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

2025

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
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
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. Advances in 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