Publications

You can also find my articles on my Google Scholar profile.

Learn a Safe and Efficient Model Predictive Controller with Lagrange Multiplier Neural Network

Published in ⚙️🧠 IEEE Transactions on Control Systems Technology (TCST) (Minor Revision), 2025

Guojian Zhan, Ziang Zheng, Feihong Zhang, Jingliang Duan, Shengbo Eben Li∗, Songan Zhang and H. Eric Tseng

Harmonic Constrained Reinforcement Learning

Published in 🧠 Neural Information Processing Systems (NeurIPS) (Under Review), 2025

Guojian Zhan, Feihong Zhang, Maanping Shao, Tianyi Zhang, Jingliang Duan, Shengbo Eben Li

Bootstrap Off-policy with World Model

Published in 🧠 Neural Information Processing Systems (NeurIPS) (Under Review), 2025

Guojian Zhan, Likun Wang, Xiangteng Zhang, Jiaxin Gao, Masayoshi Tomizuka, Shengbo Eben Li

Continuous-Time Policy Gradient

Published in ⚙️🧠 IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) (Under Review), 2025

Guojian Zhan, Jingliang Duan, Yuxuan Jiang, Feihong Zhang, Ziang Zheng, Shengbo Eben Li

Bicriteria Policy Optimization for High Accuracy Reinforcement Learning

Published in ⚙️🧠 IEEE Transactions on Neural Networks and Learning Systems (TNNLS) (Minor Revision), 2025

Guojian Zhan, Xiangteng Zhang, Feihong Zhang, Letian Tao, Shengbo Eben Li

Enhanced DACER Algorithm with High Diffusion Efficiency

Published in 🤖🧠 arXiv preprint:2505.23426, 2025

Yinuo Wang, Mining Tan, Wenjun Zou, Haotian Lin, Xujie Song, Wenxuan Wang, Tong Liu, Likun Wang, Guojian Zhan, Tianze Zhu, Shiqi Liu, Jingliang Duan, Shengbo Eben Li

Physics Informed Neural Pose Estimation for Real-Time Shape Reconstruction of Soft Continuum Robots

Published in 🤖⚙️ IEEE Robotics and Automation Letters (RAL), 2025

Guojian Zhan†, Xin An†, Yuxuan Jiang†, Jingliang Duan, Huichan Zhao, Shengbo Eben Li

Distributional Soft Actor-Critic with Harmonic Gradient for Safe and Efficient Autonomous Driving in Multi-lane Scenarios

Published in 🚗🧠 IEEE Intelligent Vehicle (IV), 2025

Feihong Zhang†, Guojian Zhan†, Bin Shuai, Tianyi Zhang, Jingliang Duan, Shengbo Eben Li

Understanding Connection between PMP and HJB Equations from the Perspective of Hamilton Dynamics

Published in ⚙️ IEEE Transactions on Artificial Intelligence (TAI), 2025

Xiangteng Zhang, Yao Lyu, Shengbo Eben Li, Jingliang Duan, Guojian Zhan, Chang Liu, Bo Cheng, Keqiang Li

Transferable Latent-to-Latent Locomotion Policy for Efficient and Versatile Motion Control of Diverse Legged Robots

Published in 🤖🧠 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Ziang Zheng†, Guojian Zhan†, Bin Shuai, Shengtao Qin, Jiangtao Li, Tao Zhang, Shengbo Eben Li

PODAR: A Collision Risk Model Offering Valid Signals for Vehicular Interactions

Published in 🚗 IEEE Intelligent Transportation Systems Magazine (ITSM), 2025

Chen Chen, Zhipeng Liu, Weiqiang Liang, Mingming Wang, Zhiqian Lan, Guojian Zhan, Yao Lyu, Bingbing Nie, Shengbo Eben Li

Predictive Lagrangian Optimization for Constrained Reinforcement Learning

Published in ⚙️🧠 arXiv preprint:2501.15217, 2025

Tianqi Zhang†, Puzhen Yuan†, Guojian Zhan†, Ziyu Lin, Yao Lyu, Zhenzhi Qin, Jingliang Duan, Liping Zhang, Shengbo Eben Li

Zeroth-Order Actor-Critic: An Evolutionary Framework for Sequential Decision Problems

Published in 🧠 IEEE Transactions on Evolutionary Computation (TEVC), 2025

Yuheng Lei, Yao Lyu, Guojian Zhan, Tao Zhang, Jiangtao Li, Jianyu Chen, Shengbo Eben Li, Sifa Zheng

