Yujie Yang

Yujie Yang, Changsheng Quan, Xiaofei Li

In multichannel speech enhancement, both spectral and spatial information are vital for discriminating between speech and noise. How to fully exploit these two types of information and their temporal dynamics remains an interesting research problem. As a solution to this problem, this paper proposes a multi-cue fusion network named McNet, which cascades four modules to respectively exploit the full-band spatial, narrow-band spatial, sub-band spectral, and full-band spectral information. Experiments show that each module in the proposed network has its unique contribution and, as a whole, notably outperforms other state-of-the-art methods.

Dongjie Yu, Wenjun Zou, Yujie Yang et al.

Safe reinforcement learning (RL) that solves constraint-satisfactory policies provides a promising way to the broader safety-critical applications of RL in real-world problems such as robotics. Among all safe RL approaches, model-based methods reduce training time violations further due to their high sample efficiency. However, lacking safety robustness against the model uncertainties remains an issue in safe model-based RL, especially in training time safety. In this paper, we propose a distributional reachability certificate (DRC) and its Bellman equation to address model uncertainties and characterize robust persistently safe states. Furthermore, we build a safe RL framework to resolve constraints required by the DRC and its corresponding shield policy. We also devise a line search method to maintain safety and reach higher returns simultaneously while leveraging the shield policy. Comprehensive experiments on classical benchmarks such as constrained tracking and navigation indicate that the proposed algorithm achieves comparable returns with much fewer constraint violations during training.

Zeke Xie, Xindi Yang, Yujie Yang et al.

Recently, Neural Radiance Field (NeRF) has shown great success in rendering novel-view images of a given scene by learning an implicit representation with only posed RGB images. NeRF and relevant neural field methods (e.g., neural surface representation) typically optimize a point-wise loss and make point-wise predictions, where one data point corresponds to one pixel. Unfortunately, this line of research failed to use the collective supervision of distant pixels, although it is known that pixels in an image or scene can provide rich structural information. To the best of our knowledge, we are the first to design a nonlocal multiplex training paradigm for NeRF and relevant neural field methods via a novel Stochastic Structural SIMilarity (S3IM) loss that processes multiple data points as a whole set instead of process multiple inputs independently. Our extensive experiments demonstrate the unreasonable effectiveness of S3IM in improving NeRF and neural surface representation for nearly free. The improvements of quality metrics can be particularly significant for those relatively difficult tasks: e.g., the test MSE loss unexpectedly drops by more than 90% for TensoRF and DVGO over eight novel view synthesis tasks; a 198% F-score gain and a 64% Chamfer $L_{1}$ distance reduction for NeuS over eight surface reconstruction tasks. Moreover, S3IM is consistently robust even with sparse inputs, corrupted images, and dynamic scenes.

Yujie Yang, Zhilong Zheng, Shengbo Eben Li et al.

Safety is the priority concern when applying reinforcement learning (RL) algorithms to real-world control problems. While policy iteration provides a fundamental algorithm for standard RL, an analogous theoretical algorithm for safe RL remains absent. In this paper, we propose feasible policy iteration (FPI), the first foundational dynamic programming algorithm for safe RL. FPI alternates between policy evaluation, region identification and policy improvement. This follows actor-critic-scenery (ACS) framework where scenery refers to a feasibility function that represents a feasible region. A region-wise update rule is developed for the policy improvement step, which maximizes state-value function inside the feasible region and minimizes feasibility function outside it. With this update rule, FPI guarantees monotonic expansion of feasible region, monotonic improvement of state-value function, and geometric convergence to the optimal safe policy. Experimental results demonstrate that FPI achieves strictly zero constraint violation on low-dimensional tasks and outperforms existing methods in constraint adherence and reward performance on high-dimensional tasks.

Zeyang Li, Chuxiong Hu, Yunan Wang et al.

