Learning from Demonstrations via Capability-Aware Goal Sampling.

He Zhu 0001 Rutgers University, Department of Computer Science, New Brunswick, NJ, USA Purdue University, Department of Computer Science, West Lafayette, IN, USA https://herowanzhu.github.io/ https://scholar.google.com/citations?user=3X9GC2gAAAAJ https://orcid.org/0000-0001-9606-150X He Zhu He Zhu 0002 Steve Drew 0001 University of Calgary, Alberta, Canada Carleton University, Ottawa, ON, Canada https://www.drewsteve.com/ https://openreview.net/profile?id=~Steve_Drew2 https://orcid.org/0000-0003-4527-2635 https://www.wikidata.org/entity/Q131013632 He Zhu 0003 University of Queensland, Brisbane, QLD, Australia https://orcid.org/0000-0002-5157-8457

Yuanlin Duan Yuning Wang Wenjie Qiu 0002 He Zhu 0001 Learning from Demonstrations via Capability-Aware Goal Sampling. 2026 January abs/2601.08731 CoRR https://doi.org/10.48550/arXiv.2601.08731 db/journals/corr/corr2601.html#abs-2601-08731 streams/journals/corr

Guofeng Cui Yuning Wang Wensen Mao Yuanlin Duan He Zhu 0001 Abstraction Refinement-Guided Program Synthesis for Robot Learning from Demonstrations. 555-583 2025 9 Proc. ACM Program. Lang. OOPSLA2 https://doi.org/10.1145/3763070 db/journals/pacmpl/pacmpl9.html#CuiWMD025

Yuning Wang He Zhu 0001 Deductive Synthesis of Reinforcement Learning Agents for Infinite Horizon Tasks. 79-103 2025 CAV (4) https://doi.org/10.1007/978-3-031-98685-7_4 conf/cav/2025-4 db/conf/cav/cav2025-4.html#WangZ25 streams/conf/cav

Guofeng Cui Yuning Wang Wenjie Qiu 0002 He Zhu 0001 Reward-Guided Synthesis of Intelligent Agents with Control Structures. 1730-1754 2024 8 Proc. ACM Program. Lang. PLDI https://doi.org/10.1145/3656447 db/journals/pacmpl/pacmpl8.html#CuiWQZ24 streams/journals/pacmpl

Ziheng Chen 0002 Fabrizio Silvestri Gabriele Tolomei Jia Wang 0009 He Zhu 0001 Hongshik Ahn Explain the Explainer: Interpreting Model-Agnostic Counterfactual Explanations of a Deep Reinforcement Learning Agent. 1443-1457 2024 April 5 IEEE Trans. Artif. Intell. 4 https://doi.org/10.1109/TAI.2022.3223892 db/journals/tai/tai5.html#ChenSTWZA24

Yuning Wang He Zhu 0001 Safe Exploration in Reinforcement Learning by Reachability Analysis over Learned Models. 232-255 2024 CAV (3) https://doi.org/10.1007/978-3-031-65633-0_11 conf/cav/2024-3 db/conf/cav/cav2024-3.html#WangZ24 streams/conf/cav Yuanlin Duan Guofeng Cui He Zhu 0001 Exploring the Edges of Latent State Clusters for Goal-Conditioned Reinforcement Learning. 2024 NeurIPS http://papers.nips.cc/paper_files/paper/2024/hash/7089237e828d55febd85a8d07f89e102-Abstract-Conference.html conf/nips/2024 db/conf/nips/neurips2024.html#DuanC024 Yuanlin Duan Wensen Mao He Zhu 0001 Learning World Models for Unconstrained Goal Navigation. 2024 NeurIPS http://papers.nips.cc/paper_files/paper/2024/hash/6cca3481ae66707958b824d37df40177-Abstract-Conference.html conf/nips/2024 db/conf/nips/neurips2024.html#DuanM024

Zelong Li 0001 Wenyue Hua Hao Wang 0014 He Zhu 0001 Yongfeng Zhang 0003 Formal-LLM: Integrating Formal Language and Natural Language for Controllable LLM-based Agents. 2024 abs/2402.00798 CoRR https://doi.org/10.48550/arXiv.2402.00798 db/journals/corr/corr2402.html#abs-2402-00798

Zelong Li 0001 Shuyuan Xu Kai Mei Wenyue Hua Balaji Rama Om Raheja Hao Wang 0014 He Zhu 0001 Yongfeng Zhang 0003 AutoFlow: Automated Workflow Generation for Large Language Model Agents. 2024 abs/2407.12821 CoRR https://doi.org/10.48550/arXiv.2407.12821 db/journals/corr/corr2407.html#abs-2407-12821 streams/journals/corr

Yuanlin Duan Guofeng Cui He Zhu 0001 Exploring the Edges of Latent State Clusters for Goal-Conditioned Reinforcement Learning. 2024 abs/2411.01396 CoRR https://doi.org/10.48550/arXiv.2411.01396 db/journals/corr/corr2411.html#abs-2411-01396 streams/journals/corr

