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<!DOCTYPE HTML>
<html>
<head>
<!-- Title -->
<title>Yuanfei Lin</title>
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<span class="container">
<p class="text">Yuanfei Lin</p>
<img src="images/sig.jpg" width="180" height="100"/>
</span>
<!-- <div><h1>Yuanfei Lin</h1></div> -->
<p>
Hi there! I'm a fourth-year PhD student at the <a href="https://www.tum.de/en/">Technical University of Munich</a> under the supervision of <a href="https://www.ce.cit.tum.de/cps/members/prof-dr-ing-matthias-althoff/">Prof. Dr.-Ing Matthias Althoff</a>, where I enjoy making safe autonomous driving possible. My research focuses on applying formal methods to autonomous systems to enable safe and reliable operation in complex and dynamic environments. Recently, I have become interested in combining large language models with motion planning techniques.
<div id="more-bio" style="display: None">
<br>
<p>I am currently working toward the Ph.D. degree in the <a href="https://www.ce.cit.tum.de/cps/">Cyber Physical Systems</a> group, <a href="https://www.cit.tum.de/cit/startseite/"> School of Computation, Information and Technology </a>, <a href="https://www.tum.de/en/">Technical University of Munich</a>. Prior to that, I graduated with the double Master degree in Mechanical Engineering and Mechatronics and Robotics both with high distinction from the same university in 2020. I received the Bachelor degree in Automotive Engineering with Excellent Graduate honor from <a href="https://en.tongji.edu.cn/">Tongji University</a> in 2018.</p>
</div>
<br>
<a href="javascript:toggle_bio()">Formal Bio</a>
<a href="https://www.ce.cit.tum.de/cps/members/yuanfei-lin-msc/">TUM Page</a>
<a href="https://scholar.google.com/citations?user=FZwqkmkAAAAJ&hl=en&oi=sra">G. Scholar</a>
<a href="https://www.linkedin.com/in/yuanfei-lin-6a2791171">LinkedIn</a>
<a href="https://github.com/yuanfei-lin">Github</a>
<br><br>
yuanfei dot lin at tum dot de
<br><br>
</p>
</div>
<div id="intro-image">
<img src="images/profile.jpg">
</div>
</div>
<div id="filters" class="button-group">
<!-- <button class="button" data-filter="*">Show All</button> -->
<button class="button is-checked" data-filter=".highlight">Highlights</button>
<button class="button" data-filter=".publication">Research</button>
<button class="button" data-filter=".talk">Talks</button>
<button class="button" data-filter=".misc">Misc</button>
</div>
<div class="grid">
<!-- Highlights -->
<div class="list-item highlight description" data-category="highlight">
Some recent highlights from our research:
</div>
<!-- Preview Videos -->
<div class="list-item highlight previews" data-category="highlight">
<a href="https://commonroad.github.io/repair-to-drive/">
<img src='images/repair2drive.gif' height="205">
</a>
<a href="https://commonroad.github.io/drplanner/">
<img src='images/drplanner_cover.gif' height="205">
</a>
<a href="https://mediatum.ub.tum.de/doc/1740269/h9fhalm4tfqbb9abjpd33gwpc.pdf">
<img src='images/cr2aw.gif' height="205">
</a>
</div>
<!-- Truncated Set of Highlights (Shown by Default) -->
<div id="main-highlights">
<div class="list-item highlight" data-category="highlight">
</div>
<div class="list-item highlight" data-category="highlight">
<b>RA-L Paper</b> <a href="https://www.youtube.com/watch?v=9r1-S2w9G5E">DrPlanner 🩺 to autonomously diagnose and repair motion planners</a>
