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I am a postdoctoral scholar at the Machine Learning Group at Stanford working with Prof. Carlos Guestrin and Prof. Emily Fox. Previously, I was a postdoctoral scholar at the Stanford Intelligent Systems Laboratory (SISL), working with Prof. Mykel Kochenderfer. At SISL, in collaboration with Prof. Mac Schwager and Prof. Marco Pavone, I worked on safety and robustness of autonomous systems. I completed my PhD in Computer Science (Robot Learning and Machine Learning) in Prof. Fabio Ramos' group at the School of Computer Science in the University of Sydney. I grew up in Sri Lanka.

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News


- September'21 - I gave an invited talk on "Knowing the Unknown Unknowns for Safe AI" at the AI Safety Workshop

- August'21 - I am co-organizing the 4th Robot Learning Workshop: Self-Supervised and Lifelong Learning at NeurIPS 2021

- July'21 - I gave an invited talk on epistemic and aleatoric uncertainty at Function 2021

- April'21 - I am co-organizing the Robotics for People (R4P): Perspectives on Interaction, Learning and Safety Workshop at RSS 2021

- August'20 - I am co-organizing the 3rd Robot Learning Workshop at NeurIPS 2020

- June'20 - Lecture slides on Variational Inference with Applications

- March'20 - For the second time, I am co-organizing the RSS workshop on Robust Autonomy. Due to covid-19, the workshop will be held virtually

- June'19 - I am co-organizing a workshop on safety aspects of robotics at R:SS 2019

- April'19 - Bayesian Hilbert maps code with demos/tutorials has been updated



Publications


Authors Title Preprint Illustration
R. Bhattacharyya, B. Wulfe, D. Phillips, A. Kuefler, J. Morton, R. Senanayake, and M. Kochenderfer Modeling Human Driving Behavior through Generative Adversarial Imitation Learning


@inproceedings{Bhattacharyya2020arxiv_jair,
author = {Bhattacharyya, Raunak and Wulfe, Blake and Phillips, Derek and Kuefler, Alex and Morton, Jeremy and Senanayake, Ransalu and Kochenderfer, Mykel},
title = {Modeling Human Driving Behavior through Generative Adversarial Imitation Learning},
booktitle = {arXiv:2006.06412},
year = {2020},
volume = {},
pages = {},
}

Modeling Human Driving Behavior through Generative Adversarial Imitation Learning, arXiv:2006.06412v1 [cs.AI], June, 2020 Placeholder image
Authors Title Conference/Journal Illustration
P. Chen, M. Itkina, R. Senanayake, and M. Kochenderfer Evidential Softmax for Sparse Multimodal Distributions in Deep Generative Models


@inproceedings{Chen2021neurips,
author = {Chen, Phil and Itkina, Masha and Senanayake, Ransalu and Kochenderfer},
title = {Evidential Softmax for Sparse Multimodal Distributions in Deep Generative Models},
booktitle = {Neural Information Processing Systems (NeurIPS)},
year = {2021},
volume = {},
pages = {},
}

Neural Information Processing Systems (NeurIPS), Sydney, 2021 Placeholder image
R. Bhattacharyya, S. Jung, L. Kruse, R. Senanayake, and M. Kochenderfer A Hybrid Rule-Based and Data-Driven Approach to Driver Modeling through Particle Filtering


@inproceedings{Bhattacharyya2021arxiv_tits,
author = {Bhattacharyya, Raunak and Jung, Soyeon and Kruse, Liam and and Senanayake, Ransalu and Kochenderfer, Mykel},
title = {A Hybrid Rule-Based and Data-Driven Approach to Driver Modeling through Particle Filtering},
booktitle = {IEEE Transactions on Intelligent Transportation Systems (T-ITS)},
year = {2021},
volume = {},
pages = {},
}

IEEE Transactions on Intelligent Transportation Systems (T-ITS), 2021 Placeholder image
M. Toyungyernsub, M. Itkina, R. Senanayake, and M. Kochenderfer Double-Prong ConvLSTM for Spatiotemporal Occupancy Prediction in Dynamic Environments


