Han Ruihua

I completed my Ph.D. in Computer Science at The University of Hong Kong. My research focuses on the intersection of motion planning, machine learning, and optimal control. I am dedicated to advancing the ability of robots to navigate and operate intelligently in complex, real-world environments. My work emphasizes developing robust systems with theoretical guarantees, enabling robots to perform tasks that can be comparable with human capabilities.

Beyond my research, I actively contribute to the robotics community by developing and sharing open-source projects, which have collectively garnered over 2.1K stars on GitHub. Notable repositories include: Neupan planner, neupan_ros, rl_rvo_nav, RDA_planner, rda_ros, and ir-sim.

Selected Publications

T-RO

NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning

Ruihua Han , Shuai Wang , Shuaijun Wang , Zeqing Zhang , Jianjun Chen , Shijie Lin , Chengyang Li , Chengzhong Xu , Yonina C Eldar , Qi Hao , and Jia Pan

IEEE Transactions on Robotics (Featured as Popular Paper), 2025

Bib PDF video Code Website

@article{han2024neupan,
  title = {NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning},
  author = {Han, Ruihua and Wang, Shuai and Wang, Shuaijun and Zhang, Zeqing and Chen, Jianjun and Lin, Shijie and Li, Chengyang and Xu, Chengzhong and Eldar, Yonina C and Hao, Qi and Pan, Jia},
  journal = {IEEE Transactions on Robotics (Featured as Popular Paper)},
  year = {2025},
}

RA-L

Rda: An accelerated collision free motion planner for autonomous navigation in cluttered environments

Ruihua Han , Shuai Wang , Shuaijun Wang , Zeqing Zhang , Qianru Zhang , Yonina C Eldar , Qi Hao , and Jia Pan

IEEE Robotics and Automation Letters (RA-L), 2023

Bib PDF video Code

@article{han2023rda,
  title = {Rda: An accelerated collision free motion planner for autonomous navigation in cluttered environments},
  author = {Han, Ruihua and Wang, Shuai and Wang, Shuaijun and Zhang, Zeqing and Zhang, Qianru and Eldar, Yonina C and Hao, Qi and Pan, Jia},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  volume = {8},
  number = {3},
  pages = {1715--1722},
  year = {2023},
  publisher = {IEEE},
}

RA-L

Reinforcement learned distributed multi-robot navigation with reciprocal velocity obstacle shaped rewards

Ruihua Han , Shengduo Chen , Shuaijun Wang , Zeqing Zhang , Rui Gao , Qi Hao , and Jia Pan

IEEE Robotics and Automation Letters, 2022

Bib PDF video Code

@article{han2022reinforcement,
  title = {Reinforcement learned distributed multi-robot navigation with reciprocal velocity obstacle shaped rewards},
  author = {Han, Ruihua and Chen, Shengduo and Wang, Shuaijun and Zhang, Zeqing and Gao, Rui and Hao, Qi and Pan, Jia},
  journal = {IEEE Robotics and Automation Letters},
  volume = {7},
  number = {3},
  pages = {5896--5903},
  year = {2022},
  publisher = {IEEE},
}

ICRA

Cooperative multi-robot navigation in dynamic environment with deep reinforcement learning

Ruihua Han , Shengduo Chen , and Qi Hao

In 2020 IEEE International Conference on Robotics and Automation (ICRA) , 2020

Bib PDF video

@inproceedings{han2020cooperative,
  title = {Cooperative multi-robot navigation in dynamic environment with deep reinforcement learning},
  author = {Han, Ruihua and Chen, Shengduo and Hao, Qi},
  booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {448--454},
  year = {2020},
  organization = {IEEE},
}

IROS

A distributed range-only collision avoidance approach for low-cost large-scale multi-robot systems

Ruihua Han , Shengduo Chen , and Qi Hao

In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2020

Bib PDF video

@inproceedings{han2020distributed,
  title = {A distributed range-only collision avoidance approach for low-cost large-scale multi-robot systems},
  author = {Han, Ruihua and Chen, Shengduo and Hao, Qi},
  booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {8020--8026},
  year = {2020},
  organization = {IEEE},
}

Open Source Projects:

IR-SIM (PyPi download: 53K+; GitHub stars: 580+; Rank 1 in 2D robotics simulators): Python-based, lightweight robot simulator designed for navigation, control, and learning. Fully integrated in the Robotics Course at HKU (COMP3356 Robotics) and SUSTech (Intelligent Robot Course).

Service

Reviewer: IEEE Transactions on Robotics (T-RO); IEEE Robotics and Automation Letters (RA-L); IEEE International Conference on Robotics and Automation (ICRA); IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); American Control Conference (ACC).