</div>
<div class="list-item highlight" data-category="highlight">
<b>CACC</b> <a href="https://youtu.be/N4aEfwRRvMo?si=7iFrh40KPeF37E2x">Real-World Demonstration of Cooperative Platooning</a>
</div>
<div class="list-item highlight" data-category="highlight">
<b>RA-L Paper</b> <a href="https://www.youtube.com/watch?v=kOs9KF2mSXc">First Work on Model Predictive Robustness of Signal Temporal Logic Predicates</a>
</div>
</div>
<!-- All Archived Highlights (Click to Show) -->
<div id="more-highlights" style="display: None">
<div class="list-item highlight" data-category="highlight">
</div>
<div class="list-item highlight" data-category="highlight">
<p class="date">2024</p>RA-L <a href="https://www.youtube.com/watch?v=9r1-S2w9G5E"> Diagnosis and Repair of Motion Planners Using Large Language Models</a>
</div>
<div class="list-item highlight" data-category="highlight">
<p class="date"></p>CACC <a href="https://youtu.be/N4aEfwRRvMo?si=7iFrh40KPeF37E2x">Real-World Demonstration of Cooperative Platooning</a>
</div>
<div class="list-item highlight" data-category="highlight">
<p class="date">2023</p>RA-L <a href="https://www.youtube.com/watch?v=kOs9KF2mSXc">Model Predictive Robustness of Signal Temporal Logic Predicates</a>
</div>
</div>
<!-- Toggle highlights button. -->
<div class="list-item highlight toggle-button" data-category="highlight">
<a id="toggle_highlights_button" href="javascript:toggle_highlights()">Show more</a>
</div>
<!-- Publications -->
<div class="list-item publication" data-category="publication">
<a href="https://arxiv.org/pdf/2412.15837" class="thumbnail">
<img src="images/repair2drive_small.gif" alt="" />
</a>
<div class="project-description">
<h3><a href="https://arxiv.org/pdf/2412.15837">Traffic-Rule-Compliant Trajectory Repair
via Satisfiability Modulo Theories and Reachability Analysis</a></h3>
<p>
<strong>Yuanfei Lin</strong>,
<a href="https://www.ce.cit.tum.de/en/lsr/team/zekun-xing/">Zekun Xing</a>,
<a href="https://www.linkedin.com/in/xuyuan-han/?locale=de_DE">Xuyuan Han</a>,
<a href="https://www.ce.cit.tum.de/cps/members/prof-dr-ing-matthias-althoff/">Matthias Althoff</a>.<br>
<em>ArXiv</em>, 2024
<br>
<a href="https://commonroad.github.io/repair-to-drive/">Project Page</a>
/
<a href="https://arxiv.org/pdf/2412.15837">VollText</a>
<p>For the first time, we apply set-based reachability analysis to compute spatio-temporal constraints for trajectory repair, validated through open-loop and closed-loop traffic simulations, as well as real-world testing on a research vehicle.</p>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://mediatum.ub.tum.de/doc/1752838/7gv5c8kl7ok9am662izfn9sf1.Interaction-Aware%20Trajectory%20Repair%20in%20Compliance%20with%20Formalized%20Traffic%20Rules_mediatum.pdf" class="thumbnail">
<img src="images/int_repair.gif" alt="" />
</a>
<div class="project-description">
<h3><a href="https://mediatum.ub.tum.de/doc/1752838/7gv5c8kl7ok9am662izfn9sf1.Interaction-Aware%20Trajectory%20Repair%20in%20Compliance%20with%20Formalized%20Traffic%20Rules_mediatum.pdf">Interaction-Aware Trajectory Repair in Compliance with Formalized Traffic Rules</a></h3>
<p>
<a href="https://www.ce.cit.tum.de/cps/members/youran-wang-msc/">Youran Wang</a>,
<strong>Yuanfei Lin</strong>,