@inproceedings{Toyungyernsub2020arxiv,
author = {Toyungyernsub, Maneekwan and Itkina, Masha and Senanayake, Ransalu and Kochenderfer, Mykel},
title = {Double-Prong ConvLSTM for Spatiotemporal Occupancy Prediction in Dynamic Environments},
booktitle = {arXiv:2011.09045},
year = {2020},
volume = {},
pages = {},
}

IEEE The International Conference on Robotics and Automation (ICRA), Xi'an, 2021 Placeholder image
R. Senanayake*, K.B. Hatch*, J. Zheng, and M. Kochenderfer 3D Radar Velocity Maps for Uncertain Dynamic Environments


@inproceedings{senanayake2021bdf,
author = {Senanayake, Ransalu Hatch, Kyle Beltran and Zheng, Jason and Kochenderfer, Mykel J.},
title = {3D Radar Velocity Maps for Uncertain Dynamic Environmentss},
booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2021},
organization={IEEE},
pages = {},
}

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, 2021 Placeholder image
J. Nitsch, M. Itkina, R. Senanayake, J. Nieto, M. Schmidt, R. Siegwart, M. Kochenderfer, C. Cadena Out-of-Distribution Detection for Automotive Perception


@inproceedings{Nitsch,
author = {Nitsch, Julia and Itkina, Masha and Senanayake, Ransalu and Nieto, Juan and Schmidt, Max and Siegwart, Roland and Kochenderfer, Mykel J. and Cadena, Cesar},
title = {Out-of-Distribution Detection for Automotive Perception},
booktitle = {24th IEEE International Conference on Intelligent Transportation Systems (ITSC)},
year = {2021},
volume = {},
pages = {},
}

The 24th IEEE International Conference on Intelligent Transportation Systems (ITSC), Indianapolis, 2021 Placeholder image
M. Itkina, B. Ivanovich, R. Senanayake, M. Kochenderfer, and M. Pavone Evidential Sparsification of Multimodal Latent Spaces in Conditional Variational Autoencoders


@inproceedings{Itkina2020neurips,
author = {Itkina, Masha and Ivanovic, Boris and Senanayake, Ransalu and Kochenderfer, Mykel and Pavone, Marco},
title = {Evidential Sparsification of Multimodal Latent Spaces in Conditional Variational Autoencoders},
booktitle = {Neural Information Processing Systems (NeurIPS)},
year = {2020},
volume = {},
pages = {},
}

Neural Information Processing Systems (NeurIPS), Vancouver, 2020 Placeholder image
A. Tompkins*, R. Senanayake*, and F. Ramos Online Domain Adaptation for Occupancy Mapping


@inproceedings{Tompkins2020rss,
author = {Tompkins, Anthony and Senanayake, Ransalu and Ramos, Fabio},
title = {Online Domain Adaptation for Occupancy Mapping},
booktitle = {Robotics: Science and Systems (R:SS)},
year = {2020},
volume = {},
pages = {},
}

Robotics: Science and Systems (RSS) Conference, Corvallis, 2020 Placeholder image
R. Bhattacharyya, R. Senanayake, K. Brown, and M. Kochenderfer Online Parameter Estimation for Human Driver Behavior Prediction


@inproceedings{Bhattacharyya2020,
author = {Bhattacharyya, Raunak and Senanayake, Ransalu and Brown, Kyle and Kochenderfer, Mykel J.},
title = {Online Parameter Estimation for Human Driver Behavior Prediction},
booktitle = {IEEE American Control Conference (ACC)},
year = {2020},
volume = {},
pages = {},
}

IEEE American Control Conference (ACC), Denver, 2020 Placeholder image
R. Senanayake, M. Toyungyernsub, M. Wang, M.J. Kochenderfer, and M. Schwager Directional Primitives for Uncertainty-Aware Motion Estimation in Urban Environments


@inproceedings{Senanayake2020itsc,
author = {Senanayake, Ransalu and Toyungyernsub, Maneekwan and Wang, Mingyu and Kochenderfer, Mykel J. and Schwager, Mac},
title = {Directional Primitives for Uncertainty-Aware Motion Estimation in Urban Environments},
booktitle = {IEEE International Conference on Intelligent Transportation Systems (ITSC)},
year = {2020},
volume = {},
pages = {},
}

