Han Ruihua

I obtained my Ph.D. in Computer Science from The University of Hong Kong, under the supervision of Prof. Jia Pan (HKU) and Prof. Qi Hao (SUSTech).
My research interests focus on motion planning and optimal control for autonomous systems, particularly in robot navigation within cluttered and unknown environments. I am especially interested in the intersection of optimization theory and deep learning, aiming to enable autonomous systems to operate intelligently with theoretical guarantees. My long-term goal is to enhance robotic capabilities to perform complex real-world tasks comparable to those executed by humans.
In addition to my research activities, I actively contribute to the robotics community by developing and sharing open-source projects. Notable repositories include: rl_rvo_nav, RDA_planner, rda_ros, and ir-sim.

Selected Publications

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

arXiv preprint arXiv:2403.06828, 2024

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 = {arXiv preprint arXiv:2403.06828},
  year = {2024},
}

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},
}

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).