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Yinan Zheng

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10 papers

2 author rows

ICLR Conference 2025 Conference Paper

Diffusion-Based Planning for Autonomous Driving with Flexible Guidance

Yinan Zheng
Ruiming Liang
Kexin Zheng
Jinliang Zheng
Liyuan Mao
Jianxiong Li
Weihao Gu
Rui Ai 0001

Achieving human-like driving behaviors in complex open-world environments is a critical challenge in autonomous driving. Contemporary learning-based planning approaches such as imitation learning methods often struggle to balance competing objectives and lack of safety assurance,due to limited adaptability and inadequacy in learning complex multi-modal behaviors commonly exhibited in human planning, not to mention their strong reliance on the fallback strategy with predefined rules. We propose a novel transformer-based Diffusion Planner for closed-loop planning, which can effectively model multi-modal driving behavior and ensure trajectory quality without any rule-based refinement. Our model supports joint modeling of both prediction and planning tasks under the same architecture, enabling cooperative behaviors between vehicles. Moreover, by learning the gradient of the trajectory score function and employing a flexible classifier guidance mechanism, Diffusion Planner effectively achieves safe and adaptable planning behaviors. Evaluations on the large-scale real-world autonomous planning benchmark nuPlan and our newly collected 200-hour delivery-vehicle driving dataset demonstrate that Diffusion Planner achieves state-of-the-art closed-loop performance with robust transferability in diverse driving styles.

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ICML Conference 2025 Conference Paper

Efficient Robotic Policy Learning via Latent Space Backward Planning

Dongxiu Liu
Haoyi Niu
Zhihao Wang
Jinliang Zheng
Yinan Zheng
Zhonghong Ou
Jianming Hu
Jianxiong Li

Current robotic planning methods often rely on predicting multi-frame images with full pixel details. While this fine-grained approach can serve as a generic world model, it introduces two significant challenges for downstream policy learning: substantial computational costs that hinder real-time deployment, and accumulated inaccuracies that can mislead action extraction. Planning with coarse-grained subgoals partially alleviates efficiency issues. However, their forward planning schemes can still result in off-task predictions due to accumulation errors, leading to misalignment with long-term goals. This raises a critical question: Can robotic planning be both efficient and accurate enough for real-time control in long-horizon, multi-stage tasks? To address this, we propose a B ackward P lanning scheme in L atent space ( LBP ), which begins by grounding the task into final latent goals, followed by recursively predicting intermediate subgoals closer to the current state. The grounded final goal enables backward subgoal planning to always remain aware of task completion, facilitating on-task prediction along the entire planning horizon. The subgoal-conditioned policy incorporates a learnable token to summarize the subgoal sequences and determines how each subgoal guides action extraction. Through extensive simulation and real-robot long-horizon experiments, we show that LBP outperforms existing fine-grained and forward planning methods, achieving SOTA performance. Project Page: https: //lbp-authors. github. io.

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NeurIPS Conference 2025 Conference Paper

Flow Matching-Based Autonomous Driving Planning with Advanced Interactive Behavior Modeling

Tianyi Tan
Yinan Zheng
Ruiming Liang
Zexu Wang
Kexin Zheng
Jinliang Zheng
Jianxiong Li
Xianyuan Zhan

Modeling interactive driving behaviors in complex scenarios remains a fundamental challenge for autonomous driving planning. Learning-based approaches attempt to address this challenge with advanced generative models, removing the dependency on over-engineered architectures for representation fusion. However, brute-force implementation by simply stacking transformer blocks lacks a dedicated mechanism for modeling interactive behaviors that is common in real driving scenarios. The scarcity of interactive driving data further exacerbates this problem, leaving conventional imitation learning methods ill-equipped to capture high-value interactive behaviors. We propose Flow Planner, which tackles these problems through coordinated innovations in data modeling, model architecture, and learning scheme. Specifically, we first introduce fine-grained trajectory tokenization, which decomposes the trajectory into overlapping segments to decrease the complexity of whole trajectory modeling. With a sophisticatedly designed architecture, we achieve efficient temporal and spatial fusion of planning and scene information, to better capture interactive behaviors. In addition, the framework incorporates flow matching with classifier-free guidance for multi-modal behavior generation, which dynamically reweights agent interactions during inference to maintain coherent response strategies, providing a critical boost for interactive scenario understanding. Experimental results on the large-scale nuPlan dataset demonstrate that Flow Planner achieves state-of-the-art performance among learning-based approaches while effectively modeling interactive behaviors in complex driving scenarios.