The 23rd IEEE International Conference on Intelligent Transportation Systems (ITSC), Greece, 2020 Placeholder image
W. Zhi, R. Senanayake, L. Ott, and F. Ramos Spatiotemporal Learning of Directional Uncertainty in Urban Environments with Kernel Recurrent Mixture Density Networks


@Article{zhi2019spatiotemporal,
author = {Zhi, Weiming and Senanayake, Ransalu and Ott, Lionel and Ramos, Fabio},
title = {Spatiotemporal learning of directional uncertainty in urban environments with kernel recurrent mixture density networks},
journal = {IEEE Robotics and Automation Letters},
year = {2019},
volume = {4},
number = {4},
pages = {4306--4313},
publisher={IEEE},
}

IEEE Robotics and Automation Letters (RA-L), 2019 and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macao, 2019 Placeholder image
V. Guizilini, R. Senanayake, and F. Ramos Dynamic Hilbert Maps: Real-Time Occupancy Predictions in Changing Environments


@inproceedings{guizilini2019dynamic,
author = {Guizilini, Vitor and Senanayake, Ransalu and Ramos, Fabio},
title = {Dynamic Hilbert Maps: Real-Time Occupancy Predictions in Changing Environments},
booktitle = {2019 International Conference on Robotics and Automation (ICRA)},
year = {2019},
pages = {4091--4097},
organization = {IEEE},
}

IEEE The International Conference on Robotics and Automation (ICRA), Montreal, 2019 Placeholder image
W. Zhi, L. Ott, R. Senanayake, F. Ramos Continuous Occupancy Map Fusion with Fast Bayesian Hilbert Maps


@inproceedings{zhi2019continuous,
author = {Zhi, Weiming and Ott, Lionel and Senanayake, Ransalu and Ramos, Fabio},
title = {Continuous Occupancy Map Fusion with Fast Bayesian Hilbert Maps},
booktitle = {2019 International Conference on Robotics and Automation (ICRA)},
year = {2019},
organization = {IEEE},
pages = {4111--4117},
}

IEEE The International Conference on Robotics and Automation (ICRA), Montreal, 2019 Placeholder image
A. Tompkins*, R. Senanayake*, P. Morere*, F. Ramos Black-box Quantiles for Kernel Learning


@inproceedings{tompkins2019black,
author = {Tompkins, Anthony and Senanayake, Ransalu and Morere, Philippe and Ramos, Fabio},
title = {Black Box Quantiles for Kernel Learning},
booktitle = {The 22nd International Conference on Artificial Intelligence and Statistics},
year = {2019},
pages = {1427--1437},
}

The 22nd International Conference on Artificial Intelligence and Statistics (AISTATS), Okinawa, 2019 Placeholder image
T. Vintr et al. Time-Varying Pedestrian Flow Models for Service Robots


@inproceedings{vintr2019time,
author = {Vintr, Tom{\'a}{\v{s}} and Molina, Sergi and Senanayake, Ransalu and Broughton, George and Yan, Zhi and Ulrich, Ji{\v{r}}{\'\i} and Kucner, Tomasz Piotr and Swaminathan, Chittaranjan Srinivas and Majer, Filip and Stachov{\'a}, M{\'a}ria and others},
title = {Time-varying pedestrian flow models for service robots},
booktitle = {2019 European Conference on Mobile Robots (ECMR)},
year = {2019},
organization={IEEE},
pages = {1--7},
}

The 9th European Conference on Mobile Robotics (ECMR), Prague, 2019 Placeholder image
R. Senanayake*, A. Tompkins*, and F. Ramos Automorphing Kernels for Nonstationarity in Mapping Unstructured Environments


@inproceedings{senanayake2018automorphing,
author = {Senanayake, Ransalu and Tompkins, Anthony and Ramos, Fabio},
title = {Automorphing Kernels for Nonstationarity in Mapping Unstructured Environments},
booktitle = {Conference on Robot Learning (CoRL)},
year = {2018},
pages = {443--455},
}

Annual Conference on Robot Learning (CoRL), Zurich, 2018 Placeholder image
R. Senanayake and F. Ramos Directional Grid Maps: Modeling Multimodal Angular Uncertainty in Dynamic Environments


