Publications
| Beyond Waypoints: Semantic-Centric Autonomy with Unreliable Maps Through Learned Abstractions Akila Saravanan, Travis Manderson, Songyuan Zhang, Nicholas Roy, Chuchu Fan IEEE International Conference on Robotics and Automation (ICRA), 2026. | |
| ReFORM: Reflected Flows for On-support Offline RL via Noise Manipulation Songyuan Zhang, Oswin So, H M Sabbir Ahmad, Eric Yang Yu, Matthew Cleaveland, Mitchell Black, Chuchu Fan International Conference on Learning Representations (ICLR), 2026. Website |  |
| Solving Parameter-Robust Avoid Problems with Unknown Feasibility using Reinforcement Learning Oswin So, Eric Yang Yu, Songyuan Zhang, Matthew Cleaveland, Mitchell Black, Chuchu Fan International Conference on Learning Representations (ICLR), 2026. Website | |
| HMARL-CBF – Hierarchical Multi-Agent Reinforcement Learning with Control Barrier Functions for Safety-Critical Autonomous Systems H. M. Sabbir Ahmad, Ehsan Sabouni, Alexander Wasilkoff, Param Budhraja, Zijian Guo, Songyuan Zhang, Chuchu Fan, Christos Cassandras, Wenchao Li Conference on Neural Information Processing Systems (NeurIPS), 2025. Website |  |
| Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARL Songyuan Zhang*, Oswin So*, Mitchell Black, Zachary Serlin, Chuchu Fan Proceedings of Robotics: Science and Systems (RSS), 2025. [Best Student Paper Award] Website |  |
| Discrete GCBF Proximal Policy Optimization for Multi-agent Safe Optimal Control Songyuan Zhang, Oswin So, Mitchell Black, Chuchu Fan International Conference on Learning Representations (ICLR), 2025. Website |  |
| GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control Songyuan Zhang*, Oswin So*, Kunal Garg, Chuchu Fan IEEE Transactions on Robotics, 2025. Website |  |
| Learning to Stabilize High-dimensional Unknown Systems Using Lyapunov-guided Exploration Songyuan Zhang, Chuchu Fan 6th Annual Learning for Dynamics & Control Conference (L4DC), 2024. Website |  |
| Learning Safe Control for Multi-Robot Systems: Methods, Verification, and Open Challenges Kunal Garg, Songyuan Zhang, Oswin So, Charles Dawson, Chuchu Fan Annual Reviews in Control (ARC), vol. 57, p. 100948, 2024. arXiv |  |
| Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control Songyuan Zhang, Kunal Garg, Chuchu Fan 7th Conference on Robot Learning (CoRL), 2023. Website |  |
| Physics-Informed, Safety and Stability Certified Neural Control for Uncertain Networked Microgrids Lizhi Wang, Songyuan Zhang, Yifan Zhou, Chuchu Fan, Peng Zhang, Yacov A. Shamash IEEE Transactions on Smart Grid, 2023. |  |
| Learning-Based, Safety and Stability-Certified Microgrid Control Lizhi Wang, Songyuan Zhang, Yifan Zhou, Chuchu Fan, Peng Zhang, Yacov A. Shamash 2023 IEEE Power & Energy Society General Meeting (PESGM), 2023. |  |
| Compositional Neural Certificates for Networked Dynamical Systems Songyuan Zhang, Yumeng Xiu, Guannan Qu, Chuchu Fan 5th Annual Learning for Dynamics & Control Conference (L4DC), 2023. [Oral] Website |  |
| Confidence-Aware Imitation Learning from Demonstrations with Varying Optimality Songyuan Zhang*, Zhangjie Cao*, Dorsa Sadigh, Yanan Sui Conference on Neural Information Processing Systems (NeurIPS), 2021. Website |  |
Preprints
| Foundation Models to the Rescue: Deadlock Resolution in Connected Multi-Robot Systems Kunal Garg, Songyuan Zhang, Jacob Arkin, Chuchu Fan arXiv preprint arXiv:2404.06413 arXiv |  |