Yiren Lu

AI Researcher, Software Engineer at Waymo Research

Welcome! I am currently a Senior Machine Learning Research Engineer at Waymo Research, where I develop machine learning agents for autonomous driving motion planning and multi-agent simulation. My research involves reinforcement learning, imitation learning, data-driven simulation and foundation models.

(Show more)

Email: luyiren92 [at] gmail [dot] com

Selected Publications

Waymax: An Accelerated, Data-Driven Simulator for Large-Scale Autonomous Driving Research
Neural Information Processing Systems (NeurIPS) 2023 Track Datasets and Benchmarks
Cole Gulino*, Justin Fu*, Wenjie Luo*, George Tucker*, Eli Bronstein, Yiren Lu, Jean Harb, Xinlei Pan, Yan Wang, Xiangyu Chen, John D Co-Reyes, Rishabh Agarwal, Rebecca Roelofs, Yao Lu, Nico Montali, Paul Mougin, Zoey Zeyu Yang, Brandyn White, Aleksandra Faust, Rowan Thomas McAllister, Dragomir Anguelov, and Benjamin Sapp
[website] [code]
Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios
International Conference on Intelligent Robots and Systems (IROS) 2023 (Oral presentation); Neural Information Processing Systems (NeurIPS) 2022 Machine Learning for Autonomous Driving Workshop
Yiren Lu, Justin Fu, George Tucker, Xinlei Pan, Eli Bronstein, Rebecca Roelofs, Benjamin Sapp, Brandyn White, Aleksandra Faust, Shimon Whiteson, Dragomir Anguelov, and Sergey Levine
Hierarchical Model-Based Imitation Learning for Planning in Autonomous Driving
International Conference on Intelligent Robots and Systems (IROS) 2022
Eli Bronstein, Mark Palatucci, Dominik Notz, Brandyn White, Alex Kuefler, Yiren Lu, Supratik Paul, Payam Nikdel, Paul Mougin, Hongge Chen, Justin Fu, Austin Abrams, Punit Shah, Evan Racah, Benjamin Frenkel, Shimon Whiteson, and Dragomir Anguelov
ADAIL: Adaptive Adversarial Imitation Learning
Neural Information Processing Systems (NeurIPS) 2019 Workshop on Learning Transferable Skills
Yiren Lu, and Jonathan Tompson


waymo-research/waymax: A JAX-based Simulator for Autonomous Driving Research
yrlu/quadrotor: Quadrotor control, Path Planning and Trajectory Optimization
yrlu/irl-imitation: Implementation of Inverse Reinforcement Learning Algorithms
yrlu/reinforcement_learning: Implementation of Reinforcement Learning Algorithms
yrlu/non-convex: Implementation of Optimization Algorithms

Professional Services


  • Conference: IROS (2021, 2022, 2023), UR (2023), ICRA (2023), CoRL (2023)
  • Journal: RA-L (2023)

Workshop Organization


I am based in New York City. Besides coding and research, I enjoy visiting art galleries, checking out cocktail bars and photography. If you’re interested in a conversation, don’t hesitate to drop me a line :)