Yuanlin Duan Wensen Mao He Zhu 0001 Learning World Models for Unconstrained Goal Navigation. 2024 abs/2411.02446 CoRR https://doi.org/10.48550/arXiv.2411.02446 db/journals/corr/corr2411.html#abs-2411-02446 streams/journals/corr

Wenjie Qiu 0002 Wensen Mao He Zhu 0001 Instructing Goal-Conditioned Reinforcement Learning Agents with Temporal Logic Objectives. 2023 NeurIPS http://papers.nips.cc/paper_files/paper/2023/hash/7b35a69f434b5eb07ed1b1ef16ace52c-Abstract-Conference.html conf/nips/2023 db/conf/nips/neurips2023.html#0002M023 Yuning Wang He Zhu 0001 Verification-guided Programmatic Controller Synthesis. 229-250 2023 TACAS (2) https://doi.org/10.1007/978-3-031-30820-8_16 conf/tacas/2023-2 db/conf/tacas/tacas2023-2.html#WangZ23 Hanxiong Chen Yunqi Li 0003 He Zhu 0001 Yongfeng Zhang 0003 Learn Basic Skills and Reuse: Modularized Adaptive Neural Architecture Search (MANAS). 169-179 2022 CIKM https://doi.org/10.1145/3511808.3557385 conf/cikm/2022 db/conf/cikm/cikm2022.html#Chen00Z22 Ziheng Chen 0002 Fabrizio Silvestri Jia Wang 0009 He Zhu 0001 Hongshik Ahn Gabriele Tolomei ReLAX: Reinforcement Learning Agent Explainer for Arbitrary Predictive Models. 252-261 2022 CIKM https://doi.org/10.1145/3511808.3557429 conf/cikm/2022 db/conf/cikm/cikm2022.html#ChenSW0AT22 Wenjie Qiu 0002 He Zhu 0001 Programmatic Reinforcement Learning without Oracles. 2022 ICLR https://openreview.net/forum?id=6Tk2noBdvxt conf/iclr/2022 db/conf/iclr/iclr2022.html#QiuZ22 Zikang Xiong Joe Eappen He Zhu 0001 Suresh Jagannathan Defending Observation Attacks in Deep Reinforcement Learning via Detection and Denoising. 235-250 2022 ECML/PKDD (3) https://doi.org/10.1007/978-3-031-26409-2_15 conf/pkdd/2022-3 db/conf/pkdd/pkdd2022-3.html#XiongEZJ22 Hanxiong Chen Yunqi Li 0003 Shaoyun Shi Shuchang Liu 0001 He Zhu 0001 Yongfeng Zhang 0003 Graph Collaborative Reasoning. 75-84 2022 WSDM https://doi.org/10.1145/3488560.3498410 conf/wsdm/2022 db/conf/wsdm/wsdm2022.html#Chen0S0ZZ22

Zikang Xiong Joe Eappen He Zhu 0001 Suresh Jagannathan Defending Observation Attacks in Deep Reinforcement Learning via Detection and Denoising. 2022 abs/2206.07188 CoRR https://doi.org/10.48550/arXiv.2206.07188 db/journals/corr/corr2206.html#abs-2206-07188

Hanxiong Chen Yunqi Li 0003 He Zhu 0001 Yongfeng Zhang 0003 Learn Basic Skills and Reuse: Modularized Adaptive Neural Architecture Search (MANAS). 2022 abs/2208.11083 CoRR https://doi.org/10.48550/arXiv.2208.11083 db/journals/corr/corr2208.html#abs-2208-11083

Guofeng Cui He Zhu 0001 Differentiable Synthesis of Program Architectures. 11123-11135 2021 NeurIPS https://proceedings.neurips.cc/paper/2021/hash/5c5a93a042235058b1ef7b0ac1e11b67-Abstract.html conf/nips/2021 db/conf/nips/neurips2021.html#CuiZ21

Ziheng Chen 0002 Fabrizio Silvestri Gabriele Tolomei He Zhu 0001 Jia Wang 0009 Hongshik Ahn ReLACE: Reinforcement Learning Agent for Counterfactual Explanations of Arbitrary Predictive Models. 2021 abs/2110.11960 CoRR https://arxiv.org/abs/2110.11960 db/journals/corr/corr2110.html#abs-2110-11960

Hanxiong Chen Yunqi Li 0003 Shaoyun Shi Shuchang Liu 0001 He Zhu 0001 Yongfeng Zhang 0003 Graph Collaborative Reasoning. 2021 abs/2112.13705 CoRR https://arxiv.org/abs/2112.13705 db/journals/corr/corr2112.html#abs-2112-13705

Xuankang Lin He Zhu 0001 Roopsha Samanta Suresh Jagannathan Art: Abstraction Refinement-Guided Training for Provably Correct Neural Networks. 148-157 2020 FMCAD https://doi.org/10.34727/2020/isbn.978-3-85448-042-6_22 conf/fmcad/2020 db/conf/fmcad/fmcad2020.html#LinZSJ20

