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The Berkeley Intelligent Control (ICON) lab develops algorithms for autonomous systems to interact with other agents safely and intelligently. Our goal is to enable autonomous systems to become integrated into the fabric of human life and act in the favor of society. To this end, we draw from control theory, game theory, robotics, and machine learning.
news
| Nov 20, 2025 | Our student, Kartik Nagpal, has passed his qualifying exam, and become a PhD candidate. |
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| Oct 01, 2025 | Our paper titled “When Should a Leader Act Suboptimally? The Role of Inferability in Repeated Stackelberg Games“ has been accepted to IEEE Transactions on Automatic Control (TAC)! |
| Jun 15, 2025 | Our paper titled “Understanding and Imitating Human-Robot Motion with Restricted Visual Fields” got accepted at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025! Please read more about this work on its project page. |
| Jun 15, 2025 | Our paper titled “MultiNash-PF: A Particle Filtering Approach for Computing Multiple Local Generalized Nash Equilibria in Trajectory Games” got accepted at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025! |
| Jun 15, 2025 | Our paper titled “ Multi-Agent Inverse Reinforcement Learning in Real World Unstructured Pedestrian Crowds“ has been accepted at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025! |
| Apr 10, 2025 | Our paper titled “RAMEN: Real-time Asynchronous Multi-agent Neural Implicit Mapping” got accepted at the Conference on Robotics: Science and Systems (RSS) 2025! |
| Apr 10, 2025 | Our paper titled “DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories” got accepted at the Conference on Robotics: Science and Systems (RSS) 2025! Please read more about this work on its project page. |
| Feb 13, 2025 | Our paper titled “Strategic Decision-Making in Multi-Agent Domains: A Weighted Constrained Potential Dynamic Game Approach” got accepted to IEEE Transactions on Robotics (T-RO)! |
| Jan 28, 2025 | Our paper titled “CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models” got accepted to the IEEE International Conference on Robotics and Automation (ICRA) 2025! |
| Jan 18, 2025 | Our paper titled “To What Extent do Open-loop and Feedback Nash Equilibria Diverge in General-Sum Linear Quadratic Dynamic Games?” got accepted to the IEEE Control Systems Letters (L-CSS) and also for presentation at the 2025 American Control Conference(ACC)! |
| Dec 19, 2024 | Our paper titled “Leveraging Large Language Models for Effective and Explainable Multi-Agent Credit Assignment“ got accepted at the International Conference on Autonomous Agents and Multiagent Systems (AAMAS) 2025! |
| Aug 24, 2024 | Our paper titled “Risk-Sensitive Orbital Debris Collision Avoidance using Distributionally Robust Chance Constraints” got accepted at the American Institute of Aeronautics and Astronautics (AIAA) SciTech Forum 2025! |
| Jul 24, 2024 | Our paper titled “Learning to Provably Satisfy High Relative Degree Constraints for Black-Box Systems” got accepted at the 2024 Conference on Decision and Control (CDC)! |
| Jul 01, 2024 | Our paper titled “Optimal Robotic Assembly Sequence Planning: A Sequential Decision-Making Approach” has been accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024! |
| May 15, 2024 | Our paper titled “POLICEd RL: Learning Closed-Loop Robot Control Policies with Provable Satisfaction of Hard Constraints” got accepted at the Robotics: Science and Systems (RSS) 2024! |
| Apr 04, 2024 | One of our students, Kartik Nagpal, was awarded the National Science Foundation Graduate Research Fellowship (NSF GRFP)! |
| Mar 28, 2024 | Our paper titled “Adaptive Teaching in Heterogeneous Agents: Balancing Surprise in Sparse Reward Scenarios” got accepted at the Learning for Dynamics & Control Conference (L4DC) 2024! |
| Jan 29, 2024 | Our paper titled “ Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot Navigation in Crowds” got accepted at the International Conference on Robotics and Automation (ICRA) 2024! |
| Mar 10, 2023 | Our paper titled “RAPID: Autonomous Multi-agent Racing using Constrained Potential Dynamic Games” got accepted at the European Control Conference (ECC) 2023! |
| Jan 16, 2023 | Our paper titled “Learning to Influence Vehicles’ Routing in Mixed-Autonomy Networks by Dynamically Controlling the Headway of Autonomous Cars” got accepted at the International Conference on Robotics and Automation (ICRA) 2023! |
| Jan 16, 2023 | Our paper titled “Distributed Potential iLQR: Scalable Game-Theoretic Trajectory Planning for Multi-Agent Interactions” got accepted at the International Conference on Robotics and Automation (ICRA) 2023! |
| Nov 24, 2022 | Our paper titled “ Maximum-Entropy Multi-Agent Dynamic Games: Forward and Inverse Solutions” got accepted at the IEEE Transactions on Robotics (T-RO)! |
| Aug 15, 2022 | We will organize a workshop on Strategic Multi-Agent Interactions: Game Theory for Robot Learning and Decision Making” at the Conference on Robot Learning (CoRL) 2022! |
| Apr 22, 2022 | We will organize a workshop on Behavior-driven Autonomous Driving in Unstructured Environments at the International Conference on Intelligent Robots and Systems (IROS) 2022! |
| Feb 28, 2022 | Our paper titled “ Congestion-aware Bi-modal Delivery Systems Utilizing Drones” got accepted at the European Control Conference (ECC) 2022! |
| Jan 31, 2022 | Our paper titled “ Learning Contraction Policies from Offline Data” got accepted at the International Conference on Robotics and Automation (ICRA) 2022! |
| Jan 31, 2022 | Our paper titled “ Stackelberg Routing of Autonomous Cars in Mixed-Autonomy Traffic Networks” got accepted at the American Control Conference (ACC) 2022! |
| Jan 31, 2022 | We will organize a workshop on Learning and Control for Safety-Critical Systems at American Control Conference (ACC) 2022! |
| Jan 03, 2022 | Our paper titled “ Learning Contraction Policies from Offline Data” got accepted at the IEEE Robotics and Automation Letters (RA-L)! |
| Dec 13, 2021 | Our paper titled “ Learning Contraction Policies from Offline Data” was selected as the best paper award finalist at NeurIPS 2021 workshop Safe and Robust Control of Uncertain Systems! |
| Oct 21, 2021 | Our paper titled “ Learning Contraction Policies from Offline Data” was accepted as an Oral at NeurIPS 2021 workshop Safe and Robust Control of Uncertain Systems! |
| May 10, 2021 | Our paper titled “Potential iLQR: A Potential Minimizing Controller for Panning Multi-Agent Interactive Trajectories” was accepted at RSS 2021! |
| Apr 13, 2021 | We will organize a workshop on “Perception and Control for Autonomous Navigation in Crowded, Dynamic Environments” at RSS 2021. |
| Dec 13, 2020 | Our paper titled “RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch” got accepted at the IEEE Robotics and Automation Letters (RA-L). |
| Nov 10, 2020 | Our paper titled “A Game Theoretic Macroscopic Model of Lane Choices at Traffic Diverges with Applications to Mixed-Autonomy Networks” got accepted at the Transportation Research Part B journal. |