Learning Quadruped Walking from Seconds of Demonstration
Ruipeng Zhang, Hongzhan Yu, Ya-Chien Chang, Chenghao Li, Henrik Christensen, and Sicun Gao
ICRA (IEEE International Conference on Robotics and Automation) 2026

Controllable Motion Generation via Diffusion Modal Coupling
Luobin Wang, Hongzhan Yu, Chenning Yu, Sicun Gao, and Henrik Christensen
ICRA (IEEE International Conference on Robotics and Automation) 2026

When Maximum Entropy Misleads Policy Optimization [arXiv]
Ruipeng Zhang, Ya-Chien Chang, and Sicun Gao
ICML (International Conference on Machine Learning) 2025

Improving Value Estimation Critically Enhances Vanilla Policy Gradient [arXiv]
Tao Wang, Ruipeng Zhang, and Sicun Gao
ICML (International Conference on Machine Learning) 2025

Improving Compositional Generation with Diffusion Models Using Lift Scores [project page]
Chenning Yu and Sicun Gao
ICML (International Conference on Machine Learning) 2025

Estimating Control Barriers from Offline Data [arXiv]
Hongzhan Yu, Seth Farrell, Ryo Yoshimitsu, Zhizhen Qin, Henrik Christensen, and Sicun Gao
ICRA (IEEE International Conference on Robotics and Automation) 2025

Patching Approximately Safe Value Functions Leveraging Local Hamilton-Jacobi Reachability Analysis [arXiv]
Sander Tonkens, Alex Toofanian, Zhizhen Qin, Sicun Gao, and Sylvia Herbert
CDC (IEEE Conference on Decision and Control) 2024

SEEV: Synthesis with Efficient Exact Verification for ReLU Neural Barrier Functions [arXiv]
Hongchao Zhang, Zhizhen Qin, Sicun Gao, and Andrew Clark
NeurIPS (Conference on Neural Information Processing Systems) 2024

Hamilton-Jacobi Reachability in Reinforcement Learning: A Survey [arXiv]
Milan Ganai, Sicun Gao, and Sylvia Herbert
IEEE Open Journal of Control Systems 2024

Activation-Descent Regularization for Input Optimization of ReLU Networks [arXiv]
Hongzhan Yu and Sicun Gao
ICML (International Conference on Machine Learning) 2024

Mollification Effects of Policy Gradient Methods [arXiv]
Tao Wang, Sylvia Herbert, and Sicun Gao
ICML (International Conference on Machine Learning) 2024

Breaking the Barrier: Enhanced Utility and Robustness in Smoothed DRL Agents
Chung-En Sun, Sicun Gao, and Tsui-Wei Weng
ICML (International Conference on Machine Learning) 2024

Extremum-Seeking Action Selection for Accelerating Policy Optimization [project page]
Ya-Chien Chang and Sicun Gao
ICRA (International Conference on Robotics and Automation) 2024

Efficient Motion Planning for Manipulators with Barrier-Induced Neural Controller
Mingxin Yu, Chenning Yu, Mohammad Mahdi Naddaf Shargh, Devesh Upadhyay, Sicun Gao, and Chuchu Fan
ICRA (International Conference on Robotics and Automation) 2024

Sample-and-Bound for Non-Convex Optimization [arXiv]
Yaoguang Zhai, Zhizhen Qin, and Sicun Gao
AAAI (AAAI Conference on Artificial Intelligence) 2024

Iterative Reachability Estimation for Safe Reinforcement Learning [project page]
Milan Ganai, Zheng Gong, Chenning Yu, Sylvia Herbert, and Sicun Gao
NeurIPS (Conference on Neural Information Processing Systems) 2023

Fractal Landscapes in Policy Optimization [arXiv]
Tao Wang, Sylvia Herbert, and Sicun Gao
NeurIPS (Conference on Neural Information Processing Systems) 2023

Sequential Neural Barriers for Scalable Dynamic Obstacle Avoidance [project page]
Hongzhan Yu, Chiaki Hirayama, Chenning Yu, Sylvia Herbert, and Sicun Gao
IROS (International Conference on Intelligent Robots and Systems) 2023 [IROS RoboCup Best Paper Award]

Learning Stabilization Control from Observations by Learning Lyapunov-like Proxy Models [project page]
Milan Ganai, Chiaki Hirayama, Ya-Chien Chang, and Sicun Gao
ICRA (International Conference on Robotics and Automation) 2023

