Learning and Control (LC) Lab

Publication

The Publications page highlights the scholarly output of the Learning and Control Lab. It showcases peer-reviewed journal articles, conference papers, and collaborative works that advance theory and applications at the intersection of reinforcement learning, control, and robotics.

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2025

Data-Driven Combined Longitudinal and Lateral Control for the Car Following Problem
Data-Driven Combined Longitudinal and Lateral Control for the Car Following Problem
Leilei Cui, Sayan Chakraborty, Kaan Ozbay, Zhong-Ping Jiang
IEEE Transactions on Control Systems Technology  ·  01 May 2025  ·  doi:10.1109/TCST.2025.3539216
Small-Covariance Noise-to-State Stability of Stochastic Systems and Its Applications to Stochastic Gradient Dynamics
Small-Covariance Noise-to-State Stability of Stochastic Systems and Its Applications to Stochastic Gradient Dynamics
Leilei Cui, Zhong-Ping Jiang, Eduardo D. Sontag
arXiv  ·  01 Jan 2025  ·  doi:10.48550/arXiv.2509.24277
Remarks on the Polyak-Lojasiewicz inequality and the convergence of gradient systems
Remarks on the Polyak-Lojasiewicz inequality and the convergence of gradient systems
Arthur Castello B. de Oliveira, Leilei Cui, Eduardo D. Sontag
arXiv  ·  01 Jan 2025  ·  doi:10.48550/arXiv.2503.23641
Perturbed Gradient Descent Algorithms are Small-Disturbance Input-to-State Stable
Perturbed Gradient Descent Algorithms are Small-Disturbance Input-to-State Stable
Leilei Cui, Zhong-Ping Jiang, Eduardo D. Sontag, Richard D. Braatz
arXiv  ·  01 Jan 2025  ·  doi:10.48550/arXiv.2507.02131
A Fully Data-Driven Value Iteration for Stochastic LQR: Convergence, Robustness and Stability
A Fully Data-Driven Value Iteration for Stochastic LQR: Convergence, Robustness and Stability
Leilei Cui, Zhong-Ping Jiang, Petter N. Kolm, Grégoire G. Macqueron
arXiv  ·  01 Jan 2025  ·  doi:10.48550/arXiv.2505.02970
Learning-based adaptive optimal control of linear time-delay systems: A value iteration approach
Learning-based adaptive optimal control of linear time-delay systems: A value iteration approach
Leilei Cui, Bo Pang, Miroslav Krstić, Zhong-Ping Jiang
Automatica  ·  01 Jan 2025  ·  doi:10.1016/j.automatica.2024.111944

2024

Robust Reinforcement Learning for Risk-Sensitive Linear Quadratic Gaussian Control
Robust Reinforcement Learning for Risk-Sensitive Linear Quadratic Gaussian Control
Leilei Cui, Tamer Başar, Zhong-Ping Jiang
IEEE Transactions on Automatic Control  ·  01 Nov 2024  ·  doi:10.1109/TAC.2024.3397928
Automated lane changing control in mixed traffic: An adaptive dynamic programming approach
Automated lane changing control in mixed traffic: An adaptive dynamic programming approach
Sayan Chakraborty, Leilei Cui, Kaan Ozbay, Zhong-Ping Jiang
Transportation Research Part B: Methodological  ·  01 Sep 2024  ·  doi:10.1016/j.trb.2024.103026
Small-disturbance input-to-state stability of perturbed gradient flows: Applications to LQR problem
Small-disturbance input-to-state stability of perturbed gradient flows: Applications to LQR problem
Leilei Cui, Zhong-Ping Jiang, Eduardo D. Sontag
Systems & Control Letters  ·  01 Jun 2024  ·  doi:10.1016/j.sysconle.2024.105804
Learning-Based Adaptive Optimal Control of Linear Time-Delay Systems: A Policy Iteration Approach
Learning-Based Adaptive Optimal Control of Linear Time-Delay Systems: A Policy Iteration Approach
Leilei Cui, Bo Pang, Zhong-Ping Jiang
IEEE Transactions on Automatic Control  ·  01 Jan 2024  ·  doi:10.1109/TAC.2023.3273786

