Publications

Material
Ömer Şahin Taş, Royden Wagner. Words in Motion: Extracting Interpretable Control Vectors for Motion Transformers. International Conference on Learning Representations (ICLR) , 2025.
Yinzhe Shen, Ömer Şahin Taş, Kaiwen Wang, Royden Wagner, Christoph Stiller. Divide and Merge: Motion and Semantic Learning in End-to-End Autonomous Driving. arXiv preprint arXiv:2502.07631 , 2025.
Royden Wagner, Ömer Şahin Taş, Marvin Klemp, Carlos Fernandez Lopez. JointMotion: Joint Self-supervision for Joint Motion Prediction. Conference on Robot Learning (CoRL) , 2024.
Royden Wagner, Ömer Şahin Taş, Marvin Klemp, Carlos Fernandez Lopez, Christoph Stiller. RedMotion: Motion Prediction via Redundancy Reduction. Transactions on Machine Learning Research, 2024.
Royden Wagner, Ömer Şahin Taş, Marlon Steiner, Fabian Konstantinidis, Hendrik Königshof, Marvin Klemp, Carlos Fernandez, Christoph Stiller. SceneMotion: From Agent-Centric Embeddings to Scene-Wide Forecasts. In IEEE Intelligent Transportation Systems Conference (ITSC), 2024.
Alexander Viehl, Jana Deckers, Fabian Kern, Anna Sossdorf, Benjamin Zeilfelder, Ömer Şahin Taş, Rüdiger Dillman. Smart Districts as Key Elements of Livable and Sustainable Smart Cities. In IEEE Smart Cities Futures Summit (SCFS), 2024.
Ömer Şahin Taş, Philipp Heinrich Brusius, Christoph Stiller. Decision-theoretic MPC: Motion Planning with Weighted Maneuver Preferences Under Uncertainty. arXiv preprint arXiv:2310.17963, 2023.
Johannes Fischer, Marlon Steiner, Ömer Şahin Taş, Christoph Stiller. Safety Reinforced Model Predictive Control (SRMPC): Improving MPC with Reinforcement Learning. In IEEE Intelligent Transportation Systems Conference (ITSC), 2023.
Ömer Şahin Taş. Motion Planning for Autonomous Vehicles in Partially Observable Environments. Ph.D. thesis, Karlsruhe Institute of Technology, 2022.
Christoph Burger, Johannes Fischer, Frank Bieder, Ömer Şahin Taş, Christoph Stiller. Interaction-Aware Game-Theoretic Motion Planning for Automated Vehicles Using Bi-level Optimization. In IEEE Intelligent Transportation Systems Conference (ITSC), 2022.
Mohit Kumar, Peter Strauss, Sven Kraus, Ömer Şahin Taş, Christoph Stiller. Sharpness Continuous Trajectory Optimization and Sparsification for Automated Vehicles. In IEEE Intelligent Vehicles Symposium (IV), 2022.
Mohit Kumar, Andreas Haas, Peter Strauss, Sven Kraus, Ömer Şahin Taş, Christoph Stiller. Conception and Experimental Validation of a Model Predictive Control (MPC) for Lateral Control of a Truck-Trailer. In IEEE Intelligent Vehicles Symposium (IV), 2022.
Ömer Şahin Taş, Felix Hauser, Martin Lauer. Efficient Sampling in POMDPs with Lipschitz Bandits for Motion Planning in Continuous Spaces. In IEEE Intelligent Vehicles Symposium (IV), 2021.
Ömer Şahin Taş, Christoph Stiller. Tackling Existence Probabilities of Objects with Motion Planning for Automated Urban Driving. In Workshops of the Robotics: Science and Systems (RSS), 2020.
Johannes Fischer, Ömer Şahin Taş. Information Particle Filter Tree: An Online Algorithm for POMDPs with Belief-Based Rewards on Continuous Domains. In International Conference on Machine Learning (ICML), 2020.