<a href="https://www.ce.cit.tum.de/cps/members/prof-dr-ing-matthias-althoff/">Matthias Althoff</a>.<br>
<em>ITSC</em>, 2024
<br>
<a href="https://mediatum.ub.tum.de/export/1752838/bibtex">BibTex</a>
/
<a href="https://mediatum.ub.tum.de/doc/1752838/7gv5c8kl7ok9am662izfn9sf1.Interaction-Aware%20Trajectory%20Repair%20in%20Compliance%20with%20Formalized%20Traffic%20Rules_mediatum.pdf">VollText</a>
<p>We propose for the first time an interaction-aware trajectory repair algorithm based
on game theory.</p>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://arxiv.org/abs/2403.07470" class="thumbnail">
<img src="images/drplanner.gif" alt="" />
</a>
<div class="project-description">
<h3><a href="https://arxiv.org/abs/2403.07470">DrPlanner 🩺: Diagnosis and Repair of Motion Planners for Automated Vehicles Using Large Language Models</a></h3>
<p>
<strong>Yuanfei Lin</strong>,
<a href="https://scholar.google.com/citations?user=O_PbKNMAAAAJ&hl=zh-CN">Chenran Li</a>,
<a href="https://dingmyu.github.io">Mingyu Ding</a>,
<a href="https://me.berkeley.edu/people/masayoshi-tomizuka/">Masayoshi Tomizuka</a>,
<a href="https://zhanwei.site/">Wei Zhan</a>,
<a href="https://www.ce.cit.tum.de/cps/members/prof-dr-ing-matthias-althoff/">Matthias Althoff</a>.<br>
<em>RA-L</em>, 2024
<br>
<a href="https://commonroad.github.io/drplanner/">Project Page</a>
/
<a href="https://mediatum.ub.tum.de/export/1737686/bibtex">BibTex</a>
/
<a href="https://arxiv.org/pdf/2403.07470.pdf">VollText</a>
/
<a href="https://www.youtube.com/watch?v=9r1-S2w9G5E">Video</a>
<p></p>
<p>Leveraging the profound capabilities of large language models in addressing reasoning challenges,
we returns repaired planners with detailed diagnostic descriptions. </p>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://mediatum.ub.tum.de/doc/1740269/h9fhalm4tfqbb9abjpd33gwpc.pdf" class="thumbnail">
<img src="images/cr2aw.gif" alt="" />
</a>
<div class="project-description">
<h3><a href="https://mediatum.ub.tum.de/doc/1740269/h9fhalm4tfqbb9abjpd33gwpc.pdf">Simplifying Sim-to-Real Transfer in Autonomous Driving: Coupling Autoware with the CommonRoad Motion Planning Framework</a></h3>
<p>
<a href="https://www.ce.cit.tum.de/cps/members/gerald-wuersching-msc/">Gerald Würsching</a>,
<a href="https://www.ce.cit.tum.de/cps/members/tobias-mascetta-msc/">Tobias Mascetta</a>,
<strong>Yuanfei Lin</strong>,
<a href="https://www.ce.cit.tum.de/cps/members/prof-dr-ing-matthias-althoff/">Matthias Althoff</a>.<br>
<em>IV</em>, 2024
<br>
<a href="https://mediatum.ub.tum.de/export/1740269/bibtex">BibTex</a>
/
<a href="https://mediatum.ub.tum.de/doc/1740269/1740269.pdf">VollText</a>
/
<a href="https://www.youtube.com/watch?v=Jfp7YR6NYRo">Video</a>
<p></p>
<p>The first publicly available interface between CommonRoad and Autoware.</p>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://doi.org/10.1109/LRA.2023.3324582" class="thumbnail">
<img src="images/mpr.gif" alt="" />
</a>
<div class="project-description">
<h3><a href="https://mediatum.ub.tum.de/export/1724410/bibtex">Model Predictive Robustness of Signal Temporal Logic Predicates</a></h3>
<p>
<strong>Yuanfei Lin*</strong>,
<a href="https://niessnerlab.org/members/haoxuan_li/profile.html">Haoxuan Li*</a>,
<a href="https://www.ce.cit.tum.de/cps/members/prof-dr-ing-matthias-althoff/">Matthias Althoff</a>.<br>
<em>RA-L</em>, 2023 & <em>ICRA</em>, 2024
<br>
