Last updated: 2026-05-18 (auto-synced from OpenAlex)
Journal
- S. Wu, Q. Ge, J. Duan, G. Sartoretti, S. W. Li, L. Yao, G. Zhan, X. Zhang, S. Zheng, "Real-time distributed predictive control of connected vehicles by neural approximation," Transportation Research Part C Emerging Technologies, 2026.
- X. Cao, Y. Zhang, S. Wu, C. Zou, M. Guo, F. Ma, L. Zheng, L. Gao, J. Duan, "iLQR-based hierarchical trajectory tracking control for underground articulated vehicles," Tunnelling and Underground Space Technology, 2026.
- L. Chen, X. Song, J. Zhao, W. Wang, Y. Wang, L. Xiao, S. E. Li, F. Ma, J. Duan, "A smooth reinforcement learning method for trajectory tracking and collision avoidance of wheeled vehicle," Expert Systems with Applications, 2026.
- S. Wu, J. Wu, X. Cao, F. Zhang, G. Yu, J. Zhao, Y. Qu, F. Ma, J. Duan, "Transformer-based explicit model predictive control with variable prediction horizon," Engineering Applications of Artificial Intelligence, 2026.
- Y. Ren, G. Zhan, S. X. Li, J. Duan, Y. Lyu, Y. Guan, K. Li, "Learn a Robust Policy for Real-World Driving With Adversarial Reinforcement Learning," IEEE Transactions on Intelligent Vehicles, 2026.
- J. Wu, W. Zou, Y. Ma, H. Yan, J. Zhao, Y. Wang, S. W. Li, J. Duan, "DIK: A Diffusion Inverse Kinematics Method of Robot Manipulators," IEEE/ASME Transactions on Mechatronics, 2026.
- H. Yan, Y. Qu, R. Li, W. Li, H. Chu, J. Zhao, G. Yu, F. Ma, S. E. Li, J. Duan, "Hierarchical MPC-based safe shared control for forward collision avoidance in collaborative driving," Control Engineering Practice, 2025.
- Z. Zhu, H. Liu, W. Wang, J. Duan, H. Zhao, J. Ma, "Diffeomorphism-Transformed Iterative Linear Quadratic Regulator for Constrained Motion Planning in Autonomous Driving," IEEE Transactions on Intelligent Transportation Systems, 2025.
- L. Chen, Z. Wang, T. Zhang, W. Wang, X. Sun, J. Duan, Y. Gao, Z. An, L. Zhao, "Comparative Analysis of Uncertainty Quantification Models in Deep Learning for Dose Prediction of Radiotherapy," International Journal of Radiation Oncology*Biology*Physics, 2025.
- L. Chen, Z. Wang, T. Zhang, W. Wang, X. Sun, J. Duan, Y. Gao, Z. An, L. Zhao, "PTU: A Pyramid Transformer Learning Framework with Low-Rank Approximation for Voxel-Level Dose Prediction of Radiotherapy," International Journal of Radiation Oncology*Biology*Physics, 2025.
- J. Li, L. Tao, W. Zou, Y. Zhang, B. Shuai, J. Duan, S. E. Li, H. Sun, Y. Wang, Y. Gao, Y. Heng, A. Jiang, "Towards robust motion control in multi-source uncertain scenarios by robust policy iteration," Communications in Transportation Research, 2025. Download
- G. Zhan, X. An, Y. Jiang, J. Duan, H. Zhao, S. E. Li, "Physics Informed Neural Pose Estimation for Real-Time Shape Reconstruction of Soft Continuum Robots," IEEE Robotics and Automation Letters, 2025.
- X. Zhang, Y. Lyu, S. E. Li, J. Duan, G. Zhan, C. Liu, B. Cheng, K. Li, "Understanding Connection Between PMP and HJB Equations from the Perspective of Hamilton Dynamics," IEEE Transactions on Artificial Intelligence, 2025.
