Last updated: 2026-09-28 (auto-synced from OpenAlex)

1. B. Shuai, M. Hua, L. Tao, Z. Zheng, Y. Yang, Y. Guan, L. He, J. Duan, J. Gao, S. Feng, X. Zhan, J. Yu, Y. Yu, H. Zhang, S. E. Li, "Recent Advances of Reinforcement Learning Algorithms for Autonomous Driving System," Communications in Transportation Research, 2026.    Download
2. Y. Guan, L. Xiao, B. Huang, G. Yu, X. Li, N. Wang, J. Duan, S. E. Li, "Beyond rule-based systems: Generalized nudge decision-making for autonomous robo-delivery via multi-task transformer learning," Transportation Research Part C Emerging Technologies, 2026.
3. Y. Zhao, J. Duan, S. E. Li, C. Liu, "Multi-agent reinforcement learning with beta distribution for thrust sampling in stochastic orbital pursuit-evasion games," Neurocomputing, 2026.
4. 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.
5. 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.
6. 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.
7. 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.
8. 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.
9. 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.
10. 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.
11. 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.
12. L. Chen, Z. Wang, T. Zhang, W. Wang, X. Sun, J. Duan, Y. J. 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.
13. J. Li, L. Tao, W. Zou, Y. Zhang, B. Shuai, J. Duan, S. E. Li, H. Sun, Y. Wang, Y. H. Gao, Y. Heng, A. Jiang, "Towards robust motion control in multi-source uncertain scenarios by robust policy iteration," Communications in Transportation Research, 2025.    Download
14. 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.
15. 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.
16. 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.
17. Y. Ren, Y. Lyu, W. Wang, S. E. Li, Z. Li, J. Duan, "Smooth policy iteration for zero-sum Markov Games," Neurocomputing, 2025.
18. 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)
19. 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.
20. L. Wang, X. Zhang, Y. Wang, G. Zhan, W. Wang, H. Gao, J. Duan, S. E. Li, "Off-policy Reinforcement Learning with Model-based Exploration Augmentation," Advances in Neural Information Processing Systems 38, 2025.
21. 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
22. 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.
23. 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.
24. 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.
25. 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.
26. 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.
27. Y. Wang, L. Wang, Y. Jiang, W. Zou, T. Liu, X. Song, W. Wang, X. Liming, J. Wu, J. Duan, S. E. Li, "Diffusion Actor-Critic with Entropy Regulator," Advances in Neural Information Processing Systems 37, 2024. (arXiv: 2405.15177)
28. 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.
29. 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.
30. 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.
31. 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
32. 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
33. 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
34. 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
35. 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
36. 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
37. 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
38. 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.
39. 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
40. 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
41. 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.
42. 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
43. 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.
44. 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.
45. 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
46. B. Peng, J. Duan et al., “Model-Based Chance-Constrained Reinforcement Learning via Separated Proportional-Integral Lagrangian,” pp. 1–13, Jan. 2022.    Download
47. 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
48. 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
49. 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
50. 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
51. 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
52. 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
53. 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
54. 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.
55. 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.    Download
56. 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
57. 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
58. 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.
59. 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.
60. 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.
61. 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.
62. 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.
63. 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.

1. 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)
2. 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.
3. W. Zou, L. Tao, Y. Wang, X. Zhang, B. Shuai, J. Duan, S. E. Li, "Generative Reinforcement Learning for Multimodal Trajectory Planning in Autonomous Driving," 2025 9th CAA International Conference on Vehicular Control and Intelligence (CVCI), 2025.
4. 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)
5. 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.
6. 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)
7. 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.
8. 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.
9. 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.
10. 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.
11. 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
12. 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.
13. 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
14. 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
15. 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
16. 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.
17. B. C. 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.
18. 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
19. 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
20. 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
21. 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)
22. 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
23. 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
24. 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
25. 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

1. Y. Ju, H. Yan, M. Guo, B. Yang, Y. Yang, J. Liu, L. Zheng, J. Duan, "Reinforcement Learning-Enhanced Adaptive Sliding Mode Control for Wheeled Mobile Robot Trajectory Tracking," Lecture notes in electrical engineering, 2026.
2. 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.
3. 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.
4. 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
5. 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.

1. Z. Zheng, L. Tao, Y. Guan, Y. Yang, W. Xiong, K. Sheng, B. Zhang, J. Duan, K. Li, S. E. Li, "Past, Future, All at Once: Mitigating Stability-Plasticity Dilemma via Post-hoc JANUS Rectification," arXiv preprint, 2026.    Download
2. S. Liu, Z. He, L. Tao, G. Zhan, J. Gao, F. Zhang, J. Duan, W. Xiong, K. Sheng, B. Zhang, Y. Guan, S. E. Li, "Beyond Token-Local Imitation: Reward-Compatible Temporal Credit Assignment for On-Policy Distillation," arXiv preprint arXiv:arxiv.2609.16937, 2026.    Download
3. J. Wu, S. Wu, Y. Ma, L. Zheng, J. Duan, "MonitorVLM-v2: A Deployed Vision-Language Framework for Real-Time Safety Violation Detection," arXiv preprint arXiv:arxiv.2608.00975, 2026.    Download
4. G. Lu, Y. Dun, Y. Zhou, T. Letian, J. Duan, J. Li, G. Li, "FastDSAC: Enhancing Policy Plasticity via Constrained Exploration for Scalable Humanoid Locomotion," arXiv preprint arXiv:arxiv.2606.31691, 2026.    Download
5. 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
6. 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 arXiv:arxiv.2602.15620, 2026.    Download
7. 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
8. 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
9. S. Wu, W. Jiang, C. Xingyu, F. Zhang, G. Yu, Z. Junjie, Y. Qu, F. Ma, J. Duan, "TransMPC: Transformer-based Explicit MPC with Variable Prediction Horizon," arXiv preprint arXiv:arxiv.2509.07381, 2025.    Download
10. 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
11. 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
12. 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
13. 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
14. 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
15. 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
16. 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
17. Y. Guan, Y. Ren, S. E. Li, H. Ma, J. Duan, B. H. Cheng, "Integrated Decision and Control: Towards Interpretable and Efficient Driving Intelligence.," arXiv preprint, 2021.    Download
18. 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
19. T. Kaiming, 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
20. Y. Guan, J. Duan, S. E. Li, J. Li, J. Chen, B. Cheng, "Mixed Policy Gradient.," arXiv preprint, 2021.    Download
21. 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
22. 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
23. 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
24. 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
25. 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
26. J. Duan, S. E. Li, Z. Liu, M. Bujarbaruah, B. Cheng, "Generalized Policy Iteration for Optimal Control in Continuous Time.," arXiv preprint, 2019.    Download