@inproceedings{senanayake2018directional,
author = {Senanayake, Ransalu and Ramos, Fabio},
title = {Directional grid maps: modeling multimodal angular uncertainty in dynamic environments},
booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2018},
organization={IEEE},
pages = {3241--3248},
}

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018 Placeholder image
R. Senanayake and F. Ramos Building Continuous Occupancy Mapping with Moving Robots


@inproceedings{senanayake2018building,
author = {Senanayake, Ransalu and Ramos, Fabio},
title = {Building continuous occupancy maps with moving robots},
booktitle = {Thirty-Second AAAI Conference on Artificial Intelligence (AAAI)},
year = {2018},
pages = {105--124},
}

32nd AAAI Conference on Artificial Intelligence (AAAI), New Orleans, 2018 Placeholder image
R. Senanayake and F. Ramos Bayesian Hilbert Maps for Dynamic Continuous Occupancy Mapping


@inproceedings{senanayake2017bayesian,
author = {Senanayake, Ransalu and Ramos, Fabio},
title = {Bayesian hilbert maps for dynamic continuous occupancy mapping},
booktitle = {Conference on Robot Learning},
year = {2017},
pages = {458--471},
}

Annual Conference on Robot Learning (CoRL), Mountain View, 2017 Placeholder image
R. Senanayake, S. O'Callaghan, and F. Ramos Learning Highly Dynamic Environments with Stochastic Variational Inference


@inproceedings{senanayake2017learning,
author = {Senanayake, Ransalu and O'Callaghan, Simon and Ramos, Fabio},
title = {Learning highly dynamic environments with stochastic variational inference},
booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)},
year = {2017},
organization = {IEEE},
pages = {2532--2539},
}

The International Conference on Robotics and Automation (ICRA), Singapore, 2017 Placeholder image
R. Senanayake, L. Ott, S. O'Callaghan, and F. Ramos Spatio-Temporal Hilbert Maps for Continuous Occupancy Representation in Dynamic Environment


@inproceedings{senanayake2016spatio,
author = {Senanayake, Ransalu and Ott, Lionel and O'Callaghan, Simon and Ramos, Fabio T},
title = {Spatio-temporal hilbert maps for continuous occupancy representation in dynamic environments},
booktitle = {Advances in Neural Information Processing Systems},
year = {2016},
pages = {3925--3933},
}

30th Annual Conference on Neural Information Processing Systems (NeurIPS), Barcelona, 2016 Placeholder image
R. Senanayake, S. O'Callaghan, and F. Ramos Predicting Spatio‚ÄźTemporal Propagation of Seasonal Influenza using Variational Gaussian Process Regression


@inproceedings{senanayake2016predicting,
author = {Senanayake, Ransalu and O'Callaghan, Simon and Ramos, Fabio},
title = {Predicting spatio-temporal propagation of seasonal influenza using variational Gaussian process regression},
booktitle = {Thirtieth AAAI Conference on Artificial Intelligence (AAAI)},
year = {2016},
pages = {},
}

30th AAAI Conference on Artificial Intelligence (AAAI), Phoenix, 2016 Placeholder image
R. Senanayake and R. Goonetilleke Pointing device performance in steering tasks


@Article{senanayake2016pointing,
author = {Senanayake, Ransalu and Goonetilleke, Ravindra S},
title = {Pointing device performance in steering tasks},
journal = {Perceptual and motor skills},
year = {2016},
volume = {122},
number = {3},
pages = {886--910},
}

Perceptual and Motor Skills, 2016 Placeholder image
A. Ravendran, R. de Silva, and R. Senanayake Moment Invariant Features for Automatic Identification of Critical Malaria Parasites


@inproceedings{ravendran2015moment,
author = {Ravendran, Ahalya and de Silva, KWT Roshali T and Senanayake, Ransalu},
title = {Moment invariant features for automatic identification of critical malaria parasites},
booktitle = {2015 IEEE 10th International Conference on Industrial and Information Systems (ICIIS)},
year = {2015},
organization={IEEE},
pages = {474--479},
}

10th IEEE International Conference on Industrial and Information Systems, Peradeniya, 2015 Placeholder image
R. Senanayake and R. Goonetilleke Targeted-Tracking With Pointing Devices


