Universal Actions for Enhanced Embodied Foundation Models
Zheng, J., Li, J., Liu, D., Zheng, Y., Wang, Z., Ou, Z., Liu, Y., Liu, J., Zheng, Y., Zhan, X. Universal Actions for Enhanced Embodied Foundation Models. arXiv:2501.10105.
詹仙园,博士,清华智能产业研究院副研究员/副教授,曾任京东科技数据科学家,微软亚洲研究院副研究员。詹仙园博士的主要学术研究方向为基于离线深度强化学习的数据驱动能源、工业复杂系统控制优化,智能交通系统,城市计算以及复杂网络。总共发表了70余篇国际期刊、会议论文,在数据驱动决策优化及交通数据挖掘与建模研究方面取得了众多研究成果。詹仙园博士同时也在多个交通和计算机领域的国际专业期刊及会议担任审稿人,并担任中国计算机学会(CCF)人工智能与模式识别专委会(CCF-AI)委员,CCF智能汽车分会执行委员,入选2022年度百度“AI华人青年学者榜”。詹仙园博士主导了京东科技的基于强化学习的火力发电锅炉燃烧优化研发项目,并完成了产品化,并在国内多个电厂推广落地,可实现对火力发电机组的控制优化,帮助提高火力发电效率与污染减排,具有重要的经济、社会和环保价值。该产品与技术在火电行业引起了广泛关注,先后获得人民日报、中国能源报、中国青年报等十多家媒体报道。
Zheng, J., Li, J., Liu, D., Zheng, Y., Wang, Z., Ou, Z., Liu, Y., Liu, J., Zheng, Y., Zhan, X. Universal Actions for Enhanced Embodied Foundation Models. arXiv:2501.10105.
Niu, H, Chen, Q., Liu, T., Li, J., Zhou, G., Zhang, Y., Hu, J., Zhan, X. xTED: Cross-Domain Adaptation via Diffusion-Based Trajectory Editing. NeurIPS 2024 Workshop on Open-World Agents (OWA).
Wang, G., Niu, H., Zhu, D., Hu, J., Zhan, X., and Zhou, G. A Versatile and Efficient Reinforcement Learning Framework for Autonomous Driving. NeurIPS 2022 Reinforcement Learning for Real Life (RL4RealLife) Workshop.
Xu, H., Zhan, X., Li, J., and Yin, H. Offline Reinforcement Learning with Soft Behavior Regularization. NeurIPS 2021 Offline RL Workshop.
Li, J, Wang, Z., Zheng, J., Zhou, X., Wang, G., Song, G., Liu, Y., Liu, J., Zhang, Y., Zhan, X. Robo-MUTUAL: Robotic Multimodal Task Specification via Unimodal Learning. 2025 IEEE International Conference on Robotics & Automation (ICRA 2025).
Niu, H., Ji, T., Liu, B., Zhao, H., Zhu, X., Zheng, J., Huang, P., Zhou, G., Hu, J., Zhan, X. H2O+: An Improved Framework for Hybrid Offline-and-Online RL with Dynamics Gaps. 2025 IEEE International Conference on Robotics & Automation (ICRA 2025).
Liu, T., Li, J., Zheng, Y., Niu, H., Lan, Y., Xu, X., Zhan, X. Skill Expansion and Composition in Parameter Space. In the 13th International Conference on Learning Representations (ICLR 2025).
Zheng, Y., Liang, R., Zheng, K., Zheng, J., Mao, L., Li, J., Gu, W., Ai, R., Li, S., Zhan, X., Liu, J. Diffusion-Based Planning for Autonomous Driving with Flexible Guidance. In the 13th International Conference on Learning Representations (ICLR 2025) (oral).
Zhan, X., Zhu, X., Cheng, P., Hu, X., He, Z., Geng, H., Leng, J., Zheng, H., Liu, C., Hong, T., Liang, Y., Liu, Y., Zhao, F. Data Center Cooling System Optimization Using Offline Reinforcement Learning. In the 13th International Conference on Learning Representations (ICLR 2025).
Wang, G, Niu, H., Li, J., Jiang, L., Hu, J., Zhan, X. Are Expressive Models Truly Necessary for Offline RL? In the Thirty-Ninth AAAI Conference on Artificial Intelligence (AAAI 2025) (oral).