An Explicit Discrete-Time Dynamic Vehicle Model with Assured Numerical Stability

Published in 🚗⚙️ Vehicle System Dynamics (VSD), 2024

Guojian Zhan, Qiang Ge, Haoyu Gao, Yuming Yin, Bin Zhao, Shengbo Eben Li

Rocket Landing Control with Random Annealing Jump Start Reinforcement Learning

Published in 🤖🧠 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

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

CIDC: A Flexible Formation Control Framework for Intelligent Connected Vehicles

Published in 🚗🧠 IEEE Transactions on Intelligent Vehicles (TIV), 2024

Jiaxin Gao, Shaosong Li, Yao Lyu, Yuxuan Jiang, Guojian Zhan, Yujie Yang, Yuming Yin, Mingming Wang, Shengbo Eben Li

Quantifying the Individual Differences of Drivers’ Risk Perception via Potential Damage Risk Model

Published in 🚗 IEEE Transactions on Intelligent Transportation Systems (TITS), 2024

Chen Chen, Zhiqian Lan, Guojian Zhan, Yao Lyu, Bingbing Nie, Shengbo Eben Li

Canonical Form of Datatic Description in Control Systems

Published in ⚙️🧠 American Control Conference (ACC), 2024

Guojian Zhan, Ziang Zheng, Shengbo Eben Li

A Transformation-Aggregation Framework for State Representation of Autonomous Driving Systems

Published in 🚗🧠 IEEE Transactions on Intelligent Transportation Systems (TITS), 2024

Guojian Zhan†, Yuxuan Jiang†, Shengbo Eben Li, Yao Lyu, Xiangteng Zhang, Yuming Yin

Continuous-Time Policy Optimization

Published in ⚙️🧠American Control Conference (ACC), 2024

Guojian Zhan, Yuxuan Jiang, Jingliang Duan, Shengbo Eben Li, Bo Cheng, Keqiang Li

Data-Driven Safe Learning and Control with Safety Certificates

Published in ⚙️🧠 Elsevier, 2024

Haitong Ma, Yujie Yang, Wenjun Zou, Guojian Zhan, Zhilong Zheng, Jingliang Duan, Bin Shuai, Chen Chen, Shengbo E Li

A Reinforcement Learning Benchmark for Autonomous Driving in General Urban Scenarios

Published in 🚗🧠 IEEE Transactions on Intelligent Transportation Systems (TITS), 2023

Yuxuan Jiang†, Guojian Zhan†, Zhiqian Lan, Chang Liu, Bo Cheng, Shengbo Eben Li

Enhance Generality by Model-based Reinforcement Learning and Domain Randomization

Published in 🚗🧠 CAA International Conference on Vehicular Control and Intelligence (CVCI), 2023

Guojian Zhan, Yao Lyu, Shengbo Eben Li, Yuxuan Jiang, Xiangteng Zhang, Letian Tao

Bridging the Gap between Newton-Raphson Method and Regularized Policy Iteration

Published in ⚙️🧠 arXiv preprint:2310.07211, 2023

Zeyang Li, Chuxiong Hu, Yunan Wang, Guojian Zhan, Jie Li, Shengbo Eben Li

Improve Generalization of Driving Policy at Signalized Intersections with Adversarial Learning

Published in 🚗🧠 Transportation Research Part C: Emerging Technologies (Part C), 2023

Yangang Ren†, Guojian Zhan†, Liye Tang, Shengbo Eben Li, Jianhua Jiang, Keqiang Li, Jingliang Duan

Languagempc: Large Language Models as Decision Makers for Autonomous Driving

Published in 🚗💬 arXiv preprint:2310.03026, 2023

Hao Sha, Yao Mu, Yiang Jiang, Guojian Zhan, Li Chen, Chenfeng Xu, Ping Luo, Shengbo Eben Li, Masayoshi Tomizuka, Wei Zhan, Mingyu Ding

Self-learned Intelligence for Integrated Decision and Control of Automated Vehicles at Signalized Intersections

Published in 🚗🧠 IEEE Transactions on Intelligent Transportation Systems (TITS), 2022

Yangang Ren†, Guojian Zhan†, Liye Tang, Shengbo Eben Li, Jianhua Jiang, Keqiang Li, Jingliang Duan