Reinforcement learning (RL) agents are vulnerable to adversarial disturbances, which can deteriorate task performance or compromise safety specifications. Existing methods either address safety requirements under the assumption of no adversary (e.g., safe RL) or only focus on robustness against performance adversaries (e.g., robust RL). Learning one policy that is both safe and robust remains a challenging open problem. The difficulty is how to tackle two intertwined aspects in the worst cases: feasibility and optimality. Optimality is only valid inside a feasible region, while identification of maximal feasible region must rely on learning the optimal policy. To address this issue, we propose a systematic framework to unify safe RL and robust RL, including problem formulation, iteration scheme, convergence analysis and practical algorithm design. This unification is built upon constrained two-player zero-sum Markov games. A dual policy iteration scheme is proposed, which simultaneously optimizes a task policy and a safety policy. The convergence of this iteration scheme is proved. Furthermore, we design a deep RL algorithm for practical implementation, called dually robust actor-critic (DRAC). The evaluations with safety-critical benchmarks demonstrate that DRAC achieves high performance and persistent safety under all scenarios (no adversary, safety adversary, performance adversary), outperforming all baselines significantly.

Wei He, Kai Han, Yehui Tang et al.

Large language models (LLMs) face a daunting challenge due to the excessive computational and memory requirements of the commonly used Transformer architecture. While state space model (SSM) is a new type of foundational network architecture offering lower computational complexity, their performance has yet to fully rival that of Transformers. This paper introduces DenseSSM, a novel approach to enhance the flow of hidden information between layers in SSMs. By selectively integrating shallowlayer hidden states into deeper layers, DenseSSM retains fine-grained information crucial for the final output. Dense connections enhanced DenseSSM still maintains the training parallelizability and inference efficiency. The proposed method can be widely applicable to various SSM types like RetNet and Mamba. With similar model size, DenseSSM achieves significant improvements, exemplified by DenseRetNet outperforming the original RetNet with up to 5% accuracy improvement on public benchmarks. code is avalaible at https://github.com/WailordHe/DenseSSM

Yuxuan Jiang, Yujie Yang, Zhiqian Lan et al.

Rocket recycling is a crucial pursuit in aerospace technology, aimed at reducing costs and environmental impact in space exploration. The primary focus centers on rocket landing control, involving the guidance of a nonlinear underactuated rocket with limited fuel in real-time. This challenging task prompts the application of reinforcement learning (RL), yet goal-oriented nature of the problem poses difficulties for standard RL algorithms due to the absence of intermediate reward signals. This paper, for the first time, significantly elevates the success rate of rocket landing control from 8% with a baseline controller to 97% on a high-fidelity rocket model using RL. Our approach, called Random Annealing Jump Start (RAJS), is tailored for real-world goal-oriented problems by leveraging prior feedback controllers as guide policy to facilitate environmental exploration and policy learning in RL. In each episode, the guide policy navigates the environment for the guide horizon, followed by the exploration policy taking charge to complete remaining steps. This jump-start strategy prunes exploration space, rendering the problem more tractable to RL algorithms. The guide horizon is sampled from a uniform distribution, with its upper bound annealing to zero based on performance metrics, mitigating distribution shift and mismatch issues in existing methods. Additional enhancements, including cascading jump start, refined reward and terminal condition, and action smoothness regulation, further improve policy performance and practical applicability. The proposed method is validated through extensive evaluation and Hardware-in-the-Loop testing, affirming the effectiveness, real-time feasibility, and smoothness of the proposed controller.

Chengcheng Wang, Zhiwei Hao, Yehui Tang et al.

Diffusion-based super-resolution (SR) models have recently garnered significant attention due to their potent restoration capabilities. But conventional diffusion models perform noise sampling from a single distribution, constraining their ability to handle real-world scenes and complex textures across semantic regions. With the success of segment anything model (SAM), generating sufficiently fine-grained region masks can enhance the detail recovery of diffusion-based SR model. However, directly integrating SAM into SR models will result in much higher computational cost. In this paper, we propose the SAM-DiffSR model, which can utilize the fine-grained structure information from SAM in the process of sampling noise to improve the image quality without additional computational cost during inference. In the process of training, we encode structural position information into the segmentation mask from SAM. Then the encoded mask is integrated into the forward diffusion process by modulating it to the sampled noise. This adjustment allows us to independently adapt the noise mean within each corresponding segmentation area. The diffusion model is trained to estimate this modulated noise. Crucially, our proposed framework does NOT change the reverse diffusion process and does NOT require SAM at inference. Experimental results demonstrate the effectiveness of our proposed method, showcasing superior performance in suppressing artifacts, and surpassing existing diffusion-based methods by 0.74 dB at the maximum in terms of PSNR on DIV2K dataset. The code and dataset are available at https://github.com/lose4578/SAM-DiffSR.

