Publications

@article{peters2026codi,
    title   = {Coordinated Diffusion: Generating Multi-Agent Behavior Without Multi-Agent Demonstrations},
    author  = {Peters, Lasse and Ferranti, Laura and Bajcsy, Andrea and Alonso-Mora, Javier},
    journal = {arXiv preprint arXiv:2605.11485},
    year    = {2026},
    url     = {https://arxiv.org/abs/2605.11485}
}

@article{lee2026breaking,
    title   = {Breaking Exponential Complexity in Games of Ordered Preference: A Tractable Reformulation},
    author  = {Lee, Dong Ho and Li, Jingqi and Peters, Lasse and Bakirtzis, Georgios and Fridovich-Keil, David},
    journal = {arXiv preprint arXiv:2603.26950},
    year    = {2026},
    url     = {https://arxiv.org/abs/2603.26950}
}

@article{jain2026bayesian,
    title   = {Bayesian Inverse Games with High-Dimensional Multi-Modal Observations},
    author  = {Jain, Yash and Liu, Xinjie and Peters, Lasse and Fridovich-Keil, David and Topcu, Ufuk},
    journal = {arXiv preprint arXiv:2601.00696},
    year    = {2026},
    url     = {https://arxiv.org/abs/2601.00696}
}

@article{imran2026homotopy,
    title   = {Homotopy-Guided Potential Games for Congestion-Aware Navigation},
    author  = {Imran, Mohammed Irshadh Ismaaeel Sathyamangalam and Peters, Lasse and Khayyat, Michael and Arrigoni, Stefano and Braghin, Francesco and Ferranti, Laura},
    journal = {IEEE Robotics and Automation Letters (RA-L)},
    year    = {2026},
    doi     = {10.1109/LRA.2026.3675907},
    pages   = {5962--5969},
    volume  = {11},
    number  = {5},
}

@article{papuc2026strategizing,
    title   = {Strategizing at Speed: A Learned Model Predictive Game for Multi-Agent Drone Racing},
    author  = {Papuc, Andrei-Carlo and Peters, Lasse and Sun, Sihao and Ferranti, Laura and Alonso-Mora, Javier},
    journal = {IEEE Robotics and Automation Letters (RA-L)},
    volume  = {11},
    number  = {8},
    pages   = {9056--9063},
    year    = {2026},
    doi     = {10.1109/LRA.2026.3701568}
}

@article{lee2025ordered,
    title   = {You Can't Always Get What You Want: Games of Ordered Preference},
    author  = {Lee, Dong Ho and Peters, Lasse and Fridovich-Keil, David},
    journal = {IEEE Robotics and Automation Letters (RA-L)},
    year    = {2025},
    url     = {https://ieeexplore.ieee.org/abstract/document/11018386/},
    doi     = {10.1109/lra.2025.3575324},
    pages   = {7182--7189},
    volume  = {10},
    number  = {7},
}

@article{peters2024ral,
  title={Contingency Games for Multi-Agent Interaction},
  author={Peters, Lasse and Bajcsy, Andrea and Chiu, Chih-Yuan and Fridovich-Keil, David and Laine, Forrest and Ferranti, Laura and Alonso-Mora, Javier},
  journal={IEEE Robotics and Automation Letters (RA-L)},
  year={2024},
  volume={9},
  number={3},
  pages={2208--2215},
  doi={10.1109/lra.2024.3354548},
}

@inproceedings{peters2023ijrr,
    title     = {Online and Offline Learning of Player Objectives from Partial Observations in Dynamic Games},
    author    = {Peters, Lasse and Rubies-Royo, Vicenc and Tomlin, Claire J. and Ferranti, Laura and Alonso-Mora, Javier and Stachniss, Cyrill and Fridovich-Keil, David},
    booktitle = {Intl.~Journal~of Robotics Research (IJRR)},
    year      = {2023},
    url       = {https://journals.sagepub.com/doi/pdf/10.1177/02783649231182453},
    doi       = {10.1177/02783649231182453},
    pages     = {917--937},
    volume    = {42},
    number    = {10},
}

@article{liu2023ral,
    title   = {Learning to Play Trajectory Games Against Opponents with Unknown Objectives},
    author  = {Liu, Xinjie and Peters, Lasse and Alonso-Mora, Javier},
    journal = {IEEE Robotics and Automation Letters (RA-L)},
    year    = {2023},
    url     = {https://ieeexplore.ieee.org/document/10137879},
    doi     = {10.1109/lra.2023.3280809},
    pages   = {4139--4146},
    volume  = {8},
    number  = {7},
}

@inproceedings{molins2026controllability,
    title     = {Controllability in Preference-Conditioned Multi-Objective Reinforcement Learning},
    author    = {de las Heras Molins, Pau and Yalcinkaya, Beyazit and Peters, Lasse and Fridovich-Keil, David and Bakirtzis, Georgios},
    booktitle = {Proceedings of the International Conference on Neuro-symbolic Systems},
    series    = {Proceedings of Machine Learning Research},
    publisher = {PMLR},
    year      = {2026},
    note      = {arXiv:2605.10585}
}

