Haotian Cao — accepted AI-conference papers

2026

Receding Horizon Reinforcement Learning with Autoregressive Model for Motion Control of Autonomous Vehicles

Xin Yin, Haotian Cao, Xinglong Zhang, Qingwen Ma, Xin Xu, Haibin Xie

ICRA 2026poster

This paper presents a model-based reinforcement learning (MBRL) approach with a receding horizon mechanism to optimize the lateral trajectory-tracking performance of autonomous vehicles (AVs). Accurate modeling of complex vehicle dynamics and adaptation to dynamic environments with limited data pose…

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2025

Learning Predictive Control with Online Modeling for Agile Maneuvering of Autonomous Vehicles

Xin Yin, Zengyi Zhang, Haotian Cao, Tenglong Liu, Yixing Lan, Xin Xu +1

IROS 2025

The agile maneuvering control of autonomous vehicles (AVs) requires the tracking of reference trajectories characterized by high acceleration, sharp curvature, considerable disturbances, and significant time-varying, all while ensuring stability and accuracy. The inherent uncertainty and time-varyin

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