Professor of Electrical and Computer Engineering

Krzysztof works on many aspects of autonomous driving, including requirements, architecture, and planning.



Lee, J., S. Sedwards, and K. Czarnecki, "Recursive Constraints to Prevent Instability in Constrained Reinforcement Learning", 1st Multi-Objective Decision Making Workshop (MODeM 2021), Online at, 2021. BibTeX
Abdelzad, V., J. Lee, S. Sedwards, S. Soltani, and K. Czarnecki, "Non-divergent Imitation for Verification of Complex Learned Controllers", 2021 International Joint Conference on Neural Networks (IJCNN), Shenzhen, China (virtual), IEEE, 2021. BibTeX
Balakrishnan, A., J. Lee, A. Gaurav, K. Czarnecki, and S. Sedwards, "Transfer Reinforcement Learning for Autonomous Driving: From WiseMove to WiseSim", ACM Transactions on Modeling and Computer Simulation, vol. 31, issue 3, pp. Article No. 15, pp 1~26, 07/2021. BibTeX
Lee, J., S. Sedwards, and K. Czarnecki, "Uniformly Constrained Reinforcement Learning", Submitted to Journal of Autonomous Agents and Multi-Agent Systems (JAAMAS): Special Issue on Multi-Objective Decision Making (MODeM)---under review, 2021. BibTeX


Chen, H., R. Cohen, K. Dautenhahn, E. Law, and K. Czarnecki, "Autonomous Vehicle Visual Signals for Pedestrians: Experiments and Design Recommendations", The 31st IEEE Intelligent Vehicles Symposium, 2020. BibTeX
Jhunjhunwala, A., J. Lee, S. Sedwards, V. Abdelzad, and K. Czarnecki, "Improved Policy Extraction via Online Q-Value Distillation", The International Joint Conference on Neural Networks (IJCNN), Glasgow, IEEE, 2020. BibTeX
Dillen, N., M. Ilievski, E. Law, L. E. Nacke, K. Czarnecki, and O. Schneider, "Keep Calm and Ride Along: Passenger Comfort and Anxiety as Physiological Responses to Autonomous Driving Styles", 2020 CHI Conference on Human Factors in Computing Systems: ACM, 04/2020. BibTeX
Salay, R., K. Czarnecki, I. Alvarez, M. Soledad Elli, S. Sedwards, and J. Weast, "PURSS: Towards Perceptual Uncertainty Aware Responsibility Sensitive Safety with ML", AAAI Workshop on Artificial Intelligence Safety (SafeAI), New York, CEUR, 2020. BibTeX
Gaurav, A., S. Vernekar, J. Lee, S. Sedwards, V. Abdelzad, and K. Czarnecki, "Simple Continual Learning Strategies for Safer Classifers", Workshop on Artificial Intelligence Safety (SafeAI 2020): CEUR, 02/2020. BibTeX
Antkiewicz, M., M. Kahn, M. Ala, K. Czarnecki, P. Wells, A. Acharya, and S. Beiker, "Modes of Automated Driving System Scenario Testing: Experience Report and Recommendations", SAE Int. J. Adv. & Curr. Prac. in Mobility, vol. 2, issue 5: SAE, pp. 2248-2266, 04/2020. BibTeX
Pitropov, M., D. Garcia, J. Rebello, M. Smart, C. Wang, K. Czarnecki, and S. Waslander, "Canadian Adverse Driving Conditions Dataset", Computer Vision and Pattern Recognition: arXiv, 01/2020. BibTeX


De Iaco, R., S. L. Smith, and K. Czarnecki, "Learning a Lattice Planner Control Set for Autonomous Vehicles", IEEE Intelligent Vehicles Symposium (IV), Paris, France, 2019. BibTeXPDF iconieee_iv_llp_copy.pdf (1.89 MB)
Phan, B., S. Khan, R. Salay, and K. Czarnecki, "Bayesian Uncertainty Quantification with Synthetic Data", WAISE 2019 : Second International Workshop on Artificial Intelligence Safety Engineering, Turku, Finland, SAFECOMP, 09/2019. BibTeXPDF iconwaise.pdf (5.37 MB)
Queiroz, R., T. Berger, and K. Czarnecki, "GeoScenario: An Open DSL for Autonomous Driving Scenario Representation", IEEE Intelligent Vehicles Symposium (IV), Paris, IEEE, 2019. BibTeXPDF iconiv2019_0501_fi.pdf (3.77 MB)
Khan, S., B. Phan, R. Salay, and K. Czarnecki, "ProcSy: Procedural Synthetic Dataset Generation Towards Influence Factor Studies Of Semantic Segmentation Networks", Vision for All Seasons: Bad Weather and Nighttime (CVPR'19 Workshop), Long Beach, California, USA, IEEE, 06/2019. BibTeXPDF iconprocsy_cvpr (986.4 KB)
Li, C., and K. Czarnecki, "Rethinking Expected Cumulative Reward Formalism of Reinforcement Learning: A Micro-Objective Perspective", Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM), Montreal, 2019. BibTeX
Li, C., and K. Czarnecki, "Urban Driving with Multi-Objective Deep Reinforcement Learning", International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Montreal, IFAAMAS, 2019. BibTeX
Lee, J., A. Balakrishnan, A. Gaurav, K. Czarnecki, and S. Sedwards, "WiseMove: A Framework to Investigate Safe Reinforcement Learning for Autonomous Driving", 16th International Conference on Quantitative Evaluation of Systems (QEST 2019), Glasgow, Scotland, Springer, 2019. BibTeX