@Article{senanayake2015targeted,
author = {Senanayake, Ransalu and Goonetilleke, Ravindra S and Hoffmann, Errol R},
title = {Targeted-tracking with pointing devices},
booktitle = {IEEE Transactions on Human-Machine Systems},
year = {2015},
volume = {45},
number = {4},
pages = {431--441},
}

IEEE Transactions on Human-Machine Systems, 2015 Placeholder image
R. Senanayake, E. Hoffmann, and R. Goonetilleke A Model for Combined Targeting and Tracking Tasks in Computer Applications


@Article{senanayake2013model,
author = {Senanayake, Ransalu and Hoffmann, Errol R and Goonetilleke, Ravindra S},
title = {A model for combined targeting and tracking tasks in computer applications},
journal = {Experimental brain research},
year = {2013},
volume = {231},
number = {3},
pages = {367--379},
publisher = {Springer},
}

Experimental Brain Research, 2013 Placeholder image
R. Senanayake and R. Goonetilleke Superiority of Freehand Pointing


@inproceedings{senanayake2013superiority,
author = {Senanayake, Ransalu and Goonetilleke, Ravindra S},
title = {Superiority of freehand pointing},
booktitle = {Proceedings of the Human Factors and Ergonomics Society Annual Meeting},
year = {2013},
volume = {57},
number = {1},
pages = {1639--1642},
organization={SAGE Publications Sage CA: Los Angeles, CA},
}

57th Annual Meeting of the Human Factors and Ergonomic Society (HFES), San Diego, 2013 Placeholder image
R. Senanayake and R. Goonetilleke Setting that Mouse for Tracking Tasks


@inproceedings{senanayake2013setting,
author = {Senanayake, Ransalu and Goonetilleke, Ravindra S},
title = {Setting that mouse for tracking tasks},
booktitle = {International Conference on Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management},
year = {2013},
organization = {Springer},
pages = {276--281},
}

15th International Conference on Human-Computer Interaction (HCII), Las Vegas, 2013 Placeholder image
A. de Silva, M, Wijesundara, and R. Senanayake Computer Controlled Digital Microscope with Photomicrograph Enhancement


@inproceedings{silva2013computer,
author = {Silva, Agampodi Dumindu N and Wijesundara, Malitha N and Senanayake, Ransalu},
title = {Computer controlled digital microscope with photomicrograph enhancement},
booktitle = {2013 International Conference of Information and Communication Technology (ICoICT)},
year = {2013},
organization = {IEEE},
pages = {44--47},
}

Proceedings of the IEEE International Conference on Information and Communication Technology, Bandung, 2013 Placeholder image
R. Senanayake and S. Kumarawadu A Robust Vision-based Hand Gesture Recognition System for Appliance Control in Smart Homes


@inproceedings{senanayake2012robust,
author = {Senanayake, Ransalu and Kumarawadu, Sisil},
title = {A robust vision-based hand gesture recognition system for appliance control in smart homes},
booktitle = {2012 IEEE International Conference on Signal Processing, Communication and Computing (ICSPCC 2012)},
year = {2012},
organization = {IEEE},
pages = {760--763},
}

IEEE International Conference on Signal Processing, Communications and Computing, Hong Kong, 2012 Placeholder image
Authors Title Conference/Journal Illustration
A. Uwimana and R. Senanayake Out of Distribution Detection and Adversarial Attacks on Deep Neural Networks for Robust Medical Image Analysis


@Article{uwimana2021icml,
author = {Uwimana, Anisie and Senanayake, Ransalu},
title = {Out of Distribution Detection and Adversarial Attacks on Deep Neural Networks for Robust Medical Image Analysis},
journal = {Workshop on A Blessing in Disguise:The Prospects and Perils of Adversarial Machine Learning at the 38th International Conference on Machine Learning},
year = {2021},
volume = {},
pages = {},
}

Workshop on A Blessing in Disguise:The Prospects and Perils of Adversarial Machine Learning at the 38th International Conference on Machine Learning (ICML-AdvML), Virtual, 2021 Placeholder image
M. Itkina, B. Ivanovic, R. Senanayake, M. Kochenderfer, and M. Pavone Evidential Disambiguation of Latent Multimodality in Conditional Variational Autoencoders