Yujie Yang, Shuang Li, Jun Ye et al.

Video-based Visible-Infrared person re-identification (VVI-ReID) aims to retrieve the same pedestrian across visible and infrared modalities from video sequences. Existing methods tend to exploit modality-invariant visual features but largely overlook gait features, which are not only modality-invariant but also rich in temporal dynamics, thus limiting their ability to model the spatiotemporal consistency essential for cross-modal video matching. To address these challenges, we propose a DINOv2-Driven Gait Representation Learning (DinoGRL) framework that leverages the rich visual priors of DINOv2 to learn gait features complementary to appearance cues, facilitating robust sequence-level representations for cross-modal retrieval. Specifically, we introduce a Semantic-Aware Silhouette and Gait Learning (SASGL) model, which generates and enhances silhouette representations with general-purpose semantic priors from DINOv2 and jointly optimizes them with the ReID objective to achieve semantically enriched and task-adaptive gait feature learning. Furthermore, we develop a Progressive Bidirectional Multi-Granularity Enhancement (PBMGE) module, which progressively refines feature representations by enabling bidirectional interactions between gait and appearance streams across multiple spatial granularities, fully leveraging their complementarity to enhance global representations with rich local details and produce highly discriminative features. Extensive experiments on HITSZ-VCM and BUPT datasets demonstrate the superiority of our approach, significantly outperforming existing state-of-the-art methods.

Yujie Yang, Zhilong Zheng, Masayoshi Tomizuka et al.

Satisfying safety constraints is a priority concern when solving optimal control problems (OCPs). Due to the existence of infeasibility phenomenon, where a constraint-satisfying solution cannot be found, it is necessary to identify a feasible region before implementing a policy. Existing feasibility theories built for model predictive control (MPC) only consider the feasibility of optimal policy. However, reinforcement learning (RL), as another important control method, solves the optimal policy in an iterative manner, which comes with a series of non-optimal intermediate policies. Feasibility analysis of these non-optimal policies is also necessary for iteratively improving constraint satisfaction; but that is not available under existing MPC feasibility theories. This paper proposes a feasibility theory that applies to both MPC and RL by filling in the missing part of feasibility analysis for an arbitrary policy. The basis of our theory is to decouple policy solving and implementation into two temporal domains: virtual-time domain and real-time domain. This allows us to separately define initial and endless, state and policy feasibility, and their corresponding feasible regions. Based on these definitions, we analyze the containment relationships between different feasible regions, which enables us to describe the feasible region of an arbitrary policy. We further provide virtual-time constraint design rules along with a practical design tool called feasibility function that helps to achieve the maximum feasible region. We review most of existing constraint formulations and point out that they are essentially applications of feasibility functions in different forms. We demonstrate our feasibility theory by visualizing different feasible regions under both MPC and RL policies in an emergency braking control task.

Jiaming Zhang, Yujie Yang, Haoning Wang et al.

Safe reinforcement learning (safe RL) aims to respect safety requirements while optimizing long-term performance. In many practical applications, however, the problem involves an infinite number of constraints, known as semi-infinite safe RL (SI-safe RL). Such constraints typically appear when safety conditions must be enforced across an entire continuous parameter space, such as ensuring adequate resource distribution at every spatial location. In this paper, we propose exchange policy optimization (EPO), an algorithmic framework that achieves optimal policy performance and deterministic bounded safety. EPO works by iteratively solving safe RL subproblems with finite constraint sets and adaptively adjusting the active set through constraint expansion and deletion. At each iteration, constraints with violations exceeding the predefined tolerance are added to refine the policy, while those with zero Lagrange multipliers are removed after the policy update. This exchange rule prevents uncontrolled growth of the working set and supports effective policy training. Our theoretical analysis demonstrates that, under mild assumptions, strategies trained via EPO achieve performance comparable to optimal solutions with global constraint violations strictly remaining within a prescribed bound.