<a href="https://mediatum.ub.tum.de/export/1724410/bibtex">BibTex</a>
/
<a href="https://mediatum.ub.tum.de/doc/1724410/8n98i8q2eutdgxraxo0le7wwe.ral-final-submission-copyright.pdf">VollText</a>
/
<a href="data/icra2024-poster.pdf">Poster</a>
/
<a href="https://www.youtube.com/watch?v=kOs9KF2mSXc">Video</a>
<p></p>
<p>A novel approach to determine the robustness of
signal temporal logic predicates, where the model capability for rule compliance is explicitly considered.</p>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://arxiv.org/pdf/2305.10080.pdf" class="thumbnail">
<img src="images/openscenario.gif" alt="" />
</a>
<div class="project-description">
<h3><a href="https://arxiv.org/pdf/2305.10080.pdf">Automatic Traffic Scenario Conversion from OpenSCENARIO to CommonRoad</a></h3>
<p>
<strong>Yuanfei Lin</strong>,
<a">Michael Ratzel</a>,
<a href="https://www.ce.cit.tum.de/cps/members/prof-dr-ing-matthias-althoff/">Matthias Althoff</a>.<br>
<em>ITSC</em>, 2023
<br>
<a href="https://mediatum.ub.tum.de/export/1716501/bibtex">BibTex</a>
/
<a href="https://mediatum.ub.tum.de/doc/1716501/3in1u82ubp049t9siixdph1mp.main.pdf">VollText</a>
/
<a href="data/itsc23-poster.pdf">Poster</a>
/
<a href="data/ITSC2023-OpenSCENARIOToCommonRoad.pdf">Presentation</a>
/
<a href="https://commonroad.in.tum.de/tools/openscenario-converter">Tool Page</a>
<p></p>
<p>The first openly accessible converter from OpenSCENARIO to CommonRoad.</p>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://commonroad.in.tum.de/tools/commonroad-crime" class="thumbnail">
<img src="images/crime-after.gif" alt="" />
</a>
<div class="project-description">
<h3><a href="https://commonroad.in.tum.de/tools/commonroad-crime">CommonRoad-CriMe: A Toolbox for Criticality Measures of Autonomous Vehicles</a></h3>
<p>
<strong>Yuanfei Lin</strong>,
<a href="https://www.ce.cit.tum.de/cps/members/prof-dr-ing-matthias-althoff/">Matthias Althoff</a>.<br>
<em>IV</em>, 2023
<br>
<a href="https://mediatum.ub.tum.de/export/1706306/bibtex">BibTex</a>
/
<a href="https://mediatum.ub.tum.de/doc/1706306/1706306.pdf">VollText</a>
/
<a href="data/iv2023-poster.pdf">Poster</a>
/
<a href="https://commonroad.in.tum.de/tools/commonroad-crime">Tool Page</a>
<p></p>
<p>An open-source toolbox for measuring the criticality of autonomous vehicles in a unified framework.</p>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://mediatum.ub.tum.de/doc/1657306" class="thumbnail">
<img src="images/rule_repair.gif" alt="" />
</a>
<div class="project-description">
<h3><a href="https://mediatum.ub.tum.de/doc/1657306">Rule-Compliant Trajectory Repairing using Satisfiability Modulo Theories</a></h3>
<p>
<strong>Yuanfei Lin</strong>,
<a href="https://www.ce.cit.tum.de/cps/members/prof-dr-ing-matthias-althoff/">Matthias Althoff</a>.<br>
<em>IV</em>, 2022
<br>
<a href="https://mediatum.ub.tum.de/export/1657306/bibtex">BibTex</a>
/
<a href="https://mediatum.ub.tum.de/doc/1657306">VollText</a>
/
<a href="https://www.youtube.com/watch?v=rOJsEGE4I3c&t=1s">Video</a>
/
<a href="data/iv22-poster.pdf">Poster</a>
<p></p>
<p>The first work to repair trajectories violating traffic rules formalized in temporal logic.</p>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://mediatum.ub.tum.de/doc/1616802/1616802.pdf" class="thumbnail">
<img src="images/repair_col.gif" alt="" />
</a>
<div class="project-description">