@inproceedings{molins2025approximate,
    title     = {Approximate Solutions to Games of Ordered Preference},
    author    = {de las Heras Molins, Pau and Roy-Almonacid, Eric and Lee, Dong Ho and Peters, Lasse and Fridovich-Keil, David and Bakirtzis, Georgios},
    booktitle = {IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)},
    year      = {2025},
    url       = {https://arxiv.org/abs/2507.11021},
    doi       = {10.1109/itsc60802.2025.11423775},
    pages     = {3378--3385},
}

@inproceedings{nakamura2025latent,
    title     = {Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis},
    author    = {Nakamura, Kensuke and Peters, Lasse and Bajcsy, Andrea},
    booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
    year      = {2025},
    doi       = {10.15607/RSS.2025.XXI.113}
}

@inproceedings{santos2025updating,
    title     = {Updating Robot Safety Representations Online from Natural Language Feedback},
    author    = {Santos, Leonardo and Li, Zirui and Peters, Lasse and Bansal, Somil and Bajcsy, Andrea},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year      = {2025},
    url       = {https://arxiv.org/abs/2409.14580},
    doi       = {10.1109/icra55743.2025.11127680},
    pages     = {7778--7785},
}

@inproceedings{liu2024autoencoding,
    title     = {Auto-Encoding Bayesian Inverse Games},
    author    = {Liu, Xinjie and Peters, Lasse and Alonso-Mora, Javier and Topcu, Ufuk and Fridovich-Keil, David},
    booktitle = {International Workshop on the Algorithmic Foundations of Robotics (WAFR)},
    year      = {2024},
    url       = {https://arxiv.org/abs/2402.08902},
    doi       = {10.1007/978-3-032-09967-9_16},
    pages     = {311--331},
}

@inproceedings{li2023scenario,
    title     = {Scenario-Game ADMM: A Parallelized Scenario-Based Solver for Stochastic Noncooperative Games},
    author    = {Li, Jingqi and Chiu, Chih-Yuan and Peters, Lasse and Palafox, Fernando and Karabag, Mustafa and Alonso-Mora, Javier and Sojoudi, Somayeh and Tomlin, Claire and Fridovich-Keil, David},
    booktitle = {IEEE Conference on Decision and Control (CDC)},
    year      = {2023},
    url       = {https://arxiv.org/abs/2304.01945},
    doi       = {10.1109/cdc49753.2023.10383423},
    pages     = {8093--8099},
}

@inproceedings{li2023cost,
    title     = {Cost Inference for Feedback Dynamic Games from Noisy Partial State Observations and Incomplete Trajectories},
    author    = {Li, Jingqi and Chiu, Chih-Yuan and Peters, Lasse and Sojoudi, Somayeh and Tomlin, Claire and Fridovich-Keil, David},
    booktitle = {International Conference on Autonomous Agents and Multiagent Systems (AAMAS)},
    year      = {2023},
    url       = {https://arxiv.org/abs/2301.01398},
    doi       = {10.65109/ayet2783},
}

@inproceedings{peters2022rss,
    title     = {Learning Mixed Strategies in Trajectory Games},
    author    = {Peters, Lasse and Fridovich-Keil, David and Ferranti, Laura and Stachniss, Cyrill and Alonso-Mora, Javier and Laine, Forrest},
    booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
    year      = {2022},
    url       = {https://arxiv.org/abs/2205.00291},
    doi       = {10.15607/rss.2022.xviii.051},
}

@inproceedings{peters2021rss,
    title     = {Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations},
    author    = {Peters, Lasse and Fridovich-Keil, David and Rubies-Royo, Vicen{\c{c}} and Tomlin, Claire J. and Stachniss, Cyrill},
    booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
    year      = {2021},
    url       = {https://arxiv.org/abs/2106.03611},
    doi       = {10.15607/rss.2021.xvii.030},
}

@inproceedings{peters2020ibsa,
    title     = {Inference-Based Strategy Alignment for General-Sum Differential Games},
    author    = {Peters, Lasse and Fridovich-Keil, David and Tomlin, Claire J. and Sunberg, Zachary N.},
    booktitle = {International Conference on Autonomous Agents and Multiagent Systems (AAMAS)},
    year      = {2020},
    url       = {https://arxiv.org/abs/2002.04354},
    doi       = {10.65109/luel2972},
}

@inproceedings{fridovich2020ilqgames,
    title     = {Efficient Iterative Linear-Quadratic Approximations for Nonlinear Multi-Player General-Sum Differential Games},
    author    = {Fridovich-Keil, David and Ratner, Ellis and Peters, Lasse and Dragan, Anca D. and Tomlin, Claire J.},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year      = {2020},
    url       = {https://arxiv.org/abs/1909.04694},
    doi       = {10.1109/icra40945.2020.9197129},
    pages     = {1475--1481},
}

@inproceedings{peters2020ilqgamesjl,
    title     = {{iLQGames.jl}: Rapidly Designing and Solving Differential Games in {Julia}},
    author    = {Peters, Lasse and Sunberg, Zachary N.},
    booktitle = {International Workshop on Engineering Multi-Agent Systems (EMAS)},
    year      = {2020},
    url       = {https://arxiv.org/abs/2002.10185}
}

@phdthesis{peters2026thesis,
    title  = {Game-Theoretic Motion Planning for Multi-Agent Interaction},
    author = {Peters, Lasse},
    school = {Delft University of Technology},
    year   = {2026},
    url    = {https://pure.tudelft.nl/ws/portalfiles/portal/267808312/dissertation.pdf}
}