. P., Fridovich-Keil, D., Wang, Z., & Topcu, U. (2026). UNCAP: Uncertainty-Guided Planning Using Natural Language Communication for Cooperative Autonomous Vehicles. International Conference on Autonomous Agents and Multiagent Systems (AAMAS). pdf website

2025

Choi, M., Yang, Y., Bhatt, N. P., Gupta, K., Shah, S., Rai, A., Fridovich-Keil, D., Topcu, U., & Chinchali, S. P. (2025). Real-Time Privacy Preservation for Robot Visual Perception. Transactions on Machine Learning Research. pdf
Armstrong*, C., Park*, Liu, X., Gupta, K., & Fridovich-Keil, D. (2025). Inferring Foresightedness in Dynamic Noncooperative Games. IEEE Robotics and Automation Letters (RA-L). pdf
Gupta*, K., Murthy*, S., Karabag, M., Topcu, U., & Fridovich-Keil, D. (2025). Cooperative Bargaining Games Without Utilities: Mediated Solutions from Direction Oracles. Conference on Neural Information Processing Systems (NeurIPS). pdf website
De Las Heras Molins*, P., Roy-Almonacid*, E., Lee, D. H., Peters, L., Fridovich-Keil, D., & Bakirtzis, G. (2025). Approximate solutions to games of ordered preference. IEEE International Conference on Intelligent Transportation Systems (ITSC). pdf
Gupta, K., Allen, R., Fridovich-Keil, D., & Topcu, U. (2025). More Information is Not Always Better: Connections between Zero-Sum Local Nash Equilibria in Feedback and Open-Loop Information Patterns. Control Systems Letters. pdf
Barkley, B., & Fridovich-Keil, D. (2025). Stealing That Free Lunch: Exposing the Limits of Dyna-Style Reinforcement Learning. International Conference on Machine Learning (ICML). pdf
Lee, D. H., Peters, L., & Fridovich-Keil, D. (2025). You Can’t Always Get What You Want: Games of Ordered Preference. IEEE Robotics and Automation Letters (RA-L). pdf
Lee, D. H., Donnell, K., Li, M. Z., & Fridovich-Keil, D. (2025). A Convex Formulation of Game-theoretic Hierarchical Routing. Control Systems Letters. pdf
Agarwal*, S., Khan*, H., Chinchali, S., & Fridovich-Keil, D. (2025). A Framework for Finding Local Saddle Points in Two-Player Zero-Sum Black-Box Games. Transactions on Machine Learning Research. pdf
Levy, J., Gibson, J., Vlahov, B., Tevere, E., Theodorou, E., Fridovich-Keil, D., & Spieler, P. (2025). Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving. Robotics: Science and Systems. pdf video
Yang, L., Werner, B., Cosner, R., Fridovich-Keil, D., Culbertson, P., & Ames, A. (2025). SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pdf video
Koprulu*, C., Li*, P.-han, Qiu*, T., Zhao, R., Westenbroek, T., Fridovich-Keil, D., Chinchali, S., & Topcu, U. (2025). Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations. International Conference on Learning for Dynamics & Control (L4DC). pdf
Chen, S., Bayiz, Y. E., Fridovich-Keil, D., & Topcu, U. (2025). Relationship Design for Socially-Aware Behavior in Static Games. Journal of Autonomous Agents and Multi-Agent Systems. pdf
Ward, W., Yu, Y., Levy, J., Mehr, N., Fridovich-Keil, D., & Topcu, U. (2025). Active Inverse Learning in Stackelberg Trajectory Games. American Control Conference (ACC). pdf
Swanbeck, S., Meza, D. I., Rosenbaum, J., Fridovich-Keil, D., & Pryor, M. (2025). GaTORS: A Game-Theoretic Tool for Optimal Robot Selection and Design in Surface Coverage Applications. International Conference on Ubiquitous Robots. pdf
Remy, I., Fridovich-Keil, D., & Leung, K. (2025). Learning responsibility allocations for multi-agent interactions: A differentiable optimization approach with control barrier functions. American Control Conference (ACC). pdf
López, A., & Fridovich-Keil, D. (2025). Decomposing Control Lyapunov Functions for Efficient Reinforcement Learning. American Control Conference (ACC). pdf
Hsin, J., Agarwal, S., Thorpe, A., Sentis, L., & Fridovich-Keil, D. (2025). Symbolic Regression on Sparse and Noisy Data with Gaussian Processes. American Control Conference (ACC). pdf
Palafox*, F., Milzman*, J., Lee, D. H., Park, R., & Fridovich-Keil, D. (2025). Smooth Information Gathering in Two-Player Noncooperative Games. International Conference on Autonomous Agents and Multiagent Systems (AAMAS). pdf

