Zero-Shot MARL Benchmark in the Cyber-Physical Mobility Lab
Julius Beerwerth, Jianye Xu, Simon Schäfer, Fynn Belderink, Bassam Alrifaee
at - Automatisierungstechnik
Academic portfolio
Jianye Xu
Ph.D. Student / RWTH Aachen University
Research in multi-agent learning, optimal control, and connected and automated vehicles.
Explore my workIntroduction
About Me
Researcher in intelligent mobility
About Me
Hello! I’m Jianye, a Ph.D. student at the Chair of Embedded Software (Informatik 11), RWTH Aachen University, supervised by Prof. Bassam Alrifaee. My research focuses on learning- and optimization-based multi-agent decision-making and its applications in connected and automated vehicles. Specifically, I am interested in the interplay between reinforcement learning and control barrier functions.
AffiliationChair of Embedded Software, RWTH Aachen University
Emailxu@embedded.rwth-aachen.de
InterestsMulti-Agent Reinforcement Learning, Optimal Control, Connected and Automated Vehicles
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Biography
Education
Oct 2020 – Sep 2022
M.Sc. Automation Engineering
RWTH Aachen University
GPA: 1.2/1.0 (graduated with distinction)
Aug 2016 – Sep 2020
B.Sc. Vehicle Engineering
Beijing Institute of Technology
GPA: 91.48/100 (graduated with distinction)
Selected work
Projects
Research output
Selected Publications
TTCBF: A Truncated Taylor Control Barrier Function for High-Order Safety Constraints
Jianye Xu, Bassam Alrifaee
arXiv preprint arXiv:2601.15196
Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap
Jianye Xu, Johannes Betz, Armin Mokhtarian, Archak Mittal, Mengchi Cai, Rahul Mangharam, Omar M. Shehata, Catherine M. Elias, Jan-Nico Zaech, Patrick Scheffe, Felix Jahncke, Sangeet Sankaramangalam Ulhas, Kaj Munhoz Arfvidsson, Bassam Alrifaee
IEEE Intelligent Transportation Systems Magazine
Beyond Safety Filtering: Control Barrier Function-Informed Reinforcement Learning for Connected and Automated Vehicles
Jianye Xu, Bassam Alrifaee
2026 IEEE 29th International Conference on Intelligent Transportation Systems (ITSC), in Press
High-Order Control Barrier Functions: Insights and a Truncated Taylor-Based Formulation
Jianye Xu, Bassam Alrifaee
arXiv preprint arXiv:2503.15014
A Real-Time Control Barrier Function-Based Safety Filter for Motion Planning with Arbitrary Road Boundary Constraints
Jianye Xu, Chang Che, Bassam Alrifaee
2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)
A Learning-Based Control Barrier Function for Car-Like Robots: Toward Less Conservative Collision Avoidance
Jianye Xu, Bassam Alrifaee
2025 European Control Conference (ECC)
XP-MARL: Auxiliary Prioritization in Multi-Agent Reinforcement Learning to Address Non-Stationarity
Jianye Xu, Omar Sobhy, Bassam Alrifaee
arXiv preprint arXiv:2409.11852
Education
Teaching
Recognition
Selected Awards
2025
Best Poster
German Autonomy Summit (GAS)
2025
Best Paper Nomination
IEEE Intelligent Transportation Systems Society (ITSS)
2023
Dean's List
RWTH Aachen University
2022
M.Sc. with distinction
RWTH Aachen University
2021
German National Scholarship (Deutschlandstipendium)
RWTH Aachen University
2021
Patent - Quick Locking and Unlocking Device for Vehicle-Mounted Power Battery Box
China National Intellectual Property Administration