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Yanbing Mao

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3 papers

2 author rows

TMLR Journal 2026 Journal Article

Weakly-Supervised Disentangled Representation Learning via Filter-Based Adaptive Swapping

Zhenyu Zong
Qidi Wang
Simon Yu
Hongpeng Cao
Yanbing Mao
Han Zhao
Lui Sha
Huajie Shao

Disentangled representation learning (DRL) aims to uncover semantically meaningful latent factors from observed data, thereby improving both interpretability and generalization of machine learning (ML) models. Despite remarkable progress, unsupervised DRL cannot achieve complete disentanglement without inductive biases or supervision. To address this challenge, existing approaches either rely on full supervision, which demands extensive manual labeling, or weak supervision, which involves complex training strategies that often result in unstable training. To address these limitations, we propose Filter-VAE, a weakly supervised variational autoencoder (VAE) that introduces a filter-based adaptive swapping strategy to learn stable and meaningful disentangled representations. Specifically, a relevance filter removes semantically meaningless latent factors, while an adaptive swapping filter exchanges those latent factors that have reached stability. With these two filters, Filter-VAE adaptively swaps only stable and semantically aligned latent factors, leading to robust and meaningful representations. We evaluate Filter-VAE on three standard benchmarks and our created traffic sign dataset in two downstream tasks: disentanglement and adversarial robustness. Experimental results demonstrate that Filter-VAE achieves strong disentanglement performance with reduced supervision and delivers remarkable robustness against diverse adversarial attacks and corruptions. The code is released at https://github.com/ZY-Zong/Filter-VAE.git.

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NeurIPS Conference 2025 Conference Paper

Real-DRL: Teach and Learn at Runtime

Yanbing Mao
Yihao Cai
Lui Sha

This paper introduces the Real-DRL framework for safety-critical autonomous systems, enabling runtime learning of a deep reinforcement learning (DRL) agent to develop safe and high-performance action policies in real plants while prioritizing safety. The Real-DRL consists of three interactive components: a DRL-Student, a PHY-Teacher, and a Trigger. The DRL-Student is a DRL agent that innovates in the dual self-learning and teaching-to-learn paradigm and the safety-status-dependent batch sampling. On the other hand, PHY-Teacher is a physics-model-based design of action policies that focuses solely on safety-critical functions. PHY-Teacher is novel in its real-time patch for two key missions: i) fostering the teaching-to-learn paradigm for DRL-Student and ii) backing up the safety of real plants. The Trigger manages the interaction between the DRL-Student and the PHY-Teacher. Powered by the three interactive components, the Real-DRL can effectively address safety challenges that arise from the unknown unknowns and the Sim2Real gap. Additionally, Real-DRL notably features i) assured safety, ii) automatic hierarchy learning (i. e. , safety-first learning and then high-performance learning), and iii) safety-informed batch sampling to address the experience imbalance caused by corner cases. Experiments with a real quadruped robot, a quadruped robot in Nvidia Isaac Gym, and a cart-pole system, along with comparisons and ablation studies, demonstrate the Real-DRL's effectiveness and unique features.

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ICLR Conference 2024 Conference Paper

Physics-Regulated Deep Reinforcement Learning: Invariant Embeddings

Hongpeng Cao
Yanbing Mao
Lui Sha
Marco Caccamo

This paper proposes the Phy-DRL: a physics-regulated deep reinforcement learning (DRL) framework for safety-critical autonomous systems. The Phy-DRL has three distinguished invariant-embedding designs: i) residual action policy (i.e., integrating data-driven-DRL action policy and physics-model-based action policy), ii) automatically constructed safety-embedded reward, and iii) physics-model-guided neural network (NN) editing, including link editing and activation editing. Theoretically, the Phy-DRL exhibits 1) a mathematically provable safety guarantee and 2) strict compliance of critic and actor networks with physics knowledge about the action-value function and action policy. Finally, we evaluate the Phy-DRL on a cart-pole system and a quadruped robot. The experiments validate our theoretical results and demonstrate that Phy-DRL features guaranteed safety compared to purely data-driven DRL and solely model-based design while offering remarkably fewer learning parameters and fast training towards safety guarantee.

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