Martin Lauer, Ömer Şahin Taş. Machbarkeitsstudie zum automatisierten Fahren von HO-LKWs im Murgtal, December 2019.
Ömer Şahin Taş, Felix Hauser, Christoph Stiller. Decision-Time Postponing Motion Planning for Combinatorial Uncertain Maneuvering. In IEEE Intelligent Transportation Systems Conference (ITSC), 2018.
Ömer Şahin Taş, Christoph Stiller. Limited Visibility and Uncertainty Aware Motion Planning for Automated Driving. In IEEE Intelligent Vehicles Symposium (IV), 2018.
Ömer Şahin Taş, Niels Ole Salscheider, Fabian Poggenhans, Sascha Wirges, Claudio Bandera, Marc René Zofka, Tobias Strauss, J. Marius Zöllner, Christoph Stiller. Making Bertha Cooperate - Team AnnieWAY's Entry to the 2016 Grand Cooperative Driving Challenge. IEEE Transactions on Intelligent Transportation Systems, 19(4):1262-1276, April 2018
Jannik Quehl, Haohao Hu, Ömer Şahin Taş, Eike Rehder, Martin Lauer.How Good is My Prediction? Finding a Similarity Measure for Trajectory Prediction Evaluation. In IEEE Intelligent TransportationSystems Conference (ITSC), 2017.
Ömer Şahin Taş, Stefan Hörmann, Bernd Schäufele, Florian Kuhnt. Automated Vehicle System Architecture with Performance Assessment.. In IEEE Intelligent Transportation Systems Conference (ITSC), 2017.
Christoph Burger, Piotr F Orzechowski, Ömer Şahin Taş, Christoph Stiller. Rating Cooperative Driving: A Scheme for Behavior Assessment. In IEEE Intelligent Transportation Systems Conference (ITSC), 2017.
Maximilian Naumann, Piotr Orzechowski, Christoph Burger, Ömer Şahin Taş, Christoph Stiller. Herausforderungen für die Verhaltensplanung kooperativer automatischer Fahrzeuge. In AAET Automatisiertes und vernetztes Fahren, Beiträge zum gleichnamigen 18. Braunschweiger Symposium vom 8. und 9. Februar 2017, Seiten 287--307, Braunschweig, Germany, Feb 2017. ITS automotive nord e.V. ISBN: 978-3-937655-41-3.
André-Marcel Hellmund, Sascha Wirges, Ömer Şahin Taş, Claudio Bandera, Niels Ole Salscheider. Robot Operating System: A Modular Software Framework for Automated Driving. In IEEE Intelligent Transportation Systems Conference (ITSC), 2016.
Ömer Şahin Taş, Florian Kuhnt, Marius Zöllner, Christoph Stiller. Functional System Architectures towards Fully Automated Driving. In IEEE Intelligent Vehicles Symposium (IV), 2016.
Philipp Bender, Ömer Şahin Taş, Julius Ziegler, Christoph Stiller. The combinatorial aspect of motion planning: Maneuver variants in structured environments. In IEEE Intelligent Vehicles Symposium (IV), 2015.
Ömer Şahin Taş. Integrating Combinatorial Reasoning and Continuous Methods for Optimal Motion Planning of Autonomous Vehicles. Master's Thesis , Karlsruhe Institute of Technology, September 2014.
Levent Güvenç, İsmail Meriç Can Uygan, Kerim Kahraman, Raif Karaahmetoğlu, İlker Altay, Mutlu Şentürk, Mümin Tolga Emirler, Ahu Ece Hartavi Karcı, Bilin Aksun Güvenç, Erdinç Altuğ, Murat Can Turan, Ömer Şahin Taş, Eray Bozkurt, Ümit Özgüner, Keith Redmill, Arda Kurt, Barış Efendioğlu. Cooperative Adaptive Cruise Control Implementation of Team Mekar at the Grand Cooperative Driving Challenge. IEEE Transactions on Intelligent Transportation Systems, 13(3):1062-1074, September 2012.