Publications

Yang Guan (2022). Integrated Decision and Control of Automated Vehicles and Its Training by Mixed Reinforcement Learning. Dissertation of Tsinghua University.

Yang Guan*, Liye Tang*, Chuanxiao Li, Shengbo Eben Li, Yangang Ren, Junqing Wei, Bo Zhang, Keqiang Li (2022). Integrated Decision and Control for High-Level Automated Vehicles by Mixed Policy Gradient and Its Experiment Verification. In IEEE Trans. Industr. Inform. (under review).

Project Project

Jianyu Chen, Jingliang Duan, Yang Guan, Qi Sun, Yuming Yin, Shengbo Eben Li (2022). Self-learning Decision and Control for Highly Automated Vehicles. In book: AI-enabled Technologies for Autonomous and Connected Vehicles, Springer.

Source Document DOI

Jiaxin Gao*, Yang Guan*, Wenyu Li, Shengbo Eben Li, Fei Ma, Jianfeng Zheng, Junqing Wei, Bo Zhang, Keqiang Li (2022). Beyond Backpropagate Through Time: Efficient Model-Based Training Through Time-Splitting. In Int. J. Intell. Syst. (IF=10.3).

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Baiyu Peng, Jingliang Duan, Jianyu Chen, Shengbo Eben Li, Genjin Xie, Congsheng Zhang, Yang Guan, Yao Mu, Enxin Sun (2022). Model-Based Chance-Constrained Reinforcement Learning via Separated Proportional-Integral Lagrangian. In IEEE Trans. Neural. Netw. Learn. Syst. (IF=14.2).

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Yang Guan, Yangang Ren, Qi Sun, Shengbo Eben Li, Haitong Ma, Jingliang Duan, Yifan Dai, Bo Cheng (2022). Integrated Decision and Control: Toward Interpretable and Efficient Driving Intelligence. In IEEE Trans. Cybern. (IF=19.1).

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Jianhua Jiang, Yangang Ren, Yang Guan, Shengbo Eben Li, Yuming Yin, Dongjie Yu, Xiaoping Jin (2022). Integrated Decision and Control at Multi-Lane Intersections with Mixed Traffic Flow. In ICoIV 2021 (Best Student Paper).

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Baiyu Peng, Yao Mu, Yang Guan, Shengbo Eben Li, Yuming Yin, Jianyu Chen (2021). Model-Based Actor-Critic with Chance Constraint for Stochastic System. In IEEE CDC.

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Haitong Ma, Jianyu Chen, Shengbo Eben Li, Ziyu Lin, Yang Guan, Yangang Ren, Sifa Zheng (2021). Model-based Constrained Reinforcement Learning using Generalized Control Barrier Function. In IEEE/RSJ IROS.

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Yang Guan*, Yangang Ren*, Haitong Ma, Shengbo Eben Li, Qi Sun, Yifan Dai, Bo Cheng (2021). Learn Collision-Free Self-Driving Skills at Urban Intersections with Model-Based Reinforcement Learning. In IEEE ITSC (Best Student Paper).

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Jingliang Duan, Yangang Ren, Fawang Zhang, Yang Guan, Dongjie Yu, Shengbo Eben Li, Bo Cheng, Lin Zhao (2021). Encoding Distributional Soft Actor-Critic for Autonomous Driving in Multi-lane Scenarios. In IEEE Trans. Neural. Netw. Learn. Syst. (under review).

Preprint

Baiyu Peng, Yao Mu, Jingliang Duan, Yang Guan, Shengbo Eben Li, Jianyu Chen (2021). Separated Proportional-Integral Lagrangian for Chance Constrained Reinforcement Learning. In IEEE IV (Best Student Paper Finalists).

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Jingliang Duan*, Yang Guan*, Shengbo Eben Li, Yangang Ren, Qi Sun, Bo Cheng (2021). Distributional Soft Actor-Critic: Off-Policy Reinforcement Learning for Addressing Value Estimation Errors. In IEEE Trans. Neural. Netw. Learn. Syst. (IF=14.2).