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AAAI Conference 2025 Conference Paper

MEATRD: Multimodal Anomalous Tissue Region Detection Enhanced with Spatial Transcriptomics

Kaichen Xu
Qilong Wu
Yan Lu
Yinan Zheng
Wenlin Li
Xingjie Tang
Jun Wang
Xiaobo Sun

The detection of anomalous tissue regions (ATRs) within affected tissues is crucial in clinical diagnosis and pathological studies. Conventional automated ATR detection methods, primarily based on histology images alone, falter in cases where ATRs and normal tissues have subtle visual differences. The recent spatial transcriptomics (ST) technology profiles gene expressions across tissue regions, offering a molecular perspective for detecting ATRs. However, there is a dearth of ATR detection methods that effectively harness complementary information from both histology images and ST. To address this gap, we propose MEATRD, a novel ATR detection method that integrates histology image and ST data. MEATRD is trained to reconstruct image patches and gene expression profiles of normal tissue spots (inliers) from their multimodal embeddings, followed by learning a one-class classification AD model based on latent multimodal reconstruction errors. This strategy harmonizes the strengths of reconstruction-based and one-class classification approaches. At the heart of MEATRD is an innovative masked graph dual-attention transformer (MGDAT) network, which not only facilitates cross-modality and cross-node information sharing but also addresses the model over-generalization issue commonly seen in reconstruction-based AD methods. Additionally, we demonstrate that modality-specific, task-relevant information is collated and condensed in multimodal bottleneck encoding generated in MGDAT, marking the first theoretical analysis of the informational properties of multimodal bottleneck encoding. Extensive evaluations across eight real ST datasets reveal MEATRD's superior performance in ATR detection, surpassing various state-of-the-art AD methods. Remarkably, MEATRD also proves adept at discerning ATRs that only show slight visual deviations from normal tissues.

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ICLR Conference 2025 Conference Paper

Skill Expansion and Composition in Parameter Space

Tenglong Liu
Jianxiong Li
Yinan Zheng
Haoyi Niu
Yixing Lan
Xin Xu 0001
Xianyuan Zhan

Humans excel at reusing prior knowledge to address new challenges and developing skills while solving problems. This paradigm becomes increasingly popular in the development of autonomous agents, as it develops systems that can self-evolve in response to new challenges like human beings. However, previous methods suffer from limited training efficiency when expanding new skills and fail to fully leverage prior knowledge to facilitate new task learning. We propose Parametric Skill Expansion and Composition (PSEC), a new framework designed to iteratively evolve the agents' capabilities and efficiently address new challenges by maintaining a manageable skill library. This library can progressively integrate skill primitives as plug-and-play Low-Rank Adaptation (LoRA) modules in parameter-efficient finetuning, facilitating efficient and flexible skill expansion. This structure also enables the direct skill compositions in parameter space by merging LoRA modules that encode different skills, leveraging shared information across skills to effectively program new skills. Based on this, we propose a context-aware modular to dynamically activate different skills to collaboratively handle new tasks. Empowering diverse applications including multi-objective composition, dynamics shift, and continual policy shift, the results on D4RL, DSRL benchmarks, and the DeepMind Control Suite show that PSEC exhibits superior capacity to leverage prior knowledge to efficiently tackle new challenges, as well as expand its skill libraries to evolve the capabilities. Project website: https://ltlhuuu.github.io/PSEC/.

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NeurIPS Conference 2025 Conference Paper

Towards Robust Zero-Shot Reinforcement Learning

Kexin Zheng
Lauriane Teyssier
Yinan Zheng
Yu Luo
Xianyuan Zhan

The recent development of zero-shot reinforcement learning (RL) has opened a new avenue for learning pre-trained generalist policies that can adapt to arbitrary new tasks in a zero-shot manner. While the popular Forward-Backward representations (FB) and related methods have shown promise in zero-shot RL, we empirically found that their modeling lacks expressivity and that extrapolation errors caused by out-of-distribution (OOD) actions during offline learning sometimes lead to biased representations, ultimately resulting in suboptimal performance. To address these issues, we propose Behavior-REgularizEd Zero-shot RL with Expressivity enhancement (BREEZE), an upgraded FB-based framework that simultaneously enhances learning stability, policy extraction capability, and representation learning quality. BREEZE introduces behavioral regularization in zero-shot RL policy learning, transforming policy optimization into a stable in-sample learning paradigm. Additionally, BREEZE extracts the policy using a task-conditioned diffusion model, enabling the generation of high-quality and multimodal action distributions in zero-shot RL settings. Moreover, BREEZE employs expressive attention-based architectures for representation modeling to capture the complex relationships between environmental dynamics. Extensive experiments on ExORL and D4RL Kitchen demonstrate that BREEZE achieves the best or near-the-best performance while exhibiting superior robustness compared to prior offline zero-shot RL methods. The official implementation is available at: https: //github. com/Whiterrrrr/BREEZE.