Colwell, I., B. Phan, S. Saleem, R. Salay, and K. Czarnecki, "An Automated Vehicle Safety Concept Based on Runtime Restriction of the Operational Design Domain", The 2018 IEEE Intelligent Vehicles Symposium, 2018. BibTex
Phan, B., R. Salay, K. Czarnecki, V. Abdelzad, T. Denouden, and S. Vernekar, "Calibrating Uncertainties in Object Localization Task", Third workshop on Bayesian Deep Learning (NeurIPS 2018), Montréal, Canada., 12/2018. BibTeXPDF iconbdl_workshop_82.pdf (357.72 KB)
Czarnecki, K., and R. Salay, "Towards a Framework to Manage Perceptual Uncertainty for Safe Automated Driving", International Workshop on Artificial Intelligence Safety Engineering (WAISE), Västerås, Sweden, Springer, 09/2018. BibTex
Angus, M., M. ElBalkini, S. Khan, A. Harakeh, O. Andrienko, C. Reading, K. Czarnecki, and S. Waslander, "Unlimited Road-scene Synthetic Annotation (URSA) Dataset", The 21st IEEE International Conference on Intelligent Transportation Systems (ITSC), Maui, Hawaii, USA, IEEE, 11/2018. BibTeXPDF icon1807.06056.pdf (3.28 MB)
Juodisius, P., A. Sarkar, R. Rao Mukkamala, M. Antkiewicz, K. Czarnecki, and A. Wąsowski, "Clafer: Lightweight Modeling of Structure and Behaviour", The Art, Science, and Engineering of Programming Journal, vol. 3, issue 1, 07/2018. BibTex
Zayan, D., A. Sarkar, M. Antkiewicz, R. Suzana Pit Maciel, and K. Czarnecki, "Example-driven modeling: on effects of using examples on structural model comprehension, what makes them useful, and how to create them", Software & Systems Modeling, 01/2018. BibTex
Passos, L., R. Queiroz, M. Mukelabai, T. Berger, S. Apel, K. Czarnecki, and J. Alejandro Padilla, "A Study of Feature Scattering in the Linux Kernel", IEEE Transactions on Software Engineering, 2018. BibTeX


Guo, J., E. Blais, K. Czarnecki, and P. van Beek, "A Worst-Case Analysis of Constraint-Based Algorithms for Exact Multi-objective Combinatorial Optimization", Canadian Conference on Artificial Intelligence, 05.2017. BibTex
Zulkoski, E., R. Martins, C. Wintersteiger, R. Robere, J. Liang, K. Czarnecki, and V. Ganesh, "Empirically Relating Complexity-theoretic Parameters with SAT Solver Performance", Pragmatics of Constraint Reasoning: EPIC, 08/2017. BibTex
Chauchan, M., R. Pellizzoni, and K. Czarnecki, "Modeling the Effects of AUTOSAR Overheads on Application Timing and Schedulability", Design Automation Conference, 06/2017. BibTex
Valov, P., J-C. Petkovich, J. Guo, S. Fischmeister, and K. Czarnecki, "Transferring Performance Prediction Models Across Different Hardware Platforms", International Conference on Performance Engineering, 04/2017. BibTex
Guo, J., D. Yang, N. Siegmund, S. Apel, A. Sarkar, P. Valov, K. Czarnecki, A. Wasowski, and H. Yu, Data-efficient performance learning for configurable systems, , 2017. BibTex
Zulkoski, E., C. Bright, A. Heinle, I. Kotsireas, K. Czarnecki, and V. Ganesh, "Combining SAT Solvers with Computer Algebra Systems to Verify Combinatorial Conjectures", Journal of Automated Reasoning, vol. 58, issue 3, pp. 339, 03/2011, 2017. BibTex
Ross, J., A. Murashkin, J. Hui Liang, M. Antkiewicz, and K. Czarnecki, "Synthesis and Exploration of Multi-Level, Multi-Perspective Architectures of Automotive Embedded Systems", Software and Systems Modeling, 2017. BibTex
Queiroz, R., L. Passos, M. Tulio Valente, C. Hunsen, S. Apel, and K. Czarnecki, "The shape of feature code: an analysis of twenty C-preprocessor-based systems", Software & Systems Modeling, vol. 16, issue 1, pp. 96, 02/2017. BibTex


Liang, J. Hui, V. Ganesh, P. Poupart, and K. Czarnecki, "Exponential Recency Weighted Average Branching Heuristic for SAT Solvers", AAAI Conference on Artificial Intelligence, 02/2016. BibTex
Zulkoski, E., V. Ganesh, and K. Czarnecki, "MathCheck: A Math Assistant via a Combination of Computer Algebra Systems and SAT Solvers", International Joint Conference on Artificial Intelligence - Sister Conference Best Paper Track: AAAI Press, 07/2016. BibTex
Khalilov, E., J. Ross, M. Antkiewicz, M. Völter, and K. Czarnecki, "Modeling and Optimizing Automotive Electric/Electronic (E/E) Architectures: Towards Making Clafer Accessible to Practitioners", ISoLA 2016: Leveraging Applications of Formal Methods, Verification and Validation: Discussion, Dissemination, Applications, 10/2016. BibTex
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