About Me

I am a Ph.D. student at Intelligent Driving Lab (iDLab), School of Vehicle and Mobility, Tsinghua University, where I am fortunate to be advised by Prof. Shengbo Eben Li and Prof. Bo Cheng. During my Ph.D., I spent wonderful time as a visiting student at Carnegie Mellon University, working with Prof. Changliu Liu. Prior to that, I received my B.E. degree from the School of Vehicle and Mobility, Tsinghua University in 2021. My research lies in safe reinforcement learning theories, algorithms, and applications to autonomous driving and robotics.

News

• 2026.02   Our paper: On the Equilibrium between Feasible Zone and Uncertain Model in Safe Exploration is accepted by IEEE T-PAMI!
• 2026.01   Our paper: Breaking safety paradox with feasible dual policy iteration is accepted by ICLR 2026!

Selected Publications

A full list of publications can be found on my Google Scholar page.
(* denotes equal contribution)

On the Equilibrium Between Feasible Zone and Uncertain Model in Safe Exploration

Yujie Yang*, Zhilong Zheng*, Shengbo Eben Li

IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2026

Paper

Synthesizing Control Barrier Functions with Feasible Region Iteration for Safe Reinforcement Learning

Yujie Yang, Yuhang Zhang, Wenjun Zou, Jianyu Chen, Yuming Yin, Shengbo Eben Li

IEEE Transactions on Automatic Control (T-AC), 2023

Paper  |  Code  |  Website

Breaking Safety Paradox with Feasible Dual Policy Iteration

Yujie Yang*, Jinglin Teh*, Ziyu Lin, Kaicheng Yu, Tao Zhang, Shengbo Eben Li

International Conference on Learning Representations (ICLR), 2026

Paper

Scalable Synthesis of Formally Verified Neural Value Function for Hamilton-Jacobi Reachability Analysis

Yujie Yang, Hanjiang Hu, Tianhao Wei, Shengbo Eben Li, Changliu Liu

Journal of Artificial Intelligence Research (JAIR), 2025

Paper  |  Code

The Feasibility of Constrained Reinforcement Learning Algorithms: A Tutorial Study

Yujie Yang*, Zhilong Zheng*, Shengbo Eben Li, Masayoshi Tomizuka, Changliu Liu

Foundations and Trends in Systems and Control (CAS Q1), 2026

Paper  |  Code  |  Website

Controllability Test for Nonlinear Datatic Systems

Yujie Yang*, Letian Tao*, Likun Wang, Shengbo Eben Li

Communications in Transportation Research (IF = 14.5), 2024

Paper  |  Code

Model-Free Safe Reinforcement Learning through Neural Barrier Certificate

Yujie Yang*, Yuxuan Jiang*, Yichen Liu, Jianyu Chen, Shengbo Eben Li

IEEE Robotics and Automation Letters (RA-L), 2023

Paper  |  Code  |  Website

Belief State Actor-Critic Algorithm from Separation Principle for POMDP

Yujie Yang, Yuxuan Jiang, Jianyu Chen, Shengbo Eben Li, Ziqing Gu, Yuming Yin, Qian Zhang, Kai Yu

American Control Conference (ACC), 2023

Paper

Learning POMDP Models with Similarity Space Regularization: A Linear Gaussian Case Study

Yujie Yang, Jianyu Chen, Shengbo Eben Li

Learning for Dynamics and Control Conference (L4DC), 2022

Paper

Feasible Policy Iteration with Guaranteed Safe Exploration

Yuhang Zhang*, Yujie Yang*, Shengbo Eben Li, Yao Lyu, Jingliang Duan, Zhilong Zheng, Dezhao Zhang

IEEE Transactions on Cybernetics (T-CYB), 2025

Paper

Feasible Reachable Policy Iteration

Shentao Qin*, Yujie Yang*, Yao Mu*, Jie Li, Wenjun Zou, Shengbo Eben Li, Jingliang Duan

International Conference on Machine Learning (ICML), 2024

Paper

Safe Model-Based Reinforcement Learning with an Uncertainty-Aware Reachability Certificate

Dongjie Yu*, Wenjun Zou*, Yujie Yang*, Haitong Ma, Li, Shengbo Eben Li, Yuming Yin, Jianyu Chen, Jingliang Duan

IEEE Transactions on Automation Science and Engineering (T-ASE), 2023

Paper  |  Code

Verifiable Safety Q-Filters via Hamilton-Jacobi Reachability and Multiplicative Q-Networks

Jiaxing Li*, Hanjiang Hu*, Yujie Yang*, Changliu Liu

IEEE Control Systems Letters (L-CSS), 2025

Paper

Rocket Landing Control with Random Annealing Jump Start Reinforcement Learning

Yuxuan Jiang, Yujie Yang, Zhiqian Lan, Guojian Zhan, Shengbo Eben Li, Qi Sun, Jian Ma, Tianwen Yu, Changwu Zhang

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, Oral), 2024

Paper

Verification of Neural Control Barrier Functions with Symbolic Derivative Bounds Propagation

Hanjiang Hu, Yujie Yang, Tianhao Wei, Changliu Liu

Conference on Robot Learning (CoRL), 2024

Paper  |  Code

Safe Reinforcement Learning with Dual Robustness

Zeyang Li, Chuxiong Hu, Yunan Wang, Yujie Yang, Shengbo Eben Li

IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2024

Paper

Safe Offline Reinforcement Learning with Feasibility-Guided Diffusion Model

Yinan Zheng*, Jianxiong Li*, Dongjie Yu, Yujie Yang, Shengbo Eben Li, Xianyuan Zhan, Jingjing Liu

International Conference on Learning Representations (ICLR), 2024

Paper  |  Code  |  Website

GOPS: A General Optimal Control Problem Solver for Autonomous Driving and Industrial Control Applications

Wenxuan Wang, Yuhang Zhang, Jiaxin Gao, Yuxuan Jiang, Yujie Yang, Zhilong Zheng, Wenjun Zou, Jie Li, Congsheng Zhang, Wenhan Cao, Genjin Xie, Jingliang Duan, Shengbo Eben Li

Communications in Transportation Research, 2023

Paper  |  Code  |  Website

Feasible Policy Iteration for Safe Reinforcement Learning

Yujie Yang*, Zhilong Zheng*, Shengbo Eben Li, Jingliang Duan, Jingjing Liu, Xianyuan Zhan, Ya-Qin Zhang

Preprint, 2024

Paper

Policy Bifurcation in Safe Reinforcement Learning

Wenjun Zou, Yao Lyu, Jie Li, Yujie Yang, Shengbo Eben Li, Jingliang Duan, Xianyuan Zhan, Jingjing Liu, Yaqin Zhang, Keqiang Li

Preprint, 2024

Paper  |  Code

On the Stability of Datatic Control Systems

Yujie Yang*, Zhilong Zheng*, Shengbo Eben Li

Preprint, 2024

Paper