Publications
(* equal contributions)
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 | website | code
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 | website | code
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 | website | code
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
Data-Driven Safe Learning and Control with Safety Certificates
Haitong Ma, Yujie Yang, Wenjun Zou, Guojian Zhan, Zhilong Zheng, Jingliang Duan, Bin Shuai, Chen Chen, Shengbo Eben Li
Reference Module in Materials Science and Materials Engineering, 2024
paper
Belief state separated reinforcement learning for autonomous vehicle decision making under uncertainty
Ziqing Gu, Yujie Yang, Jingliang Duan, Shengbo Eben Li, Jianyu Chen, Wenhan Cao, Sifa Zheng
IEEE International Intelligent Transportation Systems Conference (ITSC), 2021
paper
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 | website | code
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 | website | code
CIDC: A Flexible Formation Control Framework for Intelligent Connected Vehicles
Jiaxin Gao, Shaosong Li, Yao Lyu, Yuxuan Jiang, Guojian Zhan, Yujie Yang, Yuming Yin, Mingming Wang, Shengbo Eben Li
IEEE Transactions on Intelligent Vehicles (T-IV), 2024
paper
Feasible Policy Iteration
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