- Y. Zhang, Y. Yang, S. E. Li, Y. Lyu, J. Duan, Z. Zheng, D. Zhang, "Feasible Policy Iteration With Guaranteed Safe Exploration," IEEE Transactions on Cybernetics, 2025.
- Y. Ren, Y. Lyu, W. Wang, S. E. Li, Z. Li, J. Duan, "Smooth policy iteration for zero-sum Markov Games," Neurocomputing, 2025.
- J. Duan, W. Wang, L. Xiao, J. Gao, S. E. Li, C. Liu, Y. Zhang, B. Cheng, K. Li, "Distributional Soft Actor-Critic With Three Refinements," IEEE Transactions on Pattern Analysis and Machine Intelligence, 2025. (arXiv: 2310.05858)
- F. Zhang, J. Duan, H. Liu, X. Cao, S. Nie, C. Guo, Y. Xie, J. Ma, S. Wang, "Tractor Semi-Trailer Off-Tracking and Stability Approximate Bi-Level Policy Optimization," IEEE Transactions on Automation Science and Engineering, 2025.
- Y. Lyu, X. Zhang, S. E. Li, J. Duan, L. Tao, Q. Xu, L. He, K. Li, "Conformal Symplectic Optimization for Stable Reinforcement Learning," IEEE Transactions on Neural Networks and Learning Systems, 2024. (arXiv: 2412.02291) Download
- W. Li, J. Geng, Y. Cheng, L. Tang, J. Duan, F. Duan, S. E. Li, "Real-Time Resilient Tracking Control for Autonomous Vehicles Through Triple Iterative Approximate Dynamic Programming," IEEE Transactions on Intelligent Transportation Systems, 2024.
- W. Wang, J. Duan, X. Song, L. Xiao, L. Chen, Y. Wang, B. Cheng, S. E. Li, "Smooth Filtering Neural Network for Reinforcement Learning," IEEE Transactions on Intelligent Vehicles, 2024.
- F. Zhang, J. Duan, H. Xu, H. Chen, H. Liu, S. Nie, S. E. Li, "Inverse Model Predictive Control: Learning Optimal Control Cost Functions for MPC," IEEE Transactions on Industrial Informatics, 2024.
- J. Duan, Y. Kong, C. Jiao, Y. Guan, S. E. Li, C. Chen, B. Nie, K. Li, "Distributional Soft Actor-Critic for Decision-Making in On-Ramp Merge Scenarios," Automotive Innovation, 2024.
- L. Xiao, Y. Lyu, F. Zhang, L. Chen, G. Yu, S. E. Li, F. Ma, J. Duan, "Multi-Style Distributional Soft Actor-Critic: Learning a Unified Policy for Diverse Control Behaviors," IEEE Transactions on Intelligent Vehicles, 2024.
- J. Duan, Y. Jiang, S. E. Li, T. Liu, X. Song, L. Wang, W. Wang, Y. Wang, J. Wu, X. Liming, W. Zou, "Diffusion Actor-Critic with Entropy Regulator," Advances in Neural Information Processing Systems 37, 2024. (arXiv: 2405.15177)
- Z. Gao, Y. Mu, C. Chen, J. Duan, P. Luo, Y. Lu, S. E. Li, "Enhance Sample Efficiency and Robustness of End-to-End Urban Autonomous Driving via Semantic Masked World Model," IEEE Transactions on Intelligent Transportation Systems, 2024.
- L. Gao, J. Zhao, J. Duan, S. Liu, F. Ma, "Reinforcement Learning Based Motion Control Method for Electrical-hydraulic Valve-Controlled System," IEEE/ASME Transactions on Mechatronics, 2024.
- J. Duan, Y. Ren, F. Zhang, J. Li, S. E. Li, Y. Guan, K. Li, "Encoding Distributional Soft Actor-Critic for Autonomous Driving in Multi-Lane Scenarios [Research Frontier]," IEEE Computational Intelligence Magazine, 2024.