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ICML Conference 2024 Conference Paper

DecisionNCE: Embodied Multimodal Representations via Implicit Preference Learning

Jianxiong Li
Jinliang Zheng
Yinan Zheng
Liyuan Mao
Xiao Hu
Sijie Cheng
Haoyi Niu
Jihao Liu

Multimodal pretraining is an effective strategy for the trinity of goals of representation learning in autonomous robots: $1)$ extracting both local and global task progressions; $2)$ enforcing temporal consistency of visual representation; $3)$ capturing trajectory-level language grounding. Most existing methods approach these via separate objectives, which often reach sub-optimal solutions. In this paper, we propose a universal unified objective that can simultaneously extract meaningful task progression information from image sequences and seamlessly align them with language instructions. We discover that via implicit preferences, where a visual trajectory inherently aligns better with its corresponding language instruction than mismatched pairs, the popular Bradley-Terry model can transform into representation learning through proper reward reparameterizations. The resulted framework, DecisionNCE, mirrors an InfoNCE-style objective but is distinctively tailored for decision-making tasks, providing an embodied representation learning framework that elegantly extracts both local and global task progression features, with temporal consistency enforced through implicit time contrastive learning, while ensuring trajectory-level instruction grounding via multimodal joint encoding. Evaluation on both simulated and real robots demonstrates that DecisionNCE effectively facilitates diverse downstream policy learning tasks, offering a versatile solution for unified representation and reward learning. Project Page: https: //2toinf. github. io/DecisionNCE/

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NeurIPS Conference 2024 Conference Paper

Instruction-Guided Visual Masking

Jinliang Zheng
Jianxiong Li
Sijie Cheng
Yinan Zheng
Jiaming Li
Jihao Liu
Yu Liu
Jingjing Liu

Instruction following is crucial in contemporary LLM. However, when extended to multimodal setting, it often suffers from misalignment between specific textual instruction and targeted local region of an image. To achieve more accurate and nuanced multimodal instruction following, we introduce Instruction-guided Visual Masking (IVM), a new versatile visual grounding model that is compatible with diverse multimodal models, such as LMM and robot model. By constructing visual masks for instruction-irrelevant regions, IVM-enhanced multimodal models can effectively focus on task-relevant image regions to better align with complex instructions. Specifically, we design a visual masking data generation pipeline and create an IVM-Mix-1M dataset with 1 million image-instruction pairs. We further introduce a new learning technique, Discriminator Weighted Supervised Learning (DWSL) for preferential IVM training that prioritizes high-quality data samples. Experimental results on generic multimodal tasks such as VQA and embodied robotic control demonstrate the versatility of IVM, which as a plug-and-play tool, significantly boosts the performance of diverse multimodal models, yielding new state-of-the-art results across challenging multimodal benchmarks. Code, model and data are available at https: //github. com/2toinf/IVM.

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ICLR Conference 2024 Conference Paper

Safe Offline Reinforcement Learning with Feasibility-Guided Diffusion Model

Yinan Zheng
Jianxiong Li
Dongjie Yu
Yujie Yang
Shengbo Eben Li
Xianyuan Zhan
Jingjing Liu

Safe offline reinforcement learning 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, which can be effectively extracted with a guided diffusion model thanks to its expressiveness. 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. Code: https://github.com/ZhengYinan-AIR/FISOR.

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NeurIPS Conference 2023 Conference Paper

Offline Multi-Agent Reinforcement Learning with Implicit Global-to-Local Value Regularization

Xiangsen Wang
Haoran Xu
Yinan Zheng
Xianyuan Zhan

Offline reinforcement learning (RL) has received considerable attention in recent years due to its attractive capability of learning policies from offline datasets without environmental interactions. Despite some success in the single-agent setting, offline multi-agent RL (MARL) remains to be a challenge. The large joint state-action space and the coupled multi-agent behaviors pose extra complexities for offline policy optimization. Most existing offline MARL studies simply apply offline data-related regularizations on individual agents, without fully considering the multi-agent system at the global level. In this work, we present OMIGA, a new offline multi-agent RL algorithm with implicit global-to-local value regularization. OMIGA provides a principled framework to convert global-level value regularization into equivalent implicit local value regularizations and simultaneously enables in-sample learning, thus elegantly bridging multi-agent value decomposition and policy learning with offline regularizations. Based on comprehensive experiments on the offline multi-agent MuJoCo and StarCraft II micro-management tasks, we show that OMIGA achieves superior performance over the state-of-the-art offline MARL methods in almost all tasks.

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