Han Ruihua

I completed my Ph.D. in Computer Science at The University of Hong Kong (HKU), supervised by Prof. Jia Pan and Prof. Qi Hao, where my research focused on the intersection of motion planning, robot learning, and optimal control. My work aims to advance the ability of robots to navigate and operate safely and intelligently in complex, real-world settings. I integrate model-based optimization theory with data-driven learning based method for robotic motion and control to achieve both theoretically guaranteed and intelligent enough assist human centric tasks.

Beyond my research, I actively contribute to the robotics community by developing and sharing open-source projects, which have widely used in academic research and industry and collectively garnered over 2.3K stars on GitHub. Representative repositories include Neupan planner (T-RO’2025), neupan_ros, RDA_planner (RA-L’2023), rda_ros, rl_rvo_nav (RA-L’2022), rvo_ros, ir-sim (Rank #1 2D robotics simulator).

Research Interest: Robot Learning; Motion Planning; Multi-Robot Systems; Autonomous Navigation; Field Robots;

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 (Popular Paper), 2025

Bib PDF video Website Code

@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 (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 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).
neupan_ros : ROS package for the NeuPAN planner. Provide navigation and learning demos in Gazebo.
rda_ros : ROS package for the RDA planner. Provide dynamic collision avoidance in Gazebo and autonomous driving demos in CARLA.
rvo_ros : ROS package for the ORCA algorithm. Provide dynamic collision avoidance plugin in Gazebo.

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).