2024

Qiu, T., & Fridovich-Keil, D. (2024). Inferring Occluded Agent Behavior in Dynamic Games from Noise-Corrupted Observations. IEEE Robotics and Automation Letters (RA-L). pdf
Khan, H., Thorpe, A., & Fridovich-Keil, D. (2024). Act Natural! Projecting Autonomous System Trajectories Into Naturalistic Behavior Sets. IFAC Workshop on Cyber-Physical Human Systems (CPHS). pdf
Levy*, J., Westenbroek*, T., & Fridovich-Keil, D. (2024). Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models. Conference on Robot Learning (CoRL). pdf website
Li, J., Sojoudi, S., Tomlin, C., & Fridovich-Keil, D. (2024). The Computation of Approximate Feedback Stackelberg Equilibria in Multi-Player Nonlinear Constrained Dynamic Games. SIAM Journal on Optimization. pdf
Liu, X., Peters, L., Alonso-Mora, J., Topcu, U., & Fridovich-Keil, D. (2024). Auto-Encoding Bayesian Inverse Games. Workshop on the Algorithmic Foundations of Robotics. pdf website
Palafox, F., Yu, Y., & Fridovich-Keil, D. (2024). Learning Hyperplanes for Multi-Robot Collision Avoidance in Space. AIAA Astrodynamics Specialist Conference. pdf
Yu, Y., Thorpe, A., Milzman, J., Fridovich-Keil, D., & Topcu, U. (2024). Sensing Resource Allocation Against Data-Poisoning Attacks in Traffic Routing. IEEE Conference on Decision and Control (CDC). pdf
Im, J., Yu, Y., Fridovich-Keil, D., & Topcu, U. (2024). Coordination in Noncooperative Multiplayer Matrix Games via Reduced Rank Correlated Equilibria. Control Systems Letters. pdf
Barkley, B., Zhang, A., & Fridovich-Keil, D. (2024). An Investigation of Time Reversal Symmetry in Reinforcement Learning. International Conference on Learning for Dynamics & Control (L4DC). pdf
Khan, H., & Fridovich-Keil, D. (2024). Leadership Inference for Multi-Agent Interactions. IEEE Robotics and Automation Letters (RA-L). pdf
Thakkar, R. S., Samyal, A. S., Fridovich-Keil, D., Xu, Z., & Topcu, U. (2024). Hierarchical Control for Cooperative Teams in Competitive Autonomous Racing. IEEE Transactions on Intelligent Vehicles. pdf
Karabag, M. O., Smith, S., Fridovich-Keil, D., & Topcu, U. (2024). Encouraging Inferable Behavior for Autonomy: Repeated Bimatrix Stackelberg Games with Observations. American Control Conference (ACC). pdf
Thakkar, R. S., Samyal, A. S., Fridovich-Keil, D., Xu, Z., & Topcu, U. (2024). Hierarchical Control for Head-to-Head Autonomous Racing. Journal of Field Robotics. pdf
Peters, L., Bajcsy, A., Chiu, C.-Y., Fridovich-Keil, D., Laine, F., Ferranti, L., & Alonso-Mora, J. (2024). Contingency Games for Multi-Agent Interaction. IEEE Robotics and Automation Letters. pdf
Wolf, T., Fridovich-Keil, D., & Jones, B. A. (2024). Mutual Information-Based Trajectory Planning for Cislunar Space Object Tracking using Successive Convexification. AIAA SCITECH Forum. pdf

