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Curriculum Vitae

Yuanfei Lin joined the Cyber Physical Systems Group as a PhD candidate under the supervision of Prof. Dr.-Ing. Matthias Althoff in 2021. He graduated with the Master of Science degree in Mechanical Engineering from the Technical University of Munich, Germany, in 2020. He received the Bachelor of Engineering degree in Automotive Engineering from the Tongji University, Shanghai, China, in 2018. During the period from August 2023 to February 2024, he was a visiting research scholar at the University of California, Berkeley, working with Prof. Masayoshi Tomizuka.

His research focuses on safe motion planning for autonomous vehicles, safe cooperative motion planning, and formal methods. More information can be found in his personal page.

Research Highlight

Offered Thesis Topics

I am always looking for self-motivated students to solve interesting problems arising in my research areas. General ideas could be to apply formal methods and machine learning technologies to motion planning algorithms for autonomous vehicles to increase their safety, liability, and efficiency. If you are interested in one of the currently available topics, simply send me a mail with a short statement about your motivation, an up-to-date CV, and transcript of records attached.

  • [MA] Leveraging Large Language Models for Criticality Measures
  • [BA] DrSamplingPlanner: Diagnosis and Repair of Sampling-based Motion Planners
  • [Practical Course] Repairing Motion Planners using Large Language Models
  • [Hiwi] Sim-to-Real Transfer of Trajectory Repair to A Real Vehicle

Thesis & Hiwi

Bachelor Thesis
Semester Thesis
Guided Research
  • [GR] Yingjie Xu - Human vs. Computed Criticality Measures: A User Study for Evaluating Traffic Scenarios Oct 2023
  • [GR] Michael Ratzel - An Online Verification Framework for Autonomous Driving based on the Open Simulation Platform Oct 2022
Master Thesis
Hiwi/Research Assistent
  • [Hiwi] Xuyuan Han, Zihao Cao - Cooperative Autonomous Driving through Vehicle-to-Vehicle CommunicationsMarch 2024
  • [Hiwi] Baris Tura - Developing the Toobox of Trajectory Repairing for Autonomous Vehicles (CommonRoad-Repairer) May 2023
  • [Hiwi] Anas Tounsi -  Safe Motion Planning Framework Based on CommonRoad and Autoware Platform (co-supervised with Gerald Würsching) Jan 2023
  • [Hiwi] Haoxuan Li - Learning Model-based Robustness Degree of Traffic Rule Predicates Nov 2022
  • [Hiwi] Yashuai Yan - Coupling Autoware.Auto With The CommonRoad Motion Planning Framework (co-supervised with Gerald Würsching) Apr 2022

Practical Course – Motion Planning for Autonomous Vehicles [WiSe 21/22, SoSe 22, WiSe 22/23, SoSe23, WiSe 23/24, SoSe24]

  • Dominik Schneider, Yidi Ma - Quantitative Traffic Rule Monitor for Autonomous Driving (co-supervised with Luis Gressenbuch and Patrick Halder) 2022
  • Xin Cheng, Zehua Zhang - Motion Planning for Autonomous Vehicles using Model Predictive Control (co-supervised with Gerald Würsching) 2022
  • Jan Franck, Koray Koca - Coupling Autoware With the CommonRoad Motion Planning Framework (co-supervised with Gerald Würsching)2022
  • Chonghao Zhong, Ziqi Chen - Trajectory Repairing for Autonomous Vehicles2022
  • Binghui Wen, Youran Wang - Implementation of an Mixed-Integer-Programming-based Motion Planner (co-supervised with Gerald Würsching)2022
  • Andrii Chumak, Florian Weiser - Coupling Autoware.Auto With the CommonRoad Motion Planning Framework (co-supervised with Gerald Würsching)2023
  • Adam Gdoura, Janit Grover, Mahdi Bayouli -Robustify the Motion Planner: German Intersections (co-supervised with Luis Gressenbuch)2023
  • Oliver Specht, Ivana Peneva - Reliable-by-Repair: Trajectory Repairing for Autonomous Vehicles2023
  • Carl Heimann - Open-The-World: Automatic Conversion of Scenarios from OpenSCENARIO to CommonROAD2023
  • Ziqian Xv, Liguo Chen, Kun Qian, Sicheng Wang - Using CommonRoad-CriMe to Measure Common Road Crime2023
  • Zihao Cao, Pavel Kh, Hao Sun - Real-World Cooperative Motion Planning (co-supervised with Eivind Meyer)2023
  • Till Grutschus, Kaian Ni, Wei-Lin Pai, Alexander Zimmer - Coupling Autoware with the CommonRoad Motion Planning Framework (co-supervised with Gerald Würsching)2023
  • Aashya Khanduja, Matteo Esposito Marroccella, Xixi Yue - Sim2Real: Real World Cooperative Motion Planning (co-supervised with Sebastian Mair)2024

Seminar – Cyber-Physical Systems [WiSe 21/22, SoSe 22, WiSe 23/24]

  • Jianyu Tang - Trajectory Repairing for Autonomous Mobile Robots2021
  • Riccardo Heger - Trajectory Repairing for Autonomous Vehicles2022
  • Baris Tura - Gaussian Process and its Application to Motion Planning and Control2022
  • Dawen Zhou - Motion Planning with Rule Specifications (co-supervised with Patrick Halder)2022
  • Evald Nexhipi -  Minimum-Violation Motion Planning (co-supervised with Patrick Halder)2022
  • Wenzhao Tang - Motion Planning with STL Constraints (co-supervised with Patrick Halder)2022
  • Zeqi Li - Control Barrier Functions Meet Cyber-Physical Systems2024



  • Lin, Yuanfei; Li, Chenran; Ding, Mingyu; Tomizuka, Masayoshi; Zhan, Wei; Althoff, Matthias: DrPlanner: Diagnosis and Repair of Motion Planners Using Large Language Models. arXiv, 2024 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
  • Würsching, Gerald; Mascetta, Tobias; Lin, Yuanfei; Althoff, Matthias: Simplifying Sim-to-Real Transfer in Autonomous Driving: Coupling Autoware with the CommonRoad Motion Planning Framework. 2024 IEEE Intelligent Vehicles Symposium (IV), 2024 mehr… BibTeX Volltext (mediaTUM)


  • Lin, Yuanfei; Althoff, Matthias: CommonRoad-CriMe: A Toolbox for Criticality Measures of Autonomous Vehicles. 2023 IEEE Intelligent Vehicles Symposium (IV), 2023, 1-8 mehr… BibTeX Volltext (mediaTUM)
  • Lin, Yuanfei; Li, Haoxuan; Althoff, Matthias: Model Predictive Robustness of Signal Temporal Logic Predicates. IEEE Robotics and Automation Letters 08 (12), 2023, 8050 - 8057 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
  • Lin, Yuanfei; Ratzel, Michael; Althoff, Matthias: Automatic Traffic Scenario Conversion from OpenSCENARIO to CommonRoad. 2023 IEEE International Conference on Intelligent Transportation Systems (ITSC), 2023, 4941-4946 mehr… BibTeX Volltext (mediaTUM)



  • Lin, Yuanfei; Maierhofer, Sebastian; Althoff, Matthias: Sampling-Based Trajectory Repairing for Autonomous Vehicles. 2021 IEEE International Conference on Intelligent Transportation Systems (ITSC) , 2021, 572-579 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

Last updated: March 2024