Zikang Xiong Joe Eappen He Zhu 0001 Suresh Jagannathan Robustness to Adversarial Attacks in Learning-Enabled Controllers. 2020 abs/2006.06861 CoRR https://arxiv.org/abs/2006.06861 db/journals/corr/corr2006.html#abs-2006-06861

He Zhu 0001 Zikang Xiong Stephen Magill Suresh Jagannathan An inductive synthesis framework for verifiable reinforcement learning. 686-701 2019 PLDI https://doi.org/10.1145/3314221.3314638 conf/pldi/2019 db/conf/pldi/pldi2019.html#ZhuXMJ19

He Zhu 0001 Zikang Xiong Stephen Magill Suresh Jagannathan An Inductive Synthesis Framework for Verifiable Reinforcement Learning. 2019 abs/1907.07273 CoRR http://arxiv.org/abs/1907.07273 db/journals/corr/corr1907.html#abs-1907-07273

Xuankang Lin He Zhu 0001 Roopsha Samanta Suresh Jagannathan ART: Abstraction Refinement-Guided Training for Provably Correct Neural Networks. 2019 abs/1907.10662 CoRR http://arxiv.org/abs/1907.10662 db/journals/corr/corr1907.html#abs-1907-10662

He Zhu 0001 Stephen Magill Suresh Jagannathan A data-driven CHC solver. 707-721 2018 PLDI https://doi.org/10.1145/3192366.3192416 https://doi.org/10.1145/3296979.3192416 https://www.wikidata.org/entity/Q128823325 conf/pldi/2018 db/conf/pldi/pldi2018.html#ZhuMJ18 He Zhu 0001 Learning Program Specifications from Sample Runs Purdue University, USA 2016 https://docs.lib.purdue.edu/open_access_dissertations/900 He Zhu 0001 Gustavo Petri Suresh Jagannathan Automatically learning shape specifications. 491-507 2016 PLDI https://doi.org/10.1145/2908080.2908125 https://doi.org/10.1145/2980983.2908125 conf/pldi/2016 db/conf/pldi/pldi2016.html#ZhuPJ16 He Zhu 0001 Gustavo Petri Suresh Jagannathan Poling: SMT Aided Linearizability Proofs. 3-19 2015 CAV (2) https://doi.org/10.1007/978-3-319-21668-3_1 conf/cav/2015 db/conf/cav/cav2015.html#ZhuPJ15 He Zhu 0001 Aditya V. Nori Suresh Jagannathan Learning refinement types. 400-411 2015 ICFP https://doi.org/10.1145/2784731.2784766 https://doi.org/10.1145/2858949.2784766 conf/icfp/2015 db/conf/icfp/icfp2015.html#ZhuNJ15 He Zhu 0001 Aditya V. Nori Suresh Jagannathan Dependent Array Type Inference from Tests. 412-430 2015 VMCAI https://doi.org/10.1007/978-3-662-46081-8_23 conf/vmcai/2015 db/conf/vmcai/vmcai2015.html#ZhuNJ15 He Zhu 0001 Suresh Jagannathan Compositional and Lightweight Dependent Type Inference for ML. 295-314 2013 VMCAI https://doi.org/10.1007/978-3-642-35873-9_19 conf/vmcai/2013 db/conf/vmcai/vmcai2013.html#ZhuJ13 Fei He 0001 He Zhu 0001 William N. N. Hung Xiaoyu Song Ming Gu 0001 Compositional Abstraction Refinement for Timed Systems. 168-176 2010 TASE https://doi.org/10.1109/TASE.2010.27 https://doi.ieeecomputersociety.org/10.1109/TASE.2010.27 conf/tase/2010 db/conf/tase/tase2010.html#HeZHSG10 He Zhu 0001 Fei He 0001 William N. N. Hung Xiaoyu Song Ming Gu 0001 Data mining based decomposition for assume-guarantee reasoning. 116-119 2009 FMCAD https://doi.org/10.1109/FMCAD.2009.5351134 conf/fmcad/2009 db/conf/fmcad/fmcad2009.html#ZhuHHSG09 Hongshik Ahn Hanxiong Chen Ziheng Chen 0002 Guofeng Cui Yuanlin Duan Joe Eappen Ming Gu 0001 Fei He 0001 Wenyue Hua William N. N. Hung Suresh Jagannathan Yunqi Li 0003 Zelong Li 0001 Xuankang Lin Shuchang Liu 0001 Stephen Magill Wensen Mao Kai Mei Aditya V. Nori Gustavo Petri Wenjie Qiu 0002 Om Raheja Balaji Rama Roopsha Samanta Shaoyun Shi Fabrizio Silvestri Xiaoyu Song Gabriele Tolomei Hao Wang 0014 Jia Wang 0009 Yuning Wang Zikang Xiong Shuyuan Xu Yongfeng Zhang 0003