- J. Duan, F. Zhang, Y. Yin, C. Jiao, G. Xie, C. Zhang, S. E. Li, Z. Xin, "Fuel-efficient predictive cruise control using the explicit MPC method for commercial vehicles," International Journal of Vehicle Design, 2024. Download
- J. Duan, Y. Ren, F. Zhang, J. Li, S. E. Li, Y. Guan, and K. Li, “Encoding Distributional Soft Actor-Critic for Autonomous Driving in Multi-Lane Scenarios,” IEEE Computational Intelligence Magazine, 2023. Download
- Y. Qu, H. Chu, S. Gao, J. Guan, H. Yan, L. Xiao, S. E. Li, and J. Duan, “RL-driven MPPI: Accelerating Online Control Laws Calculation with Offline Policy,” IEEE Transactions on Intelligent Vehicles, 2023. Download
- J. Duan, J. Li, X. Chen, K. Zhao, S. E. Li, and L. Zhao, “Optimization Landscape of Policy Gradient Methods for Discrete-time Static Output Feedback,” IEEE Transactions on Cybernetics, 2023. Download
- J. Duan, W. Cao, Y. Zheng, and L. Zhao, “On the Optimization Landscape of Dynamic Output Feedback Linear Quadratic Control,” IEEE Transactions on Automatic Control, 2023. Download
- G. Ren, G. Zhan, L. Tang, S. E. Li, J. Jiang, K. Li, and J. Duan, “Improve generalization of driving policy at signalized intersections with adversarial learning,” vol. 152, pp. 104161–104161, Jul. 2023. Download
- 段京良, 陈良发, 王文轩, 焦春绚, 刘征宇, 马飞, 李升波. “智能汽车主动避撞工况的高实时预测控制” 汽车安全与节能学报, 2023, 14(5): 580-590. Download
- W. Wang, Y. Zhang, J. Gao, Y. Jiang, Y. Yang, Z. Zheng, W. Zou, J. Li, C. Zhang, W. Cao, G. Xie, J. Duan, S. E. Li, “GOPS: A general optimal control problem solver for autonomous driving and industrial control applications,” Communications in Transportation Research, vol. 3, p. 100096, Dec. 2023.
- J. Li, S. E. Li, J. Duan, Y. Lyu, W. Zou, Y. Guan, Y. Yin, “Relaxed Policy Iteration Algorithm for Nonlinear Zero-Sum Games with Application to H-infinity Control,” pp. 1–8, Jan. 2023. Download
- J. Duan, J. Li, Q. Ge, S. E. Li, M. Bujarbaruah, F. Ma, D. Zhang, “Relaxed Actor-Critic With Convergence Guarantees for Continuous-Time Optimal Control of Nonlinear Systems,” vol. 8, no. 5, pp. 3299–3311, May 2023. Download
- Z. Lin, J. Ma, J. Duan, S. E. Li, H. Ma, B. Cheng, T. H. Lee, “Policy Iteration Based Approximate Dynamic Programming Toward Autonomous Driving in Constrained Dynamic Environment,” IEEE Transactions on Intelligent Transportation Systems, pp. 1–11, 2023.
- D. Yu, W. Zou, Y. Yang, H. Ma, S. E. Li, J. Chen and J. Duan“Safe Model-Based Reinforcement Learning with an Uncertainty-Aware Reachability Certificate,” arXiv preprint arXiv:2210.07553, 2022. Download
- Z. Lin*, J. Duan*, S. E. Li, H. Ma, J. Li, J. Chen, B. Cheng, J. Ma, “Policy-Iteration-Based Finite-Horizon Approximate Dynamic Programming for Continuous-Time Nonlinear Optimal Control,” IEEE Transactions on Neural Networks and Learning Systems, pp. 1–13, Jan. 2022.
- Z. Gu, Y. Yin, S. E. Li, J. Duan, F. Zhang, S. Zheng, R. Yang, “Integrated eco-driving automation of intelligent vehicles in multi-lane scenario via model-accelerated reinforcement learning,” Transportation Research Part C, vol. 144, 103863, 2022.