<h3>
<a href="https://mediatum.ub.tum.de/doc/1616802/1616802.pdf">Sampling-Based Trajectory Repairing for Autonomous Vehicles</a>
</h3>
<p>
<strong>Yuanfei Lin</strong>,
<a href="https://www.ce.cit.tum.de/cps/members/sebastian-maierhofer-msc/">Sebastian Maierhofer</a>,
<a href="https://www.ce.cit.tum.de/cps/members/prof-dr-ing-matthias-althoff/">Matthias Althoff</a>.<br>
<em>ITSC</em>, 2021
</p>
<p>
<a href="https://mediatum.ub.tum.de/export/1616802/bibtex">BibTex</a> /
<a href="https://mediatum.ub.tum.de/doc/1616802/1616802.pdf">Full Text</a> /
<a href="https://mediatum.ub.tum.de/doc/1616802/1616802.pdf">Video</a>
</p>
<p>As replanning would be computationally expensive, we present a novel approach for repairing invalid trajectories.</p>
</div>
</div>
<!-- Talks -->
<div class="list-item talk" data-category="talk">
<p class="date">2024</p>Tongji University, <a href="https://autoen.tongji.edu.cn/">School of Automotive Studies</a>
</div>
<div class="list-item talk" data-category="talk">
<p class="date"></p>Shanghai Jiao Tong University, <a href="https://english.seiee.sjtu.edu.cn/english/list/922-1-20.htm">Department of Automation</a>
</div>
<div class="list-item talk" data-category="talk">
<p class="date"></p>IEEE ICRA 2024 Workshops on <a href="https://sites.google.com/lehigh.edu/fmr-icra2024">How to ensure correct robot behaviors?</a>
</div>
<div class="list-item talk" data-category="talk">
<p class="date">2023</p>IEEE IV 2023 Workshops: <a href="https://sites.google.com/view/iv2023-social">Social, interactive and safe behaviors for AVs: benchmarks, models and applications</a>
</div>
<div class="list-item talk" data-category="talk">
<p class="date">2022</p>Southeast University, <a href="https://cyber.seu.edu.cn/wa_en/">School of Cyber Science and Engineering</a>
</div>
<!-- Services -->
<div class="list-item misc" data-category="misc">
<p class="date">2024</p>Volunteer, <a href="https://www.corl.org/"> Conference on Robot Learning</a>, Munich
</div>
<div class="list-item misc" data-category="misc">
<p class="date"></p>Visiting Scholar, <a href="https://msc.berkeley.edu/"> Mechanical Systems Control Lab</a>, UC Berkeley
</div>
<div class="list-item misc" data-category="misc">
<p class="date">2022+</p>Reviewer, RA-L, T-ITS, ICRA, CDC, ITSC, IV, IROS
</div>
<div class="list-item misc" data-category="misc">
<p class="date">2020</p>Graduation Scholarship Awarded by TUM
</div>
<div class="list-item misc" data-category="misc">
<p class="date">2019</p>German National Scholarship
</div>
<div class="list-item misc" data-category="misc">
<p class="date">2018</p>Excellent Graduates of Shanghai, China
</div>
<div class="list-item misc" data-category="misc">
<p class="date">2017</p>Tongji Scholarship of Excellence
</div>
<div class="list-item misc" data-category="misc">
<p class="date">2016</p>National Scholarship in China
</div>
<div class="list-item misc" data-category="misc">
<p class="date">2015</p>Shanghai Scholarship, China
</div>
<div class="list-item misc" data-category="misc">
<p class="date">2014</p>National Scholarship in China
</div>
<div id="footer">This website is inspired by <a href="https://andyzeng.github.io/">Andy Zeng's website</a> which in turn was inspired by <a href="https://jonbarron.info/">Jon's website</a>.</div>
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