Zheng, J., Li, J., Cheng, S., Zheng, Y., Li, J., Liu, J., Liu, Y., Liu, J., Zhan, X. Instruction-Guided Visual Masking. In the Thirty-Eighth Conference on Neural Information Processing Systems (NeurIPS 2024) (Outstanding paper award of ICML 2024 MFM-EAI Workshop).
Mao, L., Xu, H., Zhang, W., Zhan, X., Zhang, A. Diffusion-DICE: In-Sample Diffusion Guidance for Offline Reinforcement Learning. In the Thirty-Eighth Conference on Neural Information Processing Systems (NeurIPS 2024).
Qin, H., Zhan, X., Li, Y., Zheng, Y. FlexSSL : A Generic and Efficient Framework for Semi-Supervised Learning. In the 27th European Conference on Artificial Intelligence (ECAI-2024).
Geng, H., Sun, Y., Li, Y., Leng, J., Zhu, X., Zhan, X., Li, Y., Zhao, F., Liu, Y. TESLA: Thermally Safe, Load-Aware, and Energy-Efficient Cooling Control System for Data Centers. In the 53rd International Conference on Parallel Processing (ICPP 2024).
Luo, Y., Sun, F., Ji, T., Zhan, X. Bidirectional-Reachable Hierarchical Reinforcement Learning with Mutually Responsive Policies. In the 1st Reinforcement Learning Conference (RLC 2024).
Li, J., Zheng, J., Zheng, Y., Mao, L., Hu, X., Cheng, S., Niu, H., Liu, J., Liu, Y., Liu, J., Zhang, Y. Q., Zhan, X. DecisionNCE: Embodied Multimodal Representations via Implicit Preference Learning. In the 41st International Conference on Machine Learning (ICML 2024) (Outstanding paper award of ICML 2024 MFM-EAI Workshop).
Luo, Y., Ji, T., Sun, F., Zhang, J., Xu, H., Zhan, X. OMPO: A Unified Framework for Reinforcement Learning under Policy and Dynamics Shifts. In the 41st International Conference on Machine Learning (ICML 2024) (oral).
Luo, Y., Ji, T., Sun, F., Zhang, J., Xu, H., Zhan, X. Offline-Boosted Actor-Critic: Adaptively Blending Optimal Historical Behaviors in Deep Off-Policy RL. In the 41st International Conference on Machine Learning (ICML 2024).
Ji, T., Luo, Y., Sun, F., Zhan, X., Zhang, J., Xu, H. Seizing Serendipity: Exploiting the Value of Past Success in Off-Policy Actor-Critic. In the 41st International Conference on Machine Learning (ICML 2024).
Niu, H., Hu, J., Zhou, G., Zhan, X. A Comprehensive Survey of Cross-Domain Policy Transfer for Embodied Agents. In the 33rd International Joint Conference on Artificial Intelligence (IJCAI 2024) (oral).
Hu, X., Li, J., Zhan, X., Jia, Q., and Zhang, Y. Q. Query-Policy Misalignment in Preference-Based Reinforcement Learning. In the 12th International Conference on Learning Representations (ICLR 2024)(spotlight).
Wang, G., Cheng, S., Zhan, X., Li, X., Song, S., Liu, Y. OpenChat: Advancing Open-source Language Models with Mixed-Quality Data. In the 12th International Conference on Learning Representations (ICLR 2024).
Mao, L., Xu, H., Zhang, W., Zhan, X. Revealing the Mystery of Distribution Correction Estimation via Orthogonal-gradient Update. In the 12th International Conference on Learning Representations (ICLR 2024)(spotlight).
Zheng, Y., Li, J., Yu, D., Yang, Y., Li, S., Zhan, X., Liu, J. Safe Offline Reinforcement Learning with Feasibility-Guided Diffusion Model. In the 12th International Conference on Learning Representations (ICLR 2024).
Cheng, P.*, Zhan, X.*, Wu, Z., Zhang, W., Song, S., Wang, H., Lin, Y., & Jiang, L. Look Beneath the Surface: Exploiting Fundamental Symmetry for Sample-Efficient Offline RL. In the Thirty-seventh Conference on Neural Information Processing Systems (NeurIPS 2023).