Accelerating Multi-Agent Planning Using Graph Transformers with Bounded Suboptimality [project page]
Chenning Yu, Qingbiao Li, Sicun Gao, and Amanda Prorok
ICRA (International Conference on Robotics and Automation) 2023

Everyone's Preference Changes Differently: A Weighted Multi-Interest Model For Retrieval
Hui Shi, Yupeng Gu, Yitong Zhou, Bo Zhao, Sicun Gao, and Jishen Zhao
ICML (International Conference on Machine Learning) 2023

Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction Methods [arXiv]
Charles Dawson, Sicun Gao, and Chuchu Fan
IEEE Transactions on Robotics (T-RO) 2023

Monte Carlo Tree Descent for Black-Box Optimization [arXiv]
Yaoguang Zhai and Sicun Gao
NeurIPS (Conference on Neural Information Processing Systems) 2022

Learning-based Motion Planning in Dynamic Environments Using GNNs and Temporal Encoding [arXiv]
Ruipeng Zhang, Chenning Yu, Jingkai Chen, Chuchu Fan, and Sicun Gao
NeurIPS (Conference on Neural Information Processing Systems) 2022

Policy Optimization with Advantage Regularization for Long-Term Fairness in Decision Systems [arXiv]
Eric Yang Yu, Zhizhen Qin, Min Kyung Lee, and Sicun Gao
NeurIPS (Conference on Neural Information Processing Systems) 2022

Learning Control Admissibility Models with Graph Neural Networks for Multi-Agent Navigation [project page]
Chenning Yu, Hongzhan Yu, and Sicun Gao
CoRL (Conference on Robot Learning) 2022

Quantifying Safety of Learning-based Self-Driving Control Using Almost-Barrier Functions [arXiv]
Zhizhen Qin, Tsui-Wei Weng, and Sicun Gao
IROS (International Conference on Intelligent Robots and Systems) 2022

Learning Bounded Context-Free Grammar via LSTM and Transformers: Differences and Explanations [arXiv]
Hui Shi, Sicun Gao, Yuandong Tian, Xinyun Chen, and Jishen Zhao
AAAI (AAAI Conference on Artificial Intelligence) 2022

Reducing Collision Checking for Sampling-Based Motion Planning Using Graph Neural Networks [project page]
Chenning Yu and Sicun Gao
NeurIPS (Conference on Neural Information Processing Systems) 2021

A Neural Lyapunov Approach to Transient Stability Assessment of Power Electronics-interfaced Networked Microgrids [pdf]
Tong Huang, Sicun Gao, and Le Xie
IEEE Transactions on Smart Grid 2021 [IEEE Power & Enery Society Technical Committee Prize Paper Award]

Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions [arXiv]
Charles Dawson, Zengyi Qin, Sicun Gao, and Chuchu Fan
CoRL (Conference on Robot Learning) 2021

Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics [project page]
Ya-Chien Chang and Sicun Gao
ICRA (International Conference on Robotics and Automation) 2021

Provably Efficient Model-based Policy Adaptation [project page]
Yuda Song, Aditi Mavalankar, Wen Sun, and Sicun Gao
ICML (International Conference on Machine Learning) 2020

Neural Lyapunov Control [project page]
Ya-Chien Chang, Nima Roohi, and Sicun Gao
NeurIPS (Conference on Neural Information Processing Systems) 2019

VeriSketch: Synthesizing Secure Hardware Designs with Timing-Sensitive Information Flow Properties [pdf]
Armaiti Ardeshiricham, Yoshiki Takashima, Sicun Gao, and Ryan Kastner
CCS (ACM Conference on Computer and Communications Security) 2019

Numerically-Robust Inductive Proof Rules for Continuous Dynamical Systems [pdf]
Sicun Gao, James Kapinski, Jyotirmoy Deshmukh, Nima Roohi, Armando Solar-Lezama, Nikos Arechiga, and Soonho Kong
CAV (International Conference on Computer Aided Verification) 2019

Inverse Abstraction of Neural Networks Using Symbolic Interpolation [pdf]
Sumanth Dathathri, Sicun Gao, and Richard M. Murray
AAAI (AAAI Conference on Artificial Intelligence) 2019

Tight Continuous-Time Reachtubes for Lagrangian Reachability [pdf]
Jacek Cyranka, Md. Ariful Islam, Scott Smolka, Sicun Gao, and Radu Grosu
CDC (IEEE Conference on Decision and Control) 2018

Delta-Decision Procedures for Exists-Forall Problems over the Reals [pdf]
Soonho Kong, Armando Solar-Lezama, and Sicun Gao
CAV (International Conference on Computer Aided Verification) 2018

Modular SMT-Based Analysis of Nonlinear Hybrid Systems [pdf]
Kyungmin Bae and Sicun Gao
FMCAD (Formal Methods in Computer-Aided Design) 2017

Learning-Based Abstractions for Nonlinear Constraint Solving [pdf]
Sumanth Dathathri, Nikos Arechiga, Sicun Gao, and Richard M. Murray
IJCAI (International Joint Conference on Artificial Intelligence) 2017

Interpolants in Nonlinear Theories over the Reals [pdf]
Sicun Gao and Damien Zufferey
TACAS (International Conference on Tools and Algorithms for the Construction and Analysis of Systems) 2016

SMT-Based Analysis of Virtually Synchronous Distributed Hybrid Systems [pdf]
Kyungmin Bae, Peter Olveczky, Soonho Kong, and Sicun Gao
HSCC (ACM International Conference on Hybrid Systems: Computation and Control) 2016

Automated Vulnerability Analysis of AC State Estimation under Constrained False Data Injection in Electric Power Systems [pdf]
Sicun Gao, Le Xie, Armando Solar-Lezama, Dimitrios Serpanos, and Howard Shrobe
CDC (IEEE Conference on Decision and Control) 2015

dReach: Delta-Reachability Analysis for Hybrid Systems [pdf]
Soonho Kong, Sicun Gao, Wei Chen, and Edmund Clarke
TACAS (International Conference on Tools and Algorithms for the Construction and Analysis of Systems) 2015

SMT-Based Nonlinear PDDL+ Planning [pdf]
Daniel Bryce, Sicun Gao, David Musliner, and Robert P. Goldman
AAAI (AAAI Conference on Artificial Intelligence) 2015

Parameter Synthesis for Cardiac Cell Hybrid Models Using Delta-Decisions [arXiv]
Bing Liu, Soonho Kong, Sicun Gao, Paolo Zuliani, and Edmund Clarke
CMSB (Computational Methods in Systems Biology) 2014

Proof Generation from Delta-Decisions [arXiv]
Sicun Gao, Soonho Kong, and Edmund Clarke
SYNASC (International Conference on Symbolic and Numerical Algorithms for Scientific Computing) 2014

Satisfiability Modulo ODEs [pdf]
Sicun Gao, Soonho Kong, and Edmund Clarke
FMCAD (Formal Methods in Computer-Aided Design) 2013

Floating-point Bugs in the Embedded GNU C Library [pdf]
Soonho Kong, Sicun Gao, and Edmund Clarke
CMU SCS Technical Report CMU-CS-13-130 2013

dReal: An SMT Solver for Nonlinear Theories of Reals [pdf] [tool]
Sicun Gao, Soonho Kong, and Edmund Clarke
CADE (International Conference on Automated Deduction) 2013

Computable Analysis, Hybrid Automata, and Decision Procedures: A New Framework for the Formal Verification of Cyber-Physical Systems [extended abstract]
PhD Thesis in Logic, Carnegie Mellon University 2012
Committee: Edmund Clarke (co-chair), Jeremy Avigad (co-chair), Lenore Blum, Randy Bryant, and Jeannette Wing

Delta-Complete Decision Procedures for Satisfiability over the Reals [pdf]
Sicun Gao, Jeremy Avigad, and Edmund Clarke
IJCAR (International Joint Conference on Automated Reasoning) 2012

Delta-Decidability over the Reals [arXiv]
Sicun Gao, Jeremy Avigad, and Edmund Clarke
LICS (Logic in Computer Science) 2012

Quantifier Elimination over Finite Fields with Groebner Bases [arXiv]
Sicun Gao, Andre Platzer, and Edmund Clarke
CAI (International Conference on Algebraic Informatics) 2011

Integrating ICP and LRA Solvers for Deciding Nonlinear Real Arithmetic [pdf]
Sicun Gao, Malay Ganai, Franjo Ivancic, Aarti Gupta, Sriram Sankaranarayanan, and Edmund Clarke
FMCAD (Formal Methods in Computer Aided Design) 2010

Counting Zeros over Finite Fields with Groebner Bases [pdf]
MS Thesis in Logic, Carnegie Mellon University 2009