Xiongtao Sun, Hui Li, Jiaming Zhang et al.

Modern Vision-Language Models (VLMs) pose significant individual-level privacy risks by linking fragmented multimodal data to identifiable individuals through hierarchical chain-of-thought reasoning. However, existing privacy benchmarks remain structurally insufficient for this threat, as they primarily evaluate privacy perception while failing to address the more critical risk of privacy reasoning: a VLM's ability to infer and link distributed information to construct individual profiles. To address this gap, we propose MultiPriv, the first benchmark designed to systematically evaluate individual-level privacy reasoning in VLMs. We introduce the Privacy Perception and Reasoning (PPR) framework and construct a bilingual multimodal dataset with synthetic individual profiles, where identifiers (e.g., faces, names) are linked to sensitive attributes. This design enables nine challenging tasks spanning attribute detection, cross-image re-identification, and chained inference. We conduct a large-scale evaluation of over 50 open-source and commercial VLMs. Our analysis shows that 60 percent of widely used VLMs can perform individual-level privacy reasoning with up to 80 percent accuracy, posing a significant threat to personal privacy. MultiPriv provides a foundation for developing and assessing privacy-preserving VLMs.

Jiaming Zhang, Yujie Yang, Yao Lyu et al.

Safety is a primary challenge in real-world reinforcement learning (RL). Formulating safety requirements as state-wise constraints has become a prominent paradigm. Handling state-wise constraints with the Lagrangian method requires a distinct multiplier for every state, necessitating neural networks to approximate them as a multiplier network. However, applying standard dual gradient ascent to multiplier networks induces severe training oscillations. This is because the inherent instability of dual ascent is exacerbated by network generalization -- local overshoots and delayed updates propagate to adjacent states, further amplifying policy fluctuations. Existing stabilization techniques are designed for scalar multipliers, which are inadequate for state-dependent multiplier networks. To address this challenge, we propose an augmented Lagrangian multiplier network (ALaM) framework for stable learning of state-wise multipliers. ALaM consists of two key components. First, a quadratic penalty is introduced into the augmented Lagrangian to compensate for delayed multiplier updates and establish the local convexity near the optimum, thereby mitigating policy oscillations. Second, the multiplier network is trained via supervised regression toward a dual target, which stabilizes training and promotes convergence. Theoretically, we show that ALaM guarantees multiplier convergence and thus recovers the optimal policy of the constrained problem. Building on this framework, we integrate soft actor-critic (SAC) with ALaM to develop the SAC-ALaM algorithm. Experiments demonstrate that SAC-ALaM outperforms state-of-the-art safe RL baselines in both safety and return, while also stabilizing training dynamics and learning well-calibrated multipliers for risk identification.

Hang Zhou, Yehui Tang, Haochen Qin et al.

The efficacy of large language models (LLMs) on downstream tasks usually hinges on instruction tuning, which relies critically on the quality of training data. Unfortunately, collecting high-quality and diverse data is both expensive and time-consuming. To mitigate this issue, we propose a novel Star-Agents framework, which automates the enhancement of data quality across datasets through multi-agent collaboration and assessment. The framework adopts a three-pronged strategy. It initially generates diverse instruction data with multiple LLM agents through a bespoke sampling method. Subsequently, the generated data undergo a rigorous evaluation using a dual-model method that assesses both difficulty and quality. Finaly, the above process evolves in a dynamic refinement phase, where more effective LLMs are prioritized, enhancing the overall data quality. Our empirical studies, including instruction tuning experiments with models such as Pythia and LLaMA, demonstrate the effectiveness of the proposed framework. Optimized datasets have achieved substantial improvements, with an average increase of 12% and notable gains in specific metrics, such as a 40% improvement in Fermi, as evidenced by benchmarks like MT-bench, Vicuna bench, and WizardLM testset.