2023

Li, J., Chiu, C.-Y., Peters, L., Palafox, F., Karabag, M., Alonso-Mora, J., Sojoudi, S., Tomlin, C., & Fridovich-Keil, D. (2023). Scenario-Game ADMM: A Parallelized Scenario-Based Solver for Stochastic Noncooperative Games. IEEE Conference on Decision and Control (CDC). pdf
Chen, S., Yu, Y., Fridovich-Keil, D., & Topcu, U. (2023). Soft-Bellman Equilibrium in Affine Markov Games: Forward Solutions and Inverse Learning. IEEE Conference on Decision and Control (CDC). pdf
Patil, A., Zhou, Y., Fridovich-Keil, D., & Tanaka, T. (2023). Risk-Minimizing Two-Player Zero-Sum Stochastic Differential Game via Path Integral Control. IEEE Conference on Decision and Control (CDC). pdf
Westenbroek, T., Levy, J., & Fridovich-Keil, D. (2023). Enabling Efficient, Reliable Real-World Reinforcement Learning with Approximate Physics-Based Models. Conference on Robot Learning (CoRL). pdf
Li, J., Chiu, C.-Y., Peters, L., Sojoudi, S., Tomlin, C. J., & Fridovich-Keil, D. (2023). Cost Inference for Feedback Dynamic Games from Noisy Partial State Observations and Incomplete Trajectories. International Conference on Autonomous Agents and Multiagent Systems (AAMAS). pdf
Agarwal, S., Fridovich-Keil, D., & Chinchali, S. P. (2023). Robust Forecasting for Robotic Control: A Game-Theoretic Approach. IEEE International Conference on Robotics and Automation (ICRA). pdf
Peters, L., Rubies-Royo, V., Tomlin, C. J., Ferranti, L., Alonso-Mora, J., Stachniss, C., & Fridovich-Keil, D. (2023). Online and Offline Learning of Player Objectives from Partial Observations in Dynamic Games. International Journal of Robotics Research. pdf website
Sun, J., Kousik, S., Fridovich-Keil, D., & Schwager, M. (2023). Connected Autonomous Vehicle Motion Planning with Video Predictions from Smart, Self-Supervised Infrastructure. IEEE International Conference on Intelligent Transportation Systems (ITSC). pdf
Yu, Y., Chen, S., Fridovich-Keil, D., & Topcu, U. (2023). Cost Design in Atomic Routing Games. American Control Conference (ACC). pdf
Washington, P., Fridovich-Keil, D., & Schwager, M. (2023). GrAVITree: Graph-based Approximate Value Function In a Tree. American Control Conference (ACC). pdf
Laine, F., Fridovich-Keil, D., Chiu, C.-Y., & Tomlin, C. (2023). The Computation of Approximate Generalized Feedback Nash Equilibria. SIAM Journal on Optimization. pdf

2022

Yu, Y., Salfity, J., Fridovich-Keil, D., & Topcu, U. (2022). Inverse Matrix Games with Unique Quantal Response Equilibrium. Control Systems Letters. pdf video
Karabag, M. O., Fridovich-Keil, D., & Topcu, U. (2022). Alternating Direction Method of Multipliers for Decomposable Saddle-Point Problems. Allerton Conference on Communication, Control, and Compution. pdf
Peters, L., Fridovich-Keil, D., Ferranti, L., Stachniss, C., Alonso-Mora, J., & Laine, F. (2022). Learning Mixed Strategies in Trajectory Games. Robotics: Science and Systems. pdf website video
Sun, J., Kousik, S., Fridovich-Keil, D., & Schwager, M. (2022). Self-Supervised Traffic Advisors: Distributed, Multi-view Traffic Prediction for Smart Cities. IEEE International Conference on Intelligent Transportation Systems (ITSC). pdf
Chiu, C.-Y., & Fridovich-Keil, D. (2022). GTP-SLAM: Game-Theoretic Priors for Simultaneous Localization and Mapping in Multi-Agent Scenarios. IEEE Conference on Decision and Control (CDC). pdf
Anthony, D. R., Nguyen, D. P., Fridovich-Keil, D., & Fisac, J. F. (2022). Back to the Future: Efficient, Time-Consistent Solutions in Reach-Avoid Games. IEEE International Conference on Robotics and Automation (ICRA). pdf

2021

Li, J., Fridovich-Keil, D., Sojoudi, S., & Tomlin, C. (2021). Augmented Lagrangian Method for Instantaneously Constrained Reinforcement Learning Problems. IEEE Conference on Decision and Control (CDC). pdf
Peters, L., Fridovich-Keil, D., Rubies-Royo, V., Tomlin, C., & Stachniss, C. (2021). Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations. Robotics: Science and Systems. pdf video
Fridovich-Keil, D., & Tomlin, C. J. (2021). Approximate Solutions to a Class of Reachability Games. IEEE International Conference on Robotics and Automation (ICRA). pdf
Chiu*, C.-Y., Fridovich-Keil*, D., & Tomlin, C. J. (2021). Encoding Defensive Driving as a Dynamic Nash Game. IEEE International Conference on Robotics and Automation (ICRA). pdf
Laine, F., Fridovich-Keil, D., Chiu, C.-Y., & Tomlin, C. J. (2021). Multi-Hypothesis Interactions in Game-Theoretic Motion Planning. IEEE International Conference on Robotics and Automation (ICRA). pdf

