About me

I am currently a PhD student in the ITR Lab at TUM, supervised by Prof. Sandra Hirche, and a member of RelAI. My research focuses on the intersection of generative models and control theory for robotic systems. Previously, I worked as an R&D engineer at Syntec Technology, developing trajectory planning algorithms.

News

• Nov., 2025 Our EU-funded project SeaClear 2.0 is featured by CNN World!
• Jun., 2025 Oral presentation of our work Toward Near-Globally Optimal Nonlinear Model Predictive Control via Diffusion Models in L4DC 2025 !
• Dec., 2024 Presentation of our work Learning-based Prescribed-Time Safety for Control of Unknown Systems with Control Barrier Functions in CDC 2024 !

Publications

• SAD-Flower: Flow Matching for Safe, Admissible, and Dynamically Consistent Planning
  Tzu-Yuan Huang, Armin Lederer, Dai-Jie Wu, Xiaobing Dai, Sihua Zhang, Stefan Sosnowski, Shao-Hua Sun, Sandra Hirche
  ICLR, 2026 (under review).
  [Paper]

• Toward Near-Globally Optimal Nonlinear Model Predictive Control via Diffusion Models
  Tzu-Yuan Huang*, Armin Lederer*, Nicolas Hoischen, Jan Brüdigam, Xuehua Xiao, Stefan Sosnowski, Sandra Hirche
  Learning for Dynamics & Control Conference (L4DC), 2024.
  Oral Presentation.
  Nominated for the Best Paper Award.
  [Paper]

• Learning-based Prescribed-Time Safety for Control of Unknown Systems with Control Barrier Functions
  Tzu-Yuan Huang, Sihua Zhang, Xiaobing Dai, Alexandre Capone, Velimir Todorovski, Stefan Sosnowski, Sandra Hirche
  IEEE Control System Letters, 2024
  [Paper]

• Learning-based Parameterized Barrier Function for Safety-Critical Control of Unknown Systems
  Sihua Zhang, Di-Hua Zhai, Xiaobing Dai, Tzu-Yuan Huang, Yuanqing Xia, Sandra Hirche
  63rd IEEE Conference on Decision and Control (CDC), 2024
  [Paper]

• A Rapid Base Parameter Physical Feasibility Test Algorithm for Industrial Robot Manipulator Identification Using a Recurrent Neural Network
  Hao-Lun Huang, Ming-Yang Cheng, Tzu-Yuan Huang
  IEEE Access, 2023
  [Paper]

• On the Relationship between the Desired Feedrate and Contour Error Constraints for 2-DOF Robot Manipulators Performing Parametric Curve Following
  Jun Loong Wong, Ming-Yang Cheng, Tzu-Yuan Huang, Jou-Cheng Kuo, Jia-Ming Wu
  International Automatic Control Conference (CACS), 2023
  [Paper]