- Y. Guan, Y. Ren, Q. Sun, S. E. Li, H. Ma, J. Duan, Y. Dai, B. Cheng, “Integrated Decision and Control: Toward Interpretable and Computationally Efficient Driving Intelligence,” IEEE Transactions on Cybernetics, pp. 1–15, 2022. Download
- B. Peng, J. Duan et al., “Model-Based Chance-Constrained Reinforcement Learning via Separated Proportional-Integral Lagrangian,” pp. 1–13, Jan. 2022. Download
- Z. Liu*, J. Duan*, W. Wang, S. E. Li, Y. Yin, Z. Lin, B. Cheng, “Recurrent Model Predictive Control: Learning an Explicit Recurrent Controller for Nonlinear Systems,” vol. 69, no. 10, pp. 10437–10446, Oct. 2022. Download
- J. Duan, Z. Liu, Shengbo Eben Li, F. B. Hu, Z. Jia, and B. Cheng, “Adaptive dynamic programming for nonaffine nonlinear optimal control problem with state constraints,” vol. 484, pp. 128–141, May 2022. Download
- J. Duan et al., “Fixed-Dimensional and Permutation Invariant State Representation of Autonomous Driving,” IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 7, pp. 9518–9528, Jul. 2022. Download
- J. Duan, Y. Kong, C. Jiao, Y. Guan, S. E. Li, C. Chen, B. Nie, and K. Li,“Decision-making under on-ramp merge scenarios by distributional soft actor-critic algorithm,” arXiv preprint arXiv:2103.04535, 2021. Download
- Y. Ren, J. Jiang, G. Zhan, S. E. Li, C. Chen, K. Li, J. Duan, “Self-Learned Intelligence for Integrated Decision and Control of Automated Vehicles at Signalized Intersections,” IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 12, pp. 24145–24156, Nov. 2021. Download
- J. Duan, Y. Guan, S. E. Li, Y. Ren, Q. Sun, and B. Cheng, “Distributional Soft Actor-Critic: Off-Policy Reinforcement Learning for Addressing Value Estimation Errors,” IEEE Transactions on Neural Networks and Learning Systems, pp. 1–15, 2021. Download
- Y. Guan, S. E. Li, J. Duan, J. Li, Y. Ren, Q. Sun, B. Cheng, “Direct and indirect reinforcement learning,” International Journal of Intelligent Systems, vol. 36, no. 8, pp. 4439–4467, May 2021. Download
- Y. Ren, J. Jiang, J. Duan, S. E. Li, D. Yu, G. Zhan, "Encoding Integrated Decision and Control for Autonomous Driving with Mixed Traffic Flow.," 2021.
- Y. Guan, S. E. Li, J. Duan, J. Li, Y. Ren, Q. Sun, B. Cheng, "Cover: International Journal of Intelligent Systems, Volume 36 Issue 8 August 2021," International Journal of Intelligent Systems, 2021.
- J. Duan, S. Li, Y. Guan, Q. Sun, and B. Cheng, “Hierarchical Reinforcement Learning for Self-Driving Decision-Making without Reliance on Labeled Driving Data,” IET Intelligent Transport Systems, Jan. 2020. Download
- J. Duan, S. E. Li, Y. Guan, Q. Sun, B. Cheng, "Hierarchical reinforcement learning for self‐driving decision‐making without reliance on labelled driving data," IET Intelligent Transport Systems, 2020. (arXiv: 2001.09816) Download
- J. Duan, Y. Guan, Y. Ren, S. E. Li, B. Cheng, "Addressing Value Estimation Errors in Reinforcement Learning with a State-Action Return Distribution Function," 2020.
- L. Hou*, J. Duan*, W. Wang, R. Li, G. Li, B. Cheng, “Drivers’ Braking Behaviors in Different Motion Patterns of Vehicle-Bicycle Conflicts,” vol. 2019, pp. 1–17, Mar. 2019.
- 李升波, 关阳, 侯廉, 高洪波, 段京良, 梁爽, 汪玉, 成波, 李克强, 任伟,李骏. “深度神经网络的关键技术及其在自动驾驶领域的应用,” 汽车安全与节能学报, vol. 10, no. 2, pp. 119-145, 2019.
