Benjamin Sapp

Researcher, Waymo

Joined

February 2020

Names

Benjamin Sapp (Preferred)

Emails

****@google.com (Confirmed)

****@gmail.com (Confirmed)

****@waymo.com (Confirmed)

****@seas.upenn.edu (Confirmed)

Personal Links

Google Scholar

DBLP

Career & Education History

Researcher

Waymo (waymo.com)

2018 – Present

Researcher

Zoox (zoox.com)

2015 – 2018

Researcher

Google (google.com)

2012 – 2015

PhD student

University of Pennsylvania (upenn.edu)

2007 – 2012

MS student

Stanford University (stanford.edu)

2005 – 2007

Undergrad student

University of Illinois, Urbana-Champaign (uiuc.edu)

2001 – 2005

Advisors, Relations & Conflicts

Coauthor

Dragomir Anguelov

Present

Expertise

Foundation models

2023 – Present

Autonomous Vehicles

2016 – Present

Motion Forecasting

2016 – Present

Robotic Planning

2016 – Present

Publications

EMMA: End-to-End Multimodal Model for Autonomous Driving
Jyh-Jing Hwang, Runsheng Xu, Hubert Lin, Wei-Chih Hung, Jingwei Ji, Kristy Choi, Di Huang, Tong He, Paul Covington, Benjamin Sapp, Yin Zhou, James Guo, Dragomir Anguelov, Mingxing Tan
- Accepted by TMLR
- Readers: Everyone
Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios
Yiren Lu, Justin Fu, George Tucker, Xinlei Pan, Eli Bronstein, Rebecca Roelofs, Benjamin Sapp, Brandyn White, Aleksandra Faust, Shimon Whiteson, Dragomir Anguelov, Sergey Levine
- 25 May 2023
- OpenReview Archive Direct Upload
- Readers: Everyone
Waymax: An Accelerated, Data-Driven Simulator for Large-Scale Autonomous Driving Research
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 et al. (2 additional authors not shown)
- NeurIPS 2023 Datasets and Benchmarks Poster
- Readers: Everyone
VN-Transformer: Rotation-Equivariant Attention for Vector Neurons
Serge Assaad, Carlton Downey, Rami Al-Rfou', Nigamaa Nayakanti, Benjamin Sapp
- Accepted by TMLR
- Readers: Everyone
CausalAgents: A Robustness Benchmark for Motion Forecasting Using Causal Relationships
Rebecca Roelofs, Liting Sun, Benjamin Caine, Khaled S. Refaat, Benjamin Sapp, Scott Ettinger, Wei Chai
- Published: 01 Feb 2023, Last Modified: 14 Jan 2026
- Submitted to ICLR 2023
- Readers: Everyone
JFP: Joint Future Prediction with Interactive Multi-Agent Modeling for Autonomous Driving
Wenjie Luo, Cheol Park, Andre Cornman, Benjamin Sapp, Dragomir Anguelov
- Published: 10 Sept 2022, Last Modified: 05 May 2023
- CoRL 2022 Poster
- Readers: Everyone
Narrowing the coordinate-frame gap in behavior prediction models: Distillation for efficient and accurate scene-centric motion forecasting
DiJia Andy Su, Bertrand Douillard, Rami Al-Rfou, Cheol Park, Benjamin Sapp
- 2022 (modified: 09 Nov 2022)
- ICRA 2022
- Readers: Everyone
MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction
Balakrishnan Varadarajan, Ahmed Hefny, Avikalp Srivastava, Khaled S. Refaat, Nigamaa Nayakanti, Andre Cornman, Kan Chen, Bertrand Douillard, Chi-Pang Lam, Dragomir Anguelov, Benjamin Sapp
- 2022 (modified: 09 Nov 2022)
- ICRA 2022
- Readers: Everyone
Wayformer: Motion Forecasting via Simple & Efficient Attention Networks
Nigamaa Nayakanti, Rami Al-Rfou, Aurick Zhou, Kratarth Goel, Khaled S. Refaat, Benjamin Sapp
- 2022 (modified: 09 Nov 2022)
- CoRR 2022
- Readers: Everyone
Occupancy Flow Fields for Motion Forecasting in Autonomous Driving
Reza Mahjourian, Jinkyu Kim, Yuning Chai, Mingxing Tan, Benjamin Sapp, Dragomir Anguelov
- 2022 (modified: 09 Nov 2022)
- CoRR 2022
- Readers: Everyone

View all 50 publications

Co-Authors

View all 128 co-authors