Nian Shao, Rui Zhou, Pengyu Wang et al.

In this work, we propose CleanMel, a single-channel Mel-spectrogram denoising and dereverberation network for improving both speech quality and automatic speech recognition (ASR) performance. The proposed network takes as input the noisy and reverberant microphone recording and predicts the corresponding clean Mel-spectrogram. The enhanced Mel-spectrogram can be either transformed to the speech waveform with a neural vocoder or directly used for ASR. The proposed network is composed of interleaved cross-band and narrow-band processing in the Mel-frequency domain, for learning the full-band spectral pattern and the narrow-band properties of signals, respectively. Compared to linear-frequency domain or time-domain speech enhancement, the key advantage of Mel-spectrogram enhancement is that Mel-frequency presents speech in a more compact way and thus is easier to learn, which will benefit both speech quality and ASR. Experimental results on five English and one Chinese datasets demonstrate a significant improvement in both speech quality and ASR performance achieved by the proposed model.Code and audio examples of our model are available online.

Zicheng Liu, Siyuan Li, Zhiyuan Chen et al.

The interactions between DNA, RNA, and proteins are fundamental to biological processes, as illustrated by the central dogma of molecular biology. Although modern biological pre-trained models have achieved great success in analyzing these macromolecules individually, their interconnected nature remains underexplored. This paper follows the guidance of the central dogma to redesign both the data and model pipeline and offers a comprehensive framework, Life-Code, that spans different biological functions. As for data flow, we propose a unified pipeline to integrate multi-omics data by reverse-transcribing RNA and reverse-translating amino acids into nucleotide-based sequences. As for the model, we design a codon tokenizer and a hybrid long-sequence architecture to encode the interactions between coding and non-coding regions through masked modeling pre-training. To model the translation and folding process with coding sequences, Life-Code learns protein structures of the corresponding amino acids by knowledge distillation from off-the-shelf protein language models. Such designs enable Life-Code to capture complex interactions within genetic sequences, providing a more comprehensive understanding of multi-omics with the central dogma. Extensive experiments show that Life-Code achieves state-of-the-art results on various tasks across three omics, highlighting its potential for advancing multi-omics analysis and interpretation.

Ya Zhou, Yujie Yang, Jianhuang Gan et al.

Electrocardiogram (ECG) analysis is a fundamental tool for diagnosing cardiovascular conditions, yet anomaly detection in ECG signals remains challenging due to their inherent complexity and variability. We propose Multi-scale Masked Autoencoder for ECG anomaly detection (MMAE-ECG), a novel end-to-end framework that effectively captures both global and local dependencies in ECG data. Unlike state-of-the-art methods that rely on heartbeat segmentation or R-peak detection, MMAE-ECG eliminates the need for such pre-processing steps, enhancing its suitability for clinical deployment. MMAE-ECG partitions ECG signals into non-overlapping segments, with each segment assigned learnable positional embeddings. A novel multi-scale masking strategy and multi-scale attention mechanism, along with distinct positional embeddings, enable a lightweight Transformer encoder to effectively capture both local and global dependencies. The masked segments are then reconstructed using a single-layer Transformer block, with an aggregation strategy employed during inference to refine the outputs. Experimental results demonstrate that our method achieves performance comparable to state-of-the-art approaches while significantly reducing computational complexity-approximately 1/78 of the floating-point operations (FLOPs) required for inference. Ablation studies further validate the effectiveness of each component, highlighting the potential of multi-scale masked autoencoders for anomaly detection.

Yujie Yang

We propose PRISM, an optimizer that enhances first-order spectral descent methods like Muon with partial second-order information. It constructs an efficient, low-rank quasi-second-order preconditioner via innovation-augmented polar decomposition. This mechanism enables PRISM to perform anisotropic spectral shaping, which adaptively suppresses updates in high-variance subspaces while preserving update strength in signal-dominated directions. Crucially, this is achieved with minimal computational overhead and zero additional memory compared to first-order baselines. PRISM demonstrates a practical strategy for integrating curvature-adaptive properties into the spectral optimization paradigm.