- Y. Guan, S. E. Li, J. Duan, W. Wang, B. Cheng, “Markov probabilistic decision making of self-driving cars in highway with random traffic flow: a simulation study,” Journal of Intelligent and Connected Vehicles, vol. 1, no. 2, pp. 77-84, 2018.
- J. Duan, R. Li, L. Hou, W. Wang, G. Li, S. E. Li, B. Cheng, H. Gao, “Driver braking behavior analysis to improve autonomous emergency braking systems in typical Chinese vehicle-bicycle conflicts,”Accident Analysis & Prevention, vol. 108, pp. 74–82, Nov. 2017.
- S. E. Li, Q. Guo, S. Xu, J. Duan, S. Li, C. Li, K. Su, “Performance enhanced predictive control for adaptive cruise control system considering road elevation information,” IEEE Transactions on Intelligent Vehicles, vol. 2, no. 3, pp. 150-160, 2017.
Conference Papers
- T. Zhang, P. Yuan, G. Zhan, Z. Lin, Y. Lyu, Z. Qin, J. Duan, L. Zhang, S. E. Li, "Predictive Lagrangian Optimization for Constrained Reinforcement Learning," 2025 IEEE 64th Conference on Decision and Control (CDC), 2025. (arXiv: 2501.15217)
- T. Liu, Y. Wang, X. Song, W. Zou, L. Chen, L. Wang, B. Shuai, J. Duan, C. Liu, "Distributional Soft Actor-Critic with Diffusion Policy," 2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), 2025.
- W. Zou, L. Tao, Y. Wang, X. Zhang, B. Shuai, J. Duan, S. X. Li, "Generative Reinforcement Learning for Multimodal Trajectory Planning in Autonomous Driving," 2025 9th CAA International Conference on Vehicular Control and Intelligence (CVCI), 2025.
- T. Liu, X. Song, Y. Wang, W. Zou, B. Shuai, H. Gao, W. He, J. Duan, S. E. Li, "Enhanced DACER Algorithm with Multimodal Q-value Distribution for Risk-Sensitive Stochastic Vehicle Environments," 2025 IEEE Intelligent Vehicles Symposium (IV), 2025.
- F. Zhang, G. Zhan, B. Shuai, T. Zhang, J. Duan, S. E. Li, "Distributional Soft Actor-Critic with Harmonic Gradient for Safe and Efficient Autonomous Driving in Multi-Lane Scenarios," 2025 IEEE Intelligent Vehicles Symposium (IV), 2025. (arXiv: 2505.13532)
- S. Wang, J. Duan, N. P. Lawrence, P. D. Loewen, M. G. Forbes, R. B. Gopaluni, L. Zhang, "Guiding Reinforcement Learning with Incomplete System Dynamics," 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. (arXiv: 2410.16821)
- Y. Ren, L. Tao, J. Duan, H. Li, B. Jiang, S. E. Li, "Driving at Realistic Urban Intersections with Adversarial Reinforcement Learning," 2024 IEEE International Automated Vehicle Validation Conference (IAVVC), 2024.
- H. Yan, H. Xu, H. Gao, F. Ma, S. E. Li, J. Duan*, “Integrated Drill Boom Hole-Seeking Control via Reinforcement Learning” 2023 IEEE International Conference on Unmanned System (ICUS), Hefei, China, 2023.
- X. Song, J. Duan, W. Wang, S. E. Li, C. Chen, B. Cheng, B. Zhang, J. Wei, X. S. Wang, “LipsNet: A Smooth and Robust Neural Network with Adaptive Lipschitz Constant for High Accuracy Optimal Control,” International Conference on Machine Learning (ICML), Hawaii, USA, 2023.
- G. Zhan, Y. Jiang, J. Duan, S. E. Li, B. Cheng, K. Li, “Continuous-Time Policy Optimization,” 2023 American Control Conference (ACC), San Diego, CA, USA, 2023.
