An up-to-date list of our publications can be found Google Scholar.
Reinforcement learning-based motion planning in partially observable environments under ethical constraints
Junchao Li, Mingyu Cai, Shaoping Xiao . AI and Ethics 5, 2025. [PDF]
Safety-Critical Learning of Robot Control With Temporal Logic Specifications
Mingyu Cai, Cristian-Ioan Vasile. IEEE Transactions on Automatic Control, 2025. [PDF]
Reinforcement learning with soft temporal logic constraints using limit-deterministic generalized Büchi automaton
Mingyu Cai, Zhangli Zhou, Lin Li, Shaoping Xiao, Zhen Kan. Journal of Automation and Intelligence 4, 2025. [PDF]
A two-level control algorithm for autonomous driving in urban environments
Erfan Aasi, Mingyu Cai, Cristian-Ioan Vasile, Calin Belta. IEEE Transactions on Intelligent Transportation Systems, 2024.
Fast Motion Planning in Dynamic Environments With Extended Predicate-Based Temporal Logic.
Ziyang Chen, Mingyu Cai, Zhangli Zhou, Lin Li, Zhen Kan. IEEE Transactions on Automation Science and Engineering (TASE), 2024. [Video] [PDF]
Local Observation Based Reactive Temporal Logic Planning of Human-Robot Systems.
Zhangli Zhou, Shaochen Wang, Ziyang Chen, Mingyu Cai, Hao Wang, Zhen Kan. IEEE Transactions on Automation Science and Engineering (TASE), 2023. [Video] [PDF]
Vision-Based Reactive Temporal Logic Motion Planning for Quadruped Robots in Unstructured Dynamic Environments.
Zhangli Zhou, Ziyang Chen, Mingyu Cai, Zhijun Li, Zhen Kan, Chun-Yi Su. IEEE Transactions on Industrial Electronics (TIE), 2023. [Video] [PDF]
A Novel Framework for Improved Grasping of Thin and Stacked Objects.
Zhangli Zhou, Shaochen Wang, Ziyang Chen, Mingyu Cai, Zhen Kan. IEEE Transactions on Aritifical Intelligence, 2023. [Video] [PDF]
Overcoming Exploration: Deep Reinforcement Learning for Continuous Control in Cluttered Environments from Temporal Logic Specifications.
Mingyu Cai, Erfan Aasi, Calin Belta, Cristian-Ioan Vasile. IEEE Robotics and Automation Letters (RA-L), 2023. [Video] [Bibtex] [PDF]
Safety-Critical Modular Deep Reinforcement Learning with Temporal Logic through Gaussian Processes and Control Barrier Functions.
Mingyu Cai, Cristian-Ioan Vasile. Under Review, 2022. [Video] [PDF]
Optimal Probabilistic Motion Planning with Potential Infeasible LTL Constraints.
Mingyu Cai, Shaoping Xiao, Zhijun Li, Zhen Kan. IEEE Transactions on Automatic Control (TAC), 2022. [Bibtex] [PDF]
Intelligent Traffic Light via Policy-based Deep Reinforcement Learning.
Yue Zhu, Mingyu Cai, Chris W. Schwarz, Junchao Li, Shaoping Xiao. International Journal of Intelligent Transportation Systems Research 2022. [Bibtex] [PDF]
Online Motion Planning with Soft Metric Interval Temporal Logic in Unknown Dynamic Environment.
Zhiliang Li, Mingyu Cai*, Shaoping Xiao, Zhen Kan. IEEE Control Systems Letters (L-CSS), 2022. [Bibtex] [PDF] [Video]
Probabilistic Coordination of Heterogeneous Teams From Capability Temporal Logic Specifications.
Mingyu Cai, Kevin Leahy, Zachary Serlin, Cristian-Ioan Vasile. IEEE Robotics and Automation Letters (RA-L), 2022. [Bibtex] [PDF]
Modular Deep Reinforcement Learning for Continuous Motion Planning With Temporal Logic.
Mingyu Cai, Mohammadhosein Hasanbeig, Shaoping Xiao, Alessandro Abate, Zhen Kan. IEEE Robotics and Automation Letters (RA-L), 2021. [Bibtex] [PDF] [Demo] [Code]
Receding Horizon Control-Based Motion Planning With Partially Infeasible LTL Specifications.
