AutoDock 4.0 has parameters for H, C, N, O, F, Mg, P, S, Cl, Ca, Mn, Fe, Zn, Br & I (that covers pretty much all of the routine docking atom types). If, however, you wish to introduce any other atom type (like Se), you'll need to add a new parameter file for this new atom type.
It might be a bit tricky, but these links show you how this can be accomplished: