Sean/Sicun Gao
Associate Professor [cv]
Computer Science and Engineering
University of California, San Diego
Office: CSE 2126
Email: sicung at ucsd dot edu
Research
I work on practical algorithms for NP-hard search and optimization problems that arise in the decision, control, and design aspects of computational systems.
I focus on topics that can benefit from the combinatorial perspectives of automated reasoning but are posed in numerical or statistical forms.
The end goal is to build useful forms of automation and autonomy that are fundamentally reliable yet aggressively optimized.
Colloquially, I spend much time dealing with the curse of dimensionality and finding needles in haystacks.
Teaching
UCSD CSE150: Introduction to AI: Search and Reasoning (Spring 2026, Spring 2025, Spring 2024, Spring 2023, Spring 2022, Fall 2020, Spring 2020, Winter 2019, Winter 2018)
UCSD CSE257: Search and Optimization (Winter 2026, Winter 2025, Winter 2024, Winter 2023, Fall 2021, Spring 2021)
UCSD CSE191: Undergraduate Thesis Research Seminar (Fall 2021)
UCSD CSE291: Topics in Search and Optimization (Winter 2020, Spring 2019, Fall 2017)
Alumni: Yongsoo Song (Postdoc '18-'19, then Assistant Professor at Seoul National University), Jacek Cyranka (Postdoc '17-'19, then Assistant Professor at University of Warsaw), Armaiti Ardeshiricham (PhD '20, then Researcher at Apple), Nima Roohi (Postdoc '18-'20, then Applied Scientist at Amazon), Yaoguang Zhai (PhD '24, then Applied Scientist at Amazon), Yuda Song (BS '20, then PhD student at CMU), Milan Ganai (BS/MS '24, then PhD student at Stanford), Eric Yu (BS/MS '24, then PhD student at MIT), Chenning Yu (PhD '25, then ML Engineer at Nvidia), Zhizhen Qin (PhD '25, then Applied Scientist at Amazon), Ya-Chien Chang (PhD '25, then Research Scientist at Familiar Machines and Magic)
Our work is funded by the following sources: Air Force Young Investigator Award, Amazon Research Award, DARPA Assured Autonomy, Department of Energy, NSF AI Institute, NSF Career Award, NSF DASS, NSF National Robotics Initiative, NSF Cyber-Physical Systems.
Software
dReal[tool page]: Automated reasoning in nonlinear theories over the reals
Some Papers
Learning Quadruped Walking from Seconds of Demonstration [page]
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 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
The infinite we shall do right away. The finite may take a little longer. -- Stanislaw Ulam