2020

Rolf*, E., Fridovich-Keil*, D., Simchowitz, M., Recht, B., & Tomlin, C. J. (2020). A Successive-Elimination Approach to Adaptive Robotic Sensing. IEEE Transactions on Robotics. pdf
Westenbroek, T., Mazumdar, E., Fridovich-Keil, D., Prabhu, V., Tomlin, C. J., & Sastry, S. S. (2020). Adaptive Control for Linearizable Systems Using On-Policy Reinforcement Learning. IEEE Conference on Decision and Control (CDC). pdf
Fridovich-Keil*, D., Rubies-Royo*, V., & Tomlin, C. J. (2020). An Iterative Quadratic Method for General-Sum Differential Games with Feedback Linearizable Dynamics. IEEE International Conference on Robotics and Automation (ICRA). pdf
Fridovich-Keil, D., Ratner, E., Peters, L., Dragan, A. D., & Tomlin, C. J. (2020). Efficient Iterative Linear-Quadratic Approximations for Nonlinear Multi-Player General-Sum Differential Games. IEEE International Conference on Robotics and Automation (ICRA). pdf video
Peters, L., Fridovich-Keil, D., Tomlin, C. J., & Sunberg, Z. (2020). Inference-Based Strategy Alignment for General-Sum Differential Games. International Conference on Autonomous Agents and Multiagent Systems (AAMAS). pdf
Westenbroek*, T., Fridovich-Keil*, D., Mazumdar*, E., Arora, S., Prabhu, V., Sastry, S. S., & Tomlin, C. J. (2020). Feedback Linearization for Unknown Systems via Reinforcement Learning. IEEE International Conference on Robotics and Automation (ICRA). pdf

2019

Dobbe, R., Sondermeijer, O., Fridovich-Keil, D., Arnold, D., Callaway, D., & Tomlin, C. J. (2019). Towards Distributed Energy Services: Decentralizing Optimal Power Flow with Machine Learning. IEEE Transactions on Smart Grid. pdf
Fridovich-Keil*, D., Bajcsy*, A., Fisac, J. F., Herbert, S. L., Wang, S., Dragan, A. D., & Tomlin, C. J. (2019). Confidence-aware motion prediction for real-time collision avoidance. International Journal of Robotics Research. pdf
Rubies-Royo, V., Fridovich-Keil, D., Herbert, S. L., & Tomlin, C. J. (2019). A Classification-based Approach for Approximate Reachability. IEEE International Conference on Robotics and Automation (ICRA). pdf video
Herbert*, S. L., Bajcsy*, A., Fridovich-Keil, D., Fisac, J. F., Deglurkar, S., Dragan, A. D., & Tomlin, C. J. (2019). A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance. IEEE International Conference on Robotics and Automation (ICRA). pdf video
Fridovich-Keil*, D., Fisac*, J. F., & Tomlin, C. J. (2019). Safely Probabilistically Complete Real-Time Planning and Exploration in Unknown Environments. IEEE International Conference on Robotics and Automation (ICRA). pdf video

2018

Fisac*, J. F., Bajcsy*, A., Herbert, S. L., Fridovich-Keil, D., Wang, S., Tomlin, C. J., & Dragan, A. D. (2018). Probabilistically Safe Robot Planning with Confidence-Based Human Predictions. Robotics: Science and Systems. pdf video
Fridovich-Keil*, D., Herbert*, S. L., Fisac, J. F., Deglurkar, S., & Tomlin, C. J. (2018). Planning, fast and slow: A framework for adaptive real-time safe trajectory planning. IEEE International Conference on Robotics and Automation (ICRA). pdf video

2017

Dobbe*, R., Fridovich-Keil*, D., & Tomlin, C. J. (2017). Fully decentralized policies for multi-agent systems: An information theoretic approach. Conference on Neural Information Processing Systems (NeurIPS), 2941–2950. pdf
Fridovich-Keil, D., Hanford, N., Chapman, M. P., Tomlin, C. J., Farrens, M. K., & Ghosal, D. (2017). A model predictive control approach to flow pacing for TCP. Allerton Conference on Communication, Control, and Compution, 988–994. pdf
Fridovich-Keil, D., Nelson, E., & Zakhor, A. (2017). AtomMap: A probabilistic amorphous 3D map representation for robotics and surface reconstruction. IEEE International Conference on Robotics and Automation (ICRA), 3110–3117. pdf