- X. Chen, J. Duan, Y. Liang, L. Zhao, “Global Convergence of Two-timescale Actor-Critic for Solving Linear Quadratic Regulator,” Association for the Advancement of Artificial Intelligence (AAAI), San Antonio, TX, USA, 2023. Download
- Q. Ge, G. Sartoretti, J. Duan, S. E. Li, Y. Yin, S. Zheng, “Distributed Model Predictive Control of Connected Multi-Vehicle Systems at Unsignalized Intersections,” 2022 IEEE International Conference on Unmanned Systems (ICUS), Guangzhou, China, 2022.
- J. Duan, W. Cao, Y. Zheng, L. Zhao, “On the Optimization Landscape of Dynamic Output Feedback: A Case Study for Linear Quadratic Regulator,” 2022 IEEE International Conference on Decision and Control (CDC), Cancún, Mexico, 2022. Download
- W. Cao, J. Duan, S. E. Li, C. Chen, C. Liu, Y. Wang, “Primal-Dual Estimator Learning Method with Feasibility and Near-Optimality Guarantees,” 2022 IEEE International Conference on Decision and Control (CDC), Cancún, Mexico, 2022. Download
- J. Duan, J. Li, Z. Lin, “Optimization Landscape of Gradient Descent for Discrete-time Static Output Feedback,” 2022 American Control Conference (ACC), Atlanta, Georgia, USA, 2022. Download
- J. Duan, F. Zhang, S. E. Li, Y. Ren, B. Cheng, Z. Xin, “Applications of Distributional Soft Actor-Critic in Real-world Autonomous Driving,” 2022 IEEE International Conference on Computer, Control and Robotics (ICCCR), Shanghai, China, 2022.
- B. Zhao, X. Li, H. Li, C. Chen, Y. Ren, J. Duan, "Point Instance Segmentation Considering Feature Enhancement for Lane Detection," 2022 41st Chinese Control Conference (CCC), 2022.
- W. Cao, J. Chen, J. Duan, S. E. Li, Y. Lyu, Z. Gu, Y. Zhang, “Reinforced Optimal Estimator,” 2021 Modeling, Estimation and Control Conference (MECC), Austin, Texas, USA, 2021, pp. 366-373. Download
- Z. Gu, Y. Yang, J. Duan, S. E. Li, J. Chen, W. Cao, S. Zheng, “Belief State Separated Reinforcement Learning for Autonomous Vehicle Decision Making under Uncertainty,” 2021 IEEE International Conference on Intelligent Transportation Systems (ITSC), Indianapolis, IN, USA, 2021, pp. 586-592. Download
- B. Peng, Y. Mu, J. Duan, Y. Guan, S. E. Li, J. Chen, “Separated Proportional-Integral Lagrangian for Chance Constrained Reinforcement Learning,” 2021 IEEE Intelligent Vehicle Symposium (IV), Nagoya University, Nagoya, Japan, 2021. (Best Student Paper Award finalist) Download
- Z. Lin*, J. Duan*, S. E. Li, J. Li, H. Ma, Q. Sun, J. Chen, B. Cheng, “Solving Finite-horizon HJB for Optimal Control of Continuous-time Systems,” 2021 IEEE International Conference on Computer, Control and Robotics (ICCCR), Shanghai, Beijing, 2021. (* equal contributors)
- Y. Ren*, J. Duan*, S. E. Li, Y. Guan, Q. Sun, “Improving Generalization of Reinforcement Learning with Minimax Distributional Soft Actor-critic,” 2020 IEEE International Conference on Intelligent Transportation Systems (ITSC), Rhodes, Greece, 2020, pp. 1-6. (* equal contributors, Best Student Paper Award) Download
- L. Wen*, J. Duan*, S. E. Li, S. Xu, H. Peng, “Safe reinforcement learning for autonomous vehicles through parallel constrained policy optimization,” 2020 IEEE International Conference on Intelligent Transportation Systems (ITSC), Rhodes, Greece, 2020. (* equal contributors) Download
- Z. Lin*, J. Duan*, S. E. Li, H. Ma, Y. Yin, B. Cheng, “Continuous-time Finite-horizon ADP for Automated Vehicle Controller Design with High Efficiency,” 2020 IEEE International Conference on Unmanned Systems (ICUS), Harbin, China, 2020, 978-984. (* equal contributors, Best Paper Award) Download
- J. Duan, S. E. Li, B. Cheng, Y. Guan, Q. Sun, B. Cheng, “Hierarchical Reinforcement Learning for Decision Making of Self-Driving Cars without Reliance on Labeled Driving Data.,” 14th International Symposium on Advanced Vehicle Control, AVEC'18, Beijing, China, July 16-20, 2018, pp. 1-7. (Best Paper Award finalist) Download
Book Chapter
- J. Duan, W. Wang, Y. Lyu, X. Zhang, X. Song, L. Xiao, S. E. Li, "Reinforcement Learning for Industrial Control: From Toolkit Development to Practical Applications," Elsevier eBooks, 2025.