@Article{Carlberg2019,
author = {},
title = {},
journal = {},
year = {2019},
volume = {},
pages = {105--124},
}

Workshop on Bayesian Deep Learning at the 33rd Annual Conference on Neural Information Processing Systems (NeurIPS-BDL), Vancouver, 2019 Placeholder image
A. Tompkins, R. Senanayake, and F. Ramos Parameter Optimal Transport for Robotic Mapping


@Article{Carlberg2019,
author = {},
title = {},
journal = {},
year = {2019},
volume = {},
pages = {105--124},
}

Workshop on Optimal Transport for Machine Learning at the 33rd Annual Conference on Neural Information Processing Systems (NeurIPS-OTML), Vancouver, 2019 Placeholder image
R. Senanayake, M. Toyungyernsub, M. Wang, M. Kochenderfer, and M. Schwager Directional Primitives for Uncertainty-Aware Motion Prediction in Urban Environments


@Article{Carlberg2019,
author = {},
title = {},
journal = {},
year = {2019},
volume = {},
pages = {105--124},
}

Workshop on Scene and Situation Understanding for Autonomous Driving at the Robotics: Science and Systems (R:SS-UAD), Germany, 2019 Placeholder image
Tomas Vintr, et al. Spatio-temporal Representation of Time-varying Pedestrian Flows


@Article{Carlberg2019,
author = {},
title = {},
journal = {},
year = {2019},
volume = {},
pages = {105--124},
}

Workshop on Long-term Human Motion Prediction at the International Conference on Robotics and Automation (ICRA-LHMP), Montreal, 2019 Placeholder image
W. Zhi, R. Senanayake, L. Ott, and F. Ramos Spatiotemporal Learning of Directional Uncertainty in Urban Environments


@Article{Carlberg2019,
author = {},
title = {},
journal = {},
year = {2019},
volume = {},
pages = {105--124},
}

Workshop on Long-term Human Motion Prediction at the International Conference on Robotics and Automation (ICRA-LHMP), Montreal, 2019 Placeholder image
A. Tompkins, R. Senanayake, and F. Ramos Gray-box probabilistic occupancy mapping


@Article{Carlberg2019,
author = {},
title = {},
journal = {},
year = {2019},
volume = {},
pages = {105--124},
}

Workshop on Machine Learning for Intelligent Transportation Systems at the 32nd Annual Conference on Neural Information Processing Systems (NeurIPS-MLITS), Montreal, 2019 Placeholder image
R. Senanayake and F. Ramos Probabilistic Dynamic Maps for Path Planning


@Article{Carlberg2019,
author = {},
title = {},
journal = {},
year = {2019},
volume = {},
pages = {105--124},
}

Robotics: Science and Systems (R:SS) Pioneers, Pittsburgh, 2018 Placeholder image
R. Senanayake, T. Ganegedara, and F. Ramos Deep Occupancy Maps: a continuous occupancy mapping technique for dynamic environments


@Article{Carlberg2019,
author = {},
title = {},
journal = {},
year = {2019},
volume = {},
pages = {105--124},
}

Workshop on Machine Learning for Intelligent Transportation Systems at the 31st Annual Conference on Neural Information Processing Systems (NIPS-MLITS), Long Beach, 2017 Placeholder image
R. Senanayake and F. Ramos Bayesian Hilbert Maps for Continuous Occupancy Mapping in Dynamic Environments


@Article{Carlberg2019,
author = {},
title = {},
journal = {},
year = {2019},
volume = {},
pages = {105--124},
}

Workshop on Machine Learning for Autonomous Vehicles at the 34th International Conference on Machine Learning (ICML-MLAV), Sydney, 2017 Placeholder image
R. Senanayake, S. O'Callaghan, and F. Ramos Mapping Occupancy of Dynamic Environments using Big Data Gaussian Process Classification


@Article{Carlberg2019,
author = {},
title = {},
journal = {},
year = {2019},
volume = {},
pages = {105--124},
}

Workshop on Machine Learning for Intelligent Transportation Systems at the 30th Annual Conference on Neural Information Processing Systems (NIPS-MLITS), Barcelona, 2016 Placeholder image