2023

Reinforcement-Learning-Based Risk-Sensitive Optimal Feedback Mechanisms of Biological Motor Control
Reinforcement-Learning-Based Risk-Sensitive Optimal Feedback Mechanisms of Biological Motor Control
Leilei Cui, Bo Pang, Zhong-Ping Jiang
2023 62nd IEEE Conference on Decision and Control (CDC)  ·  13 Dec 2023  ·  doi:10.1109/cdc49753.2023.10384286
A Unified Framework for Data-Driven Optimal Control of Connected Vehicles in Mixed Traffic
A Unified Framework for Data-Driven Optimal Control of Connected Vehicles in Mixed Traffic
Tong Liu, Leilei Cui, Bo Pang, Zhong-Ping Jiang
IEEE Transactions on Intelligent Vehicles  ·  01 Aug 2023  ·  doi:10.1109/TIV.2023.3287131
A Lyapunov characterization of robust policy optimization
A Lyapunov characterization of robust policy optimization
Leilei Cui, Zhong-Ping Jiang
Control Theory and Technology  ·  01 Aug 2023  ·  doi:10.1007/s11768-023-00163-w
Learning Adaptive Optimal Controllers for Linear Time-Delay Systems sup sup
Learning Adaptive Optimal Controllers for Linear Time-Delay Systems *
Leilei Cui, Bo Pang, Zhong-Ping Jiang
2023 American Control Conference (ACC)  ·  31 May 2023  ·  doi:10.23919/ACC55779.2023.10156108
Learning-Based Adaptive Optimal Output Regulation of Discrete-Time Linear Systems
Learning-Based Adaptive Optimal Output Regulation of Discrete-Time Linear Systems
Sayan Chakraborty, Weinan Gao, Leilei Cui, Frank L. Lewis, Zhong-Ping Jiang
IFAC-PapersOnLine  ·  01 Jan 2023  ·  doi:10.1016/j.ifacol.2023.10.912
A Value Iteration Approach to Adaptive Optimal Control of Linear Time-Delay Systems
A Value Iteration Approach to Adaptive Optimal Control of Linear Time-Delay Systems
Leilei Cui, Bo Pang, Zhong-Ping Jiang
IFAC-PapersOnLine  ·  01 Jan 2023  ·  doi:10.1016/j.ifacol.2023.10.524
Learning-Based Control of Continuous-Time Systems Using Output Feedback sup sup
Learning-Based Control of Continuous-Time Systems Using Output Feedback*
Leilei Cui, Zhong-Ping Jiang
2023 Proceedings of the Conference on Control and its Applications (CT)  ·  01 Jan 2023  ·  doi:10.1137/1.9781611977745.3

2022

Human motor learning is robust to control-dependent noise
Human motor learning is robust to control-dependent noise
Bo Pang, Leilei Cui, Zhong-Ping Jiang
Biological Cybernetics  ·  03 Mar 2022  ·  doi:10.1007/s00422-022-00922-z
Asymptotic Trajectory Tracking of Autonomous Bicycles via Backstepping and Optimal Control
Asymptotic Trajectory Tracking of Autonomous Bicycles via Backstepping and Optimal Control
Leilei Cui, Shuai Wang, Zhengyou Zhang, Zhong-Ping Jiang
IEEE Control Systems Letters  ·  01 Jan 2022  ·  doi:10.1109/LCSYS.2021.3091917