- H. Ma, Y. Yang, W. Zou, G. Zhan, Z. Zheng, J. Duan, B. Shuai, C. Chen, S. E. Li, "Data-Driven Safe Learning and Control with Safety Certificates," Elsevier eBooks, 2024.
- J. Chen, J. Duan, Y. Guan, Q. Sun, Y. Yin, and S. E. Li, “Self-learning Decision and Control for Highly Automated Vehicles,” Chapter 10 in book: AI-enabled Technologies for Autonomous and Connected Vehicles, pp. 307–330, Sep. 2022, doi: https://doi.org/10.1007/978-3-031-06780-8_11. Download
- S. E. Li, L. Xin, C. Liu, J. Duan, and S. E. Li, “Promoting connected and automated vehicles with cooperative sensing and control technology,” pp. 515–531, Sep. 2019, doi: https://doi.org/10.1049/pbtr025e_ch23. Chapter 23 in book: Cooperative Intelligent Transport Systems: Towards high-level automated driving, pp. 515-528, 2019, IET.
ArXiv Papers
- J. Duan, J. Li, Y. Ma, L. Tang, G. Li, L. Zhang, S. E. Li, L. Zhao, "On the Optimization Landscape of Observer-based Dynamic Linear Quadratic Control," arXiv preprint arXiv:arxiv.2604.10635, 2026. Download
- S. Liu, Z. He, G. Zhan, L. Tao, Z. Zheng, J. Wu, Y. Wang, Y. Guan, K. Sheng, B. Zhang, K. Li, J. Duan, S. E. Li, "STAPO: Stabilizing Reinforcement Learning for LLMs by Silencing Rare Spurious Tokens," arXiv preprint, 2026. Download
- Y. Guan, J. Li, J. Duan, J. Gao, Y. Ma, B. Cheng, S. E. Li, "Mixed Policy Gradient for Accelerated Reinforcement Learning with Performance Enhancement," arXiv preprint, 2026. Download
- G. Zhan, L. Wang, P. Wang, F. Zhang, J. Duan, M. Tomizuka, S. E. Li, "Mind Your Entropy: From Maximum Entropy to Trajectory Entropy-Constrained RL," arXiv preprint arXiv:arxiv.2511.11592, 2025. Download
- S. Wu, J. Wu, C. Xingyu, F. Zhang, G. Yu, J. Zhao, Y. Qu, F. Ma, J. Duan, "TransMPC: Transformer-based Explicit MPC with Variable Prediction Horizon," arXiv preprint arXiv:arxiv.2509.07381, 2025. Download
- Y. Wang, L. Wang, T. Mining, W. Zou, X. Song, W. Wang, T. Liu, G. Zhan, Z. Tianze, S. Liu, Z. He, F. Zhang, J. Duan, S. E. Li, "Enhanced DACER Algorithm with High Diffusion Efficiency," arXiv preprint arXiv:arxiv.2505.23426, 2025. Download
- F. Zhang, S. Wu, Y. Zhang, H. Liu, S. Nie, J. Duan, R. Liu, C. Xiang, "Off-Road Distributed-Drive Electric Vehicle Trajectory Tracking Control with Constrained Transformer Mpc," arXiv preprint, 2025. Download
- W. Zou, L. Yao, J. Li, Y. Yang, S. E. Li, J. Duan, X. Zhan, J. Liu, Y. Zhang, K. Li, "Policy Bifurcation in Safe Reinforcement Learning," arXiv preprint arXiv:arxiv.2403.12847, 2024. Download