Mingyu Cai, Hao Peng, Zhijun Li, Hongbo Gao, Zhen Kan. IEEE Control Systems Letters (L-CSS), 2020. [Bibtex] [PDF] [Video] [Code]
Learning-based probabilistic LTL motion planning with environment and motion uncertainties.
Mingyu Cai, Hao Peng, Zhijun Li, Zhen Kan. IEEE Transactions on Automatic Control (TAC), 2020. [Bibtex] [PDF]
Time-aware Motion Planning in Dynamic Environments with Conformal Prediction
Kaier Liang, Licheng Luo, Yixuan Wang, Mingyu Cai, Cristian-Ioan Vasile. Learning for Dynamics and Control Conference (L4DC), Los Angeles, CA, USA, June, 2026. [Bibtex] [PDF]
A Unified Framework to Learn Collision-Free Loco-Manipulation via Adversarial Motion Priors
Huayang Yin, Tangyu Qian, Mingrui Li, Guanchen Lu, Mingyu Cai, Zhen Kan. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China, October 2025. [Bibtex] [PDF]
Safe navigation in dynamic environments using data-driven Koopman operators and conformal prediction
Kaier Liang, Guang Yang, Mingyu Cai, Cristian-Ioan Vasile. American Control Conference (ACC) , New Orleans, LA, May 2026. [PDF]
LQR-CBF-RRT*: Safe and optimal motion planning
Guang Yang, Mingyu Cai, Ahmad Ahmad, Amanda Prorok, Roberto Tron, Calin Belta. American Control Conference (ACC) , Denver, CO, USA, July, 2025 [PDF]
Hierarchical Deep Learning for Intention Estimation of Teleoperation Manipulation in Assembly Tasks.
Mingyu Cai, Karankumar Patel, Soshi Iba, Songpo Li. IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May, 2024. [Video]
Control Barrier Function for Linearizable Systems with High Relative Degrees from Signal Temporal Logics: A Reference Governor Approach.
Kaier Liang, Mingyu Cai, Cristian-Ioan Vasile. IEEE American Control Conference (ACC), Toronto, Canada, July, 2024. [Video]
Learning Minimally-Violating Continuous Control for Infeasible Linear Temporal Logic Specifications.
Mingyu Cai, Makai Mann, Zachary Serlin, Kevin Leahy, Cristian-Ioan Vasile. IEEE American Control Conference (ACC), San Diego, USA, May, 2023. [Video] [Bibtex] [PDF]
Learning Signal Temporal Logic through Neural Network for Interpretable Classification.
Danyang Li, Mingyu Cai, Cristian-Ioan Vasile, Roberto Tron. IEEE American Control Conference (ACC), 2023.
Time-Incremental Learning of Temporal Logic Classifiers Using Decision Trees.
Erfan Aasi, Mingyu Cai, Cristian-Ioan Vasile, Calin Belta. Learning for Dynamics and Control Conference (L4DC), San Diego, USA, May, 2023. [Bibtex] [PDF]
Probabilistic Coordination of Heterogeneous Teams From Capability Temporal Logic Specifications.
Mingyu Cai, Kevin Leahy, Zachary Serlin, Cristian-Ioan Vasile. IEEE International Conference on Robotics and Automation (ICRA). Philadelphia, USA, May, 2022. [Bibtex] [PDF]
Modular Deep Reinforcement Learning for Continuous Motion Planning With Temporal Logic.
Mingyu Cai, Mohammadhosein Hasanbeig, Shaoping Xiao, Alessandro Abate, Zhen Kan. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. [Bibtex] [PDF] [Demo] [Code]
Reinforcement Learning Based Temporal Logic Control with Maximum Probabilistic Satisfaction.
Mingyu Cai, Shaoping Xiao, Baoluo Li, Zhiliang Li, Zhen Kan. IEEE International Conference on Robotics and Automation (ICRA). Xian, China, May 2021. [Bibtex] [PDF] [Code]
Receding Horizon Control-Based Motion Planning With Partially Infeasible LTL Specifications.
Mingyu Cai, Hao Peng, Zhijun Li, Hongbo Gao, Zhen Kan. American Control Conference (ACC) , New Orleans, Louisiana, USA, June 2021. [Bibtex] [PDF] [Demo] [Video] [Code]
Characterizing herdability of signed networks via graph walks.
Baike She, Mingyu Cai, Zhen Kan. IEEE Conference on Decision and Control Conference (CDC), Orlando, FL, USA, December 2019. [Bibtex] [PDF]