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Yihang Yao

yihangya[at]andrew.cmu.edu

Hi, welcome to my website! I am a second-year Ph.D. candidate in Safe AI Lab at Carnegie Mellon University, advised by Prof. Ding Zhao. Before CMU, I received my Bachelor's degree from Zhiyuan College, Shanghai Jiao Tong University (SJTU) in 2022 fortunately advised by Prof. Wei Dong at SJTU RI. In 2021, I spent a wonderful time working as a research intern in the Intelligent Control Lab led by Prof. Changliu Liu at CMU.

My research topic focuses on reinforcement learning and its application in robotics. I am especially interested in improving safety, i.e., constraint satisfaction, and sampling efficiency for the reinforcement learning methods.

Feasibility Consistent Representation Learning for Safe Reinforcement Learning

Zhepeng Cen, Yihang Yao, Zuxin Liu, Ding Zhao

ICML 2024

Paper / Website

Gradient Shaping for Multi-Constraint Safe Reinforcement Learning

Yihang Yao, Zuxin Liu, Zhepeng Cen, Peide Huang, Tingnan Zhang, Wenhao Yu, Ding Zhao

L4DC 2024

Paper / Website

Learning from Sparse Offline Datasets via Conservative Density Estimation

Zhepeng Cen, Zuxin Liu, Zitong Wang, Yihang Yao, Henry Lam, Ding Zhao

ICLR 2024

Paper / Code

Datasets and Benchmarks for Offline Safe Reinforcement Learning

Zuxin Liu*, Zijian Guo*, Haohong Lin, Yihang Yao, Jiacheng Zhu, Zhepeng Cen, Hanjiang Hu, Wenhao Yu, Tingnan Zhang, Jie Tan, Ding Zhao

Under review; RSS 2023 Safe Autonomy Workshop (Spotlight)

Paper / Website / Code (OSRL) / Code (DSRL) / Code (FSRL)

Constraint-Conditioned Policy Optimization for Versatile Safe Reinforcement Learning

Yihang Yao*, Zuxin Liu*, Zhepeng Cen, Jiacheng Zhu, Wenhao Yu, Tingnan Zhang, Ding Zhao

NeurIPS 2023

Paper

Constrained Decision Transformer for Offline Safe Reinforcement Learning

Zuxin Liu*, Zijian Guo*, Yihang Yao, Zhepeng Cen, Wenhao Yu, Tingnan Zhang, Ding Zhao

ICML 2023

Paper / Code (DSRL)

Towards Robust and Safe Reinforcement Learning with Benign Off-policy Data

Zuxin Liu*, Zijian Guo*, Zhepeng Cen, Huan Zhang, Yihang Yao, Hanjiang Hu, Ding Zhao

ICML 2023

Paper

Safe Control of Arbitrary Nonlinear Systems Using Dynamic Extension

Yihang Yao, Tianhao Wei, Changliu Liu

Paper