- H. Yan, H. Xu, Y. Lyu, J. Wu, L. Gao, G. Li, J. Duan, F. Ma, "Safe Integrated Control of Drill Boom in Hole-Seeking Task Via Reinforcement Learning," arXiv preprint, 2024. Download
- X. Song, T. Liu, S. E. Li, J. Duan, W. Wang, K. Li, "Training Multi-layer Neural Networks on Ising Machine," arXiv preprint arXiv:arxiv.2311.03408, 2023. Download
- Y. Ren, Y. Lyu, W. Wang, S. E. Li, Z. Li, J. Duan, "Smoothing Policy Iteration for Zero-sum Markov Games," arXiv preprint arXiv:arxiv.2212.01623, 2022. Download
- W. Cao, J. Duan, S. E. Li, C. Chen, C. Liu, Y. Wang, "Primal-dual Estimator Learning: an Offline Constrained Moving Horizon Estimation Method with Feasibility and Near-optimality Guarantees," arXiv preprint arXiv:arxiv.2204.02857, 2022. Download
- Y. Guan, Y. Ren, S. E. Li, H. Ma, J. Duan, B. Cheng, "Integrated Decision and Control: Towards Interpretable and Efficient Driving Intelligence.," arXiv preprint, 2021. Download
- Y. Guan, Y. Ren, Q. Sun, S. E. Li, H. Ma, J. Duan, Y. Dai, B. Cheng, "Integrated Decision and Control: Towards Interpretable and Computationally Efficient Driving Intelligence," arXiv preprint arXiv:arxiv.2103.10290, 2021. Download
- K. Tang, S. E. Li, Y. Yin, Y. Guan, J. Duan, W. Cao, J. Li, "Approximate Optimal Filter for Linear Gaussian Time-invariant Systems," arXiv preprint arXiv:arxiv.2103.05505, 2021. Download
- Y. Guan, J. Duan, S. E. Li, J. Li, J. Chen, B. Cheng, "Mixed Policy Gradient.," arXiv preprint, 2021. Download
- Z. Liu, J. Duan, W. Wang, S. E. Li, Y. Yin, Z. Lin, Q. Sun, B. Cheng, "Recurrent Model Predictive Control," arXiv preprint arXiv:arxiv.2102.11736, 2021. Download
- Y. Guan, J. Duan, S. E. Li, J. Li, J. Chen, B. Cheng, "Mixed Policy Gradient: off-policy reinforcement learning driven jointly by data and model," arXiv preprint arXiv:arxiv.2102.11513, 2021. Download
- B. Peng, Y. Mu, J. Duan, Y. Guan, S. E. Li, J. Chen, "Separated Proportional-Integral Lagrangian for Chance Constrained\n Reinforcement Learning," arXiv preprint arXiv:arxiv.2102.08539, 2021. Download
- J. Li, S. E. Li, Y. Guan, J. Duan, W. Li, Y. Yin, "Ternary Policy Iteration Algorithm for Nonlinear Robust Control," arXiv preprint arXiv:arxiv.2007.06810, 2020. Download
- J. Duan, Z. Liu, S. E. Li, Q. Sun, Z. Jia, B. Cheng, "Deep adaptive dynamic programming for nonaffine nonlinear optimal control problem with state constraints," arXiv preprint, 2019. Download
- J. Duan, S. E. Li, Z. Liu, M. Bujarbaruah, B. Cheng, "Generalized Policy Iteration for Optimal Control in Continuous Time.," arXiv preprint, 2019. Download