Ya Zhou, Yujie Yang, Xiaohan Fan et al.

ECG foundation models are increasingly popular due to their adaptability across various tasks. However, their clinical applicability is often limited by performance gaps compared to task-specific models, even after pre-training on large ECG datasets and fine-tuning on target data. This limitation is likely due to the lack of an effective post-training strategy. In this paper, we propose a simple yet effective post-training approach to enhance ECGFounder, a state-of-the-art ECG foundation model pre-trained on over 7 million ECG recordings. Experiments on the PTB-XL benchmark show that our approach improves the baseline fine-tuning strategy by 1.2%-3.3% in macro AUROC and 5.3%-20.9% in macro AUPRC. Additionally, our method outperforms several recent state-of-the-art approaches, including task-specific and advanced architectures. Further evaluation reveals that our method is more stable and sample-efficient compared to the baseline, achieving a 9.1% improvement in macro AUROC and a 34.9% improvement in macro AUPRC using just 10% of the training data. Ablation studies identify key components, such as stochastic depth and preview linear probing, that contribute to the enhanced performance. These findings underscore the potential of post-training strategies to improve ECG foundation models, and we hope this work will contribute to the continued development of foundation models in the ECG domain.

Zekai Lin, Haoran Sun, Yucheng Guo et al.

Distinguishing pathogenic mutations from benign polymorphisms remains a critical challenge in precision medicine. EnTao-GPM, developed by Fudan University and BioMap, addresses this through three innovations: (1) Cross-species targeted pre-training on disease-relevant mammalian genomes (human, pig, mouse), leveraging evolutionary conservation to enhance interpretation of pathogenic motifs, particularly in non-coding regions; (2) Germline mutation specialization via fine-tuning on ClinVar and HGMD, improving accuracy for both SNVs and non-SNVs; (3) Interpretable clinical framework integrating DNA sequence embeddings with LLM-based statistical explanations to provide actionable insights. Validated against ClinVar, EnTao-GPM demonstrates superior accuracy in mutation classification. It revolutionizes genetic testing by enabling faster, more accurate, and accessible interpretation for clinical diagnostics (e.g., variant assessment, risk identification, personalized treatment) and research, advancing personalized medicine.

Weishu Deng, Yujie Yang, Peiran Du et al.

Scaling inference for large language models (LLMs) is increasingly constrained by limited GPU memory, especially due to growing key-value (KV) caches required for long-context generation. While existing approaches offload KV caches to CPU memory or apply sparse attention to reduce GPU load, they often underutilize CPU compute resources and compromise accuracy. We present HGCA, a hybrid CPU-GPU attention mechanism that enables scalable, high-throughput LLM inference with near-full attention quality. HGCA performs dense attention on recently generated KV entries retained in GPU memory and parallel sparse attention on selected, salient KV entries in CPU memory. The attention outputs are efficiently merged using log-sum-exp fusion, minimizing PCIe transfer overhead. HGCA also introduces a finegrained, per-head sparsification strategy optimized for CPU execution, preserving contextual relevance while reducing computation. Our implementation seamlessly integrates into existing LLM frameworks without requiring model retraining. Experiments across diverse models and workloads show that HGCA achieves superior scalability, supports longer sequences and larger batch sizes, and outperforms existing sparse attention baselines in both performance and accuracy -- all on commodity GPU hardware.

Jiaxing Li, Hanjiang Hu, Yujie Yang et al.

Recent learning-based safety filters have outperformed conventional methods, such as hand-crafted Control Barrier Functions (CBFs), by effectively adapting to complex constraints. However, these learning-based approaches lack formal safety guarantees. In this work, we introduce a verifiable model-free safety filter based on Hamilton-Jacobi reachability analysis. Our primary contributions include: 1) extending verifiable self-consistency properties for Q value functions, 2) proposing a multiplicative Q-network structure to mitigate zero-sublevel-set shrinkage issues, and 3) developing a verification pipeline capable of soundly verifying these self-consistency properties. Our proposed approach successfully synthesizes formally verified, model-free safety certificates across four standard safe-control benchmarks.