Wang, X., Xu, H., Zheng, Y., Zhan, X.. Offline Multi-Agent Reinforcement Learning with Implicit Global-to-Local Value Regularization. In the Thirty-seventh Conference on Neural Information Processing Systems (NeurIPS 2023).
Li, J., Hu, X., Xu, H., Liu, J., Zhan, X., Jia, Q., and Zhang, Y. Q. Mind the Gap: Offline Policy Optimization for Imperfect Rewards. In the 11th International Conference on Learning Representations (ICLR 2023).
Xu, H., Jiang, L., Li, J., Yang, Z., Wang, Z., Chan, V., W., K., and Zhan, X.. Offline RL with No OOD Actions: In-Sample Learning via Implicit Value Regularization. In the 11th International Conference on Learning Representations (ICLR 2023) (oral).
Li, J., Zhan, X., Xu, H., Zhu, X., Liu, J., and Zhang, Y. Q. When Data Geometry Meets Deep Function: Generalizing Offline Reinforcement Learning. In the 11th International Conference on Learning Representations (ICLR 2023).
Jiang, L., Wang, X., Yang, A., Wang, X., Jin, X., Wang, W., Ye, X., Ouyang, Y., and Zhan, X.. An Efficient Multi-Agent Optimization Approach for Coordinated Massive MIMO Beamforming. In IEEE International Conference on Communications (ICC 2023).
Wang, X., and Zhan, X.. Offline Multi-Agent Reinforcement Learning with Coupled Value Factorization. In International Conference on Autonomous Agents and Multiagent Systems 2023 (AAMAS 2023) (Extended Abstract).
Xu, H., Li, J., Li, J., Zhan, X.. A Policy-Guided Imitation Approach for Offline Reinforcement Learning. In the Thirty-sixth Conference on Neural Information Processing Systems (NeurIPS 2022) (oral).
Niu, H., Sharma, S., Qiu, Y., Li, M, Zhou G., Hu, J., Zhan, X.. When to Trust Your Simulator: Dynamics-Aware Hybrid Offline-and-Online Reinforcement Learning. In the Thirty-sixth Conference on Neural Information Processing Systems (NeurIPS 2022) (spotlight).
Zhang, W., Xu, H., Niu, H., Cheng, P, Li, M., Zhang, H., Zhou G., Zhan, X.. Discriminator-Guided Model-Based Offline Imitation Learning. In Conference on Robot Learning (CoRL 2022).
Liu, S., Weng, D., Tian, Y., Deng, Z., Xu, H., Zhu, X., Yin, H., Zhan, X., Wu, Y. ECoalVis: Visual Analysis of Control Strategies in Coal-fired Power Plants. In IEEE Visualization Conference (VIS 2022).
Yu, Q., Lou, J., Zhan, X., Li, Q., Liu, J., Zuo W. and Liu, Y. Adversarial Contrastive Learning via Asymmetric InfoNCE. In the 17th European Conference on Computer Vision (ECCV 2022).
Xu, H., Zhan, X., Yin, H. and Qin, H. Discriminator-Weighted Offline Imitation Learning from Suboptimal Demonstrations. In the 39th International Conference on Machine Learning (ICML 2022).
Zhan, X., Zhu, X. and Xu, H. Model-Based Offline Planning with Trajectory Pruning. In the 31st International Joint Conference on Artificial Intelligence (IJCAI-22), 3695-3701.
Zhan, X., Xu, H., Zhang, Y., Zhu, X. and Yin, H. DeepThermal: Combustion Optimization for Thermal Power Generating Units Using Offline Reinforcement Learning. In the Thirty-Sixth AAAI Conference on Artificial Intelligence (AAAI2022).
Xu, H., Zhan, X., and Zhu, X. Constraints Penalized Q-Learning for Safe Offline Reinforcement Learning. In the Thirty-Sixth AAAI Conference on Artificial Intelligence (AAAI2022).
Qin, H., Zhan, X., Li, Y., Yang, X. and Zheng, Y. Network-Wide Traffic States Imputation Using Self-interested Coalitional Learning. In Proceedings of the 27th ACM SIGKDD Conference on Knowledge Discovery and Data Mining (KDD ’21), August 14–18, 2021, Virtual Event, Singapore. ACM, New York, NY, USA. https://doi.org/10.1145/3447548.3467424.