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Haitong Ma, Yang Guan, Shengbo Eben Li, Xiangteng Zhang, Sifa Zheng, Jianyu Chen (2021). Feasible Actor-Critic: Constrained Reinforcement Learning for Ensuring Statewise Safety. In Arxiv.

Preprint Code Project Video

Yiting Kong*, Yang Guan*, Jingliang Duan, Shengbo Eben Li, Qi Sun, Bingbing Nie (2021). Decision-Making under On-Ramp Merge Scenarios by Distributional Soft Actor-Critic Algorithm. In IEEE Trans. Intell. Veh. (under review).

Preprint Project Video

Kaiming Tang, Shengbo Eben Li, Yuming Yin, Yang Guan, Jingliang Duan, Wenhan Cao, Jie Li (2021). Approximate Optimal Filter for Linear Gaussian Time-invariant Systems. In Arxiv.

Preprint

Yuhang Zhang, Yao Mu, Yujie Yang, Yang Guan, Shengbo Eben Li, Qi Sun, Jianyu Chen (2021). Steadily Learn to Drive with Virtual Memory. In Arxiv.

Preprint

Yang Guan, Jingliang Duan, Shengbo Eben Li, Jie Li, Jianyu Chen, Bo Cheng (2021). Mixed Policy Gradient. In IEEE Trans. Neural. Netw. Learn. Syst. (under review).

Preprint Code Project

Yang Guan, Shengbo Eben Li, Jingliang Duan, Jie Li, Yangang Ren, Bo Cheng (2020). Direct and Indirect Reinforcement Learning. In Int. J. Intell. Syst. (Cover Paper).

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Yang Guan, Yangang Ren, Shengbo Eben Li, Qi Sun, Laiquan Luo, Keqiang Li (2020). Centralized Cooperation for Connected and Automated Vehicles at Intersections by Proximal Policy Optimization. In IEEE Trans. Veh. Technol. (Top Journal in Intelligent Vehicles).

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Yangang Ren, Jingliang Duan, Shengbo Eben Li, Yang Guan, Qi Sun (2020). Improving Generalization of Reinforcement Learning with Minimax Distributional Soft Actor-Critic. In IEEE ITSC (Best Student Paper).

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Jie Li, Shengbo Eben Li, Yang Guan, Jingliang Duan, Wenyu Li, Yuming Yin (2020). Ternary Policy Iteration Algorithm for Nonlinear Robust Control. In IEEE Trans. Automat. Control. (under review).

Preprint

Jingliang Duan, Shengbo Eben Li, Yang Guan, Qi Sun, Bo Cheng (2020). Hierarchical Reinforcement Learning for Self-Driving Decision-Making without Reliance on Labeled Driving Data. In IET Intell. Transp. Syst..

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Long Xin, Yiting Kong, Shengbo Eben Li, Jianyu Chen, Yang Guan, Masayoshi Tomizuka, Bingbing Nie (2020). Enable Faster and Smoother Spatio-Temporal Trajectory Planning for Autonomous Vehicles in Constrained Dynamic Environment. In Proc. Inst. Mech. Eng. D: J. Automob. Eng..

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Shengbo Eben Li, Yang Guan, Lian Hou, Hongbo Gao, Jingliang Duan, Shuang Liang, Yu Wang, Bo Cheng, Keqiang Li, Wei Ren, Jun Li (2019). Key Technique of Deep Neural Network and Its Applications in Autonomous Driving. In J. Automot. Safety Energy..

PDF DOI

Yang Guan, Shengbo Eben Li, Jingliang Duan, Wenjun Wang, Bo Cheng (2018). Markov Probabilistic Decision Making of Self-Driving Cars in Highway with Random Traffic Flow: A Simulation Study. In J. Intell. Connect. Veh..

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