Wenjun Zou, Yao Lyu, Jie Li et al.

Safe reinforcement learning (RL) offers advanced solutions to constrained optimal control problems. Existing studies in safe RL implicitly assume continuity in policy functions, where policies map states to actions in a smooth, uninterrupted manner; however, our research finds that in some scenarios, the feasible policy should be discontinuous or multi-valued, interpolating between discontinuous local optima can inevitably lead to constraint violations. We are the first to identify the generating mechanism of such a phenomenon, and employ topological analysis to rigorously prove the existence of policy bifurcation in safe RL, which corresponds to the contractibility of the reachable tuple. Our theorem reveals that in scenarios where the obstacle-free state space is non-simply connected, a feasible policy is required to be bifurcated, meaning its output action needs to change abruptly in response to the varying state. To train such a bifurcated policy, we propose a safe RL algorithm called multimodal policy optimization (MUPO), which utilizes a Gaussian mixture distribution as the policy output. The bifurcated behavior can be achieved by selecting the Gaussian component with the highest mixing coefficient. Besides, MUPO also integrates spectral normalization and forward KL divergence to enhance the policy's capability of exploring different modes. Experiments with vehicle control tasks show that our algorithm successfully learns the bifurcated policy and ensures satisfying safety, while a continuous policy suffers from inevitable constraint violations.

Yinan Zheng, Jianxiong Li, Dongjie Yu et al.

Safe offline RL is a promising way to bypass risky online interactions towards safe policy learning. Most existing methods only enforce soft constraints, i.e., constraining safety violations in expectation below thresholds predetermined. This can lead to potentially unsafe outcomes, thus unacceptable in safety-critical scenarios. An alternative is to enforce the hard constraint of zero violation. However, this can be challenging in offline setting, as it needs to strike the right balance among three highly intricate and correlated aspects: safety constraint satisfaction, reward maximization, and behavior regularization imposed by offline datasets. Interestingly, we discover that via reachability analysis of safe-control theory, the hard safety constraint can be equivalently translated to identifying the largest feasible region given the offline dataset. This seamlessly converts the original trilogy problem to a feasibility-dependent objective, i.e., maximizing reward value within the feasible region while minimizing safety risks in the infeasible region. Inspired by these, we propose FISOR (FeasIbility-guided Safe Offline RL), which allows safety constraint adherence, reward maximization, and offline policy learning to be realized via three decoupled processes, while offering strong safety performance and stability. In FISOR, the optimal policy for the translated optimization problem can be derived in a special form of weighted behavior cloning. Thus, we propose a novel energy-guided diffusion model that does not require training a complicated time-dependent classifier to extract the policy, greatly simplifying the training. We compare FISOR against baselines on DSRL benchmark for safe offline RL. Evaluation results show that FISOR is the only method that can guarantee safety satisfaction in all tasks, while achieving top returns in most tasks.

Yuhang Zhang, Yao Mu, Yujie Yang et al.

Reinforcement learning has shown great potential in developing high-level autonomous driving. However, for high-dimensional tasks, current RL methods suffer from low data efficiency and oscillation in the training process. This paper proposes an algorithm called Learn to drive with Virtual Memory (LVM) to overcome these problems. LVM compresses the high-dimensional information into compact latent states and learns a latent dynamic model to summarize the agent's experience. Various imagined latent trajectories are generated as virtual memory by the latent dynamic model. The policy is learned by propagating gradient through the learned latent model with the imagined latent trajectories and thus leads to high data efficiency. Furthermore, a double critic structure is designed to reduce the oscillation during the training process. The effectiveness of LVM is demonstrated by an image-input autonomous driving task, in which LVM outperforms the existing method in terms of data efficiency, learning stability, and control performance.