Qin, H., Ke, S., Yang, X., Xu, H., Zhan, X. and Zheng, Y. Robust Spatio-Temporal Purchase Prediction via Deep Meta Learning. In Proceedings of the AAAI Conference on Artificial Intelligence 35 (5), 4312-4319, 2021.
Zischg, J., Klinkhamer, C., Zhan, X., Krueger, E., Ukkusuri, S., Rao, P. S. C., Rauch, W. and Sitzenfrei, R. Evolution of Complex Network Topologies in Urban Water Infrastructure. In World Environmental and Water Resources Congress, Sacramento, May 2017.
Yang, C., Zhang, Y., Zhan, X., Ukkusuri, S. V., and Qiu, W. Activity Chain Inference Using Travel Survey and Mobile Phone data. In Proceedings of Transportation Research Board Meeting, Washington D.C., January 2017.
Zhan, X., Ukkusuri, S. V. A Probabilistic Urban Link Travel Time Estimation Model Using Large-scale Taxi Trip Data. In Proceedings of 94th Transportation Research Board Meeting, Washington D.C., January 2015.
Zhan, X., Qian, X., Ukkusuri, S. V. Measuring the Efficiency of Urban Taxi Service System. In Proceedings of the 3rd ACM SIGKDD International Workshop on Urban Computing, New York, August 2014.
Zhan, X., Ukkusuri, S. V.. Multi-User Class, Simultaneous Route and Departure Time Choice Dynamic Traffic Assignment with an Embedded Spatial Queuing Model. 5th International Symposium on Dynamic Traffic Assignment. Salerno, Italy, June, 2014.
Qian, X., Zhan, X., Ukkusuri, S. Characterizing Urban Dynamics Using Large Scale Taxicab Data. In Proceedings of 93nd Transportation Research Board Meeting, Washington D.C., January 2014.
Hasan, S., Zhan, X., and Ukkusuri, S. V. Understanding Urban Human Activity and Mobility Patterns Using Large-scale Location-based Data from Online Social Media. Proceedings of the 2nd ACM SIGKDD International Workshop on Urban Computing, August, 2013.
Feng, X., Jiang, L., Yu, X., Xu, H., Sun, X., Wang, J., Zhan, X. and Chan, W. K., 2023. Curriculum Goal-Conditioned Imitation for Offline Reinforcement Learning. In IEEE Transactions on Games.
Qin, H., Zhan, X., and Zheng, Y., 2022. CSCAD: Correlation Structure-based Collective Anomaly Detection in Complex System. In IEEE Transactions on Knowledge and Data Engineering (TKDE).
Yang, C., Zhang, Y., Zhan, X., Ukkusuri, S. V. and Chen, Y., 2020. Fusing Mobile Phone and Travel Survey Data to Model Urban Activity Dynamics. Journal of Advanced Transportation, 2020, 5321385.
Zhan, X., Li, R., and Ukkusuri, S. V., 2020. Link-based traffic state estimation and prediction for arterial networks using license-plate recognition data. Transportation Research Part C: Emerging Technologies, 117, 102660.
Zhan, X., and Ukkusuri, S. V., 2019. Spatial Dependency of Urban Sprawl and the Underlying Road Network Structure. Journal of Urban Planning and Development, 145(4), 04019014.
Zischg, J., Klinkhamer, C., Zhan, X., Rao, S. C., and Sitzenfrei, R., 2019. A Century of Topological Co-Evolution of Complex Infrastructure Networks in an Alpine City. Complexity, 2019, 2096749.
Gehlot, H., Zhan, X., Qian, X., Thompson, C., Kulkarni, M. and Ukkusuri, S. V., 2018. A-Rescue 2.0: A High Fidelity, Parallel, Agent-based Evacuation Simulator. Journal of Computing in Civil Engineering, 33(2), 04018059.
Zhan, X., Ukkusuri, S. V., and Rao, S. C., 2017. Dynamics of Functional Failures and Recovery in Complex Road Networks. Physical Review E, 96(5), 052301.
Li, R. Ye, Z., Li. B. and Zhan, X., 2017. Simulation of Hard Shoulder Running Combined with Queue Warning During Traffic Accident with CTM model. IET Intelligent Transport Systems, 11(9), 553-560.
