Research

Safe and Interpretable Exploration

Under uncertainty, it is essential to interact with the environment and execute dedicated actions for information collection to make informed decisions. My focus is on planning with information gathering under safety constraints.

Representation Learning

Learning latent representations in deep learning models and reducing redundancies within these are crucial for enhancing generalization and training efficacy. My research focuses on developing methods to learn representative embeddings.

Generalization in Reinforcement Learning

Efficiently learning generalized policies remains a persistent challenge in the field of deep reinforcement learning. I focus on novelty detection, reward structures, and curriculum learning to increase the learning efficacy.

Planning under Uncertainty

The inherent uncertainty in perception information makes planning complex. My work focuses on developing motion planners that adapt to varying levels of uncertainty while ensuring the feasibility of a fallback motion plan.

Cooperative Automated Driving

Cooperative decision making can significantly reduce uncertainties and increase energy efficiency and safety by cooperation. I focus on cooperative automated driving through intervehicular communication.

Self-Awareness and System Degradation

An autonomous system must conduct performance assessments to adapt its behavior according to its current capabilities. I have studied this aspect in conjunction with system degradation in the context of autonomous driving.

Publications

Name Material
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.
Royden Wagner, Ömer Şahin Taş, Marvin Klemp, Carlos Fernandez Lopez. RedMotion: Motion Prediction via Redundancy Reduction. (under review).
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 Proc. 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 Transportation Systems 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 Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC), 2016.
Ömer Şahin Taş, Florian Kuhnt, Marius Zöllner, Christoph Stiller. Functional System Architectures towards Fully Automated Driving. In Proceedings of the 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. In IEEE Transactions on Intelligent Transportation Systems, 13(3):1062-1074, September 2012

Miscellaneous

About me

Community service and career path.

Side projects

Endeavors outside my main focus.