2021

Data-Driven Adaptive Optimal Control of Mixed-Traffic Connected Vehicles in a Ring Road
Data-Driven Adaptive Optimal Control of Mixed-Traffic Connected Vehicles in a Ring Road
Tong Liu, Leilei Cui, Bo Pang, Zhong-Ping Jiang
2021 60th IEEE Conference on Decision and Control (CDC)  ·  14 Dec 2021  ·  doi:10.1109/cdc45484.2021.9683024
A Warehouse Scheduling Using Genetic Algorithm and Collision Index
A Warehouse Scheduling Using Genetic Algorithm and Collision Index
Won Yong Ha, Leilei Cui, Zhong-Ping Jiang
2021 20th International Conference on Advanced Robotics (ICAR)  ·  06 Dec 2021  ·  doi:10.1109/icar53236.2021.9659439
Visual Servoing of a Flexible Aerial Refueling Boom With an Eye-in-Hand Camera
Visual Servoing of a Flexible Aerial Refueling Boom With an Eye-in-Hand Camera
Leilei Cui, Hesheng Wang, Xinwu Liang, Jingchuan Wang, Weidong Chen
IEEE Transactions on Systems, Man, and Cybernetics: Systems  ·  01 Oct 2021  ·  doi:10.1109/TSMC.2019.2957992
Learning-Based Balance Control of Wheel-Legged Robots
Learning-Based Balance Control of Wheel-Legged Robots
Leilei Cui, Shuai Wang, Jingfan Zhang, Dongsheng Zhang, Jie Lai, Yu Zheng, Zhengyou Zhang, Zhong-Ping Jiang
IEEE Robotics and Automation Letters  ·  01 Oct 2021  ·  doi:10.1109/LRA.2021.3100269
Balance Control of a Novel Wheel-legged Robot: Design and Experiments
Balance Control of a Novel Wheel-legged Robot: Design and Experiments
Shuai Wang, Leilei Cui, Jingfan Zhang, Jie Lai, Dongsheng Zhang, Ke Chen, Yu Zheng, Zhengyou Zhang, Zhong-Ping Jiang
2021 IEEE International Conference on Robotics and Automation (ICRA)  ·  30 May 2021  ·  doi:10.1109/icra48506.2021.9561579
Combined Longitudinal and Lateral Control of Autonomous Vehicles based on Reinforcement Learning
Combined Longitudinal and Lateral Control of Autonomous Vehicles based on Reinforcement Learning
Leilei Cui, Kaan Ozbay, Zhong-Ping Jiang
2021 American Control Conference (ACC)  ·  25 May 2021  ·  doi:10.23919/acc50511.2021.9483388
Robust Autonomous Driving with Human in the Loop
Robust Autonomous Driving with Human in the Loop
Mengzhe Huang, Zhong-Ping Jiang, Michael Malisoff, Leilei Cui
Studies in Systems, Decision and Control  ·  01 Jan 2021  ·  doi:10.1007/978-3-030-60990-0_22
Learning-Based Control of Multiple Connected Vehicles in the Mixed Traffic by Adaptive Dynamic Programming
Learning-Based Control of Multiple Connected Vehicles in the Mixed Traffic by Adaptive Dynamic Programming
Tong Liu, Leilei Cui, Bo Pang, Zhong-Ping Jiang
IFAC-PapersOnLine  ·  01 Jan 2021  ·  doi:10.1016/j.ifacol.2021.10.382

2020

Nonlinear Balance Control of an Unmanned Bicycle: Design and Experiments
Nonlinear Balance Control of an Unmanned Bicycle: Design and Experiments
Leilei Cui, Shuai Wang, Jie Lai, Xiangyu Chen, Sicheng Yang, Zhengyou Zhang, Zhong-Ping Jiang
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  24 Oct 2020  ·  doi:10.1109/iros45743.2020.9341150
Gain Scheduled Controller Design for Balancing an Autonomous Bicycle
Gain Scheduled Controller Design for Balancing an Autonomous Bicycle
Shuai Wang, Leilei Cui, Jie Lai, Sicheng Yang, Xiangyu Chen, Yu Zheng, Zhengyou Zhang, Zhong-Ping Jiang
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  24 Oct 2020  ·  doi:10.1109/iros45743.2020.9340949
Trajectory planning of a spatial flexible manipulator for vibration suppression
Trajectory planning of a spatial flexible manipulator for vibration suppression
Leilei Cui, Hesheng Wang, Weidong Chen
Robotics and Autonomous Systems  ·  01 Jan 2020  ·  doi:10.1016/j.robot.2019.103316

2019

Visual Servoing of a Flexible Gantry Crane With a Sway Range Constraint
Visual Servoing of a Flexible Gantry Crane With a Sway Range Constraint
Leilei Cui, Dongliang Zheng
IEEE Control Systems Letters  ·  01 Jan 2019  ·  doi:10.1109/LCSYS.2018.2857512

2018

Control of Flexible Manipulator Based on Reinforcement Learning
Control of Flexible Manipulator Based on Reinforcement Learning
Leilei Cui, Weidong Chen, Hesheng Wang, Jingchuan Wang
2018 Chinese Automation Congress (CAC)  ·  01 Nov 2018  ·  doi:10.1109/cac.2018.8623788

A Reinforcement Learning Look at Risk-Sensitive Linear Quadratic Gaussian Control
A Reinforcement Learning Look at Risk-Sensitive Linear Quadratic Gaussian Control
Leilei Cui, Tamer Başar, Zhong-Ping Jiang
Proceedings of the 5th Annual Learning for Dynamics and Control Conference  ·  [no date info]  ·  [no id info]
Learning-Based Control: Tools and Applications to Robotics
Learning-Based Control: Tools and Applications to Robotics
Leilei Cui
ProQuest / New York University  ·  [no date info]  ·  [no id info]