Mo, B., Li, R., Zhan, X., 2017. Speed Profile Estimation Using License Plate Recognition Data. Transportation Research Part C: Emerging Technology, 82, 358–378.
Zhan, X., and Ukkusuri, S. V., 2019. Multiclass, Simultaneous Route and Departure Time Choice Dynamic Traffic Assignment with an Embedded Spatial Queuing Model. Transportmetrica B: Transport Dynamics, 7:1, 124-146.
Kreuger, E., Klinkhamer, C., Urich C., Zhan, X., and Rao, S. C., 2017. Generic Patterns in the Evolution of Urban Water Networks: Evidence from a Large Asian City. Physical Review E, 95(3), 032312.
Zhan, X., Zheng, Y., Yi, X., and Ukkusuri, S. V., 2016. Citywide Traffic Volume Estimation Using Trajectory Data. IEEE Transactions on Knowledge and Data Engineering (TKDE), 29(2), 272-285.
Aziz, H. M., Ukkusuri, S., Zhan, X., 2016. Determining the Impact of Personal Mobility Carbon Allowance Schemes in Transportation Networks. Network and Spatial Economics, 17(2), 505-545.
Ukkusuri, S., Hasan, S., Doan, K., Luong, B., Zhan, X., Murray-Tuite, P., Yin, W., 2016. A-RESCUE: An Agent-based Regional Evacuation Simulator Coupled with User Enriched Behavior. Network and Spatial Economics, 17(1), 197-223.
Hasan, S., Ukkusuri, S., Zhan, X., 2016. Understanding Social Influence in Activity-Location Choice and Life-Style Patterns Using Geo-location Data from Social Media. Frontiers in ICT, 3:10.
Zhan, X., Qian, X., Ukkusuri, S. V., 2016. A Graph Based Approach to Measure the Efficiency of Urban Taxi Service System. IEEE Transactions on Intelligent Transportation Systems, 17(9), 2479-2489.
Zhan, X., Ukkusuri, S., V., Yang, C., 2016. A Bayesian Mixture Model for Short-term Average Link Travel Time Estimation Using Large-scale Limited Information Trip-based Data. Automation in Construction, 72(3), 237-246.
Mesa-Arango, R., Zhan, X., Ukkusuri, S. V., Mitra, A., 2016. Direct Transportation Economic Impacts of Highway Networks Disruptions Using Public Data from United States. Journal of Transportation Safety & Security, 8(1), 36-55.
Zhan, X., Aziz, H. M., Ukkusuri, S. V., 2015. An Efficient Parallel Sampling Technique for Multivariate Poisson-Lognormal Model: Analysis with Two Crash Count Datasets. Analytic Methods in Accident Research, 8, 45-60.
Zhan, X., Li, R., Ukkusuri, S. V., 2015. Lane-based Real Time Queue Length Estimation Using License Plate Recognition Data. Transportation Research Part C: Emerging Technology, 57, 85-102.
Zhan, X., Ukkusuri, S., V., Zhu, F., 2014. Inferring Urban Land Use Using Large-Scale Social Media Check-in Data. Network and Spatial Economics, 14, 647-667.
Ukkusuri, S., Zhan, X., Sadri A., Ye, Q., 2013. Exploring Crisis Informatics Using Social Media Data: A Study on 2013 Oklahoma Tornado. Transportation Research Record, 2459, 110-118.
Zhan, X., Hasan, S., Ukkusuri, S. V., Kamga, C., 2013. Urban Link Travel Time Estimation Using Large-scale Taxi Data with Partial Information. Transportation Research Part C: Emerging Technologies, 33, 37-49.
Qian, X, Zhan, X., Ukkusuri, S. V. Characterizing Urban Dynamics Using Large Scale Taxicab Data. Engineering and Applied Sciences Optimization: Vol. 38, 17-32, Springer International Publishing, 2015.
Ukkusuri, S. V., Hasan, S., and Zhan, X.. Checking the Urban Pulse: Social Media Data Analytics for Transportation Applications. Best Practices for Transportation Agency Use of Social Media Data. Taylor and Francis/CRC Press, 2013.
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Research projects at Institute of AI Industry Research (AIR), Tsinghua University, Beijing, China
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