Hello! I am Yinan Zheng. I am a 3rd-year PhD candidate at AIR, Tsinghua University, advised by Prof. Xianyuan Zhan, Prof. Shengbo Eben Li and Prof. Jingjing Liu.

My research focuses on advancing AI-powered solutions for superhuman-level and safe real-world decision-making. Currently, I am working on:

(IL/RL+X) Advancing IL/RL for scalable, efficient, and superhuman performance in decision-making.
(GenAI+X) Leveraging the power of generative models to enhance planning, control in robotics and autonomous driving.
(SafeAI+X) Ensuring the reliability of learning-based decision-making systems.

I am open to collaboration, feel free to reach me out!

News

🌟We release Hyper-Diffusion-Planner, a framework that unleashes the potential of diffusion models for end-to-end autonomous driving and has been successfully deployed on a real vehicle for closed-loop testing.
Three papers have been accepted to ICLR 2026, including a stable diffusion RL post-training approch DIPOLE, a discrete diffusion-based VLA model with safety-aware reflection RefectDrive, and a strong VLA model X-VLA.
🏆Our X-VLA has won 1st place in the AGIBOT World Challenge (Manipulation track) @ IROS 2025.
Two papers on autonomous driving (Flow-Planner) and zeroshot-rl (BREEZE) are accepted to NeurIPS 2025.
One paper (LBP) on efficient latent planning is accepted to ICML 2025.
One paper (UniAct) on cross-embodiment universal actions is accepted to CVPR 2025.
🌟Diffusion-Planner is selected as oral presentation at ICLR 2025.
Two papers on fast post-train (PSEC) and autonomous driving (Diffusion-Planner) are accepted to ICLR 2025.
🌟IVM and DecisionNCE are selected as Outstanding Paper at MFM-EAI workshop @ ICML 2024.
One paper (IVM) on embodied foundation multimodal models is accepted to NeurIPS 2024.
One paper (DecisionNCE) on embodied multimodal representations is accepted to ICML 2024.
🌟One paper (FISOR) on safe offline rl is accepted to ICLR 2024.
One paper (OMIGA) on offline multi-agent rl is accepted to NeurIPS 2023.

Selected Publications

* equal contribution · † project lead

Unleashing the Potential of Diffusion Models for End-to-End Autonomous Driving Yinan Zheng*, Tianyi Tan*, Bin Huang*, Enguang Liu, Ruiming Liang, Jianlin Zhang, Jianwei Cui, Guang Chen, Kun Ma, Hangjun Ye, Long Chen, Ya-Qin Zhang, Xianyuan Zhan, Jingjing Liu Arxiv 2026 Paper | Code | Page
Dichotomous Diffusion Policy Optimization Ruiming Liang*, Yinan Zheng*†, Kexin Zheng*, Tianyi Tan*, Jianxiong Li, Liyuan Mao, Zhihao Wang, Guang Chen, Hangjun Ye, Jingjing Liu, Jinqiao Wang, Xianyuan Zhan ICLR 2026 2026 Paper | Code | Page
Discrete Diffusion for Reflective Vision-Language-Action Models in Autonomous Driving Pengxiang Li*, Yinan Zheng*, Yue Wang*, Huimin Wang*, Hang Zhao, Xianyuan Zhan, Jingjing Liu, Kun Zhan, Xianpeng Lang ICLR 2026 Featured as core component of LiAuto MindVLA-O1 at NVIDIA GTC 2026 2026 Paper | Code
Flow Matching-Based Autonomous Driving Planning with Advanced Interactive Behavior Modeling Tianyi Tan*, Yinan Zheng*†, Ruiming Liang, Zexu Wang, Kexin Zheng, Jinliang Zheng, Jianxiong Li, Xianyuan Zhan, Jingjing Liu NeurIPS 2025 2025 Paper | Code
Diffusion-Based Planning for Autonomous Driving with Flexible Guidance Yinan Zheng*, Ruiming Liang*, Kexin Zheng*, Jinliang Zheng, Liyuan Mao, Jianxiong Li, Weihao Gu, Rui Ai, Shengbo Eben Li, Xianyuan Zhan, Jingjing Liu ICLR 2025 Oral, Top 2% 2025 Paper | Code | Page
DecisionNCE: Embodied Multimodal Representations via Implicit Preference Learning Jianxiong Li*, Jinliang Zheng*, Yinan Zheng*, Liyuan Mao, Xiao Hu, Sijie Cheng, Haoyi Niu, Jihao Liu, Yu Liu, Jingjing Liu, Ya-Qin Zhang, Xianyuan Zhan ICML 2024 Outstanding Paper @ ICML 2024 MFM-EAI Workshop 2024 Paper | Code | Page
Safe Offline Reinforcement Learning with Feasibility-Guided Diffusion Model Yinan Zheng*, Jianxiong Li*, Dongjie Yu, Yujie Yang, Shengbo Eben Li, Xianyuan Zhan, Jingjing Liu ICLR 2024 2024 Paper | Code | Page

Professional Services

Reviewer for ICLR, ICML, NeurIPS (Top Reviewer), CVPR, RA-L