Publications

@article{lu2026tilde,
  title = {TILDE: Teacher-in-the-Loop Distillation from Embodied Foundation Models},
  author = {Lu*, Yuxiang and Liu*, Yantong and Hou, Jinghua and Sun, Xueli and Han, Ruihua and Liu, Zhe and Zhao, Hengshuang},
  journal = {arXiv preprint arXiv:2610.25376},
  year = {2026},
  eprint = {2610.25376},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
  url = {https://arxiv.org/abs/2610.25376},
}

@article{han2026ir,
  title = {IR-SIM: A Lightweight Declarative Simulator for Navigation Learning and Benchmarking},
  author = {Han, Ruihua and Wang, Shuai and Li, Chengyang and Gao, Rui and Wang, Xinyi and Liu, Zhe and Li, Guoliang and Lu, Yupu and Hao, Qi and Pan, Jia and Zhao, Hengshuang},
  journal = {arXiv preprint arXiv:2606.08729},
  year = {2026},
}

@inproceedings{liu2026streampi,
  title = {StreamPI: Streaming Multimodal Temporal Modeling for Vision-Language-Action Models},
  author = {Liu, Zhe and Hou, Jinghua and Lu, Yuxiang and Yang, Zhenya and Fan, Xianzhe and Luo, Junwei and Li, Junyi and Han, Ruihua and Hou, Zhi and Zhao, Hengshuang},
  booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
  year = {2026},
  eprint = {2608.26067},
  archiveprefix = {arXiv},
  primaryclass = {cs.CV},
  url = {https://arxiv.org/abs/2608.26067},
}

@inproceedings{han2026srlmpc,
  title = {SRL-MPC: Shape-Aware Reinforcement Learned Model Predictive Control},
  author = {Han, Ruihua and Gao, Rui and Liu, Zhe and Wang, Xinyi and Chen, Chang and Wang, Shuai and Hao, Qi and Pan, Jia and Zhao, Hengshuang},
  booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
  year = {2026},
  eprint = {2608.21175},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
}

@article{lu2026ssc,
  title = {SSC: A Verifiable Structured Representation for Bimanual Manipulation Labelling},
  author = {Lu, Yupu and Wu, Shuang and Chen, Sihan and Han, Ruihua and Zhang, Yichen and Kalander, Marcus and Pan, Jia},
  journal = {arXiv preprint arXiv:2608.04425},
  year = {2026},
  eprint = {2608.04425},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
  url = {https://arxiv.org/abs/2608.04425},
}

@inproceedings{chen2026coarsebimloc,
  title = {CoarseBIMLoc: BIM-Integrated Coarse Global Localization via Open-Set Scene Graphs},
  author = {Chen, Chang and Chen, Junyou and Zhang, Yinqiang and Han, Ruihua and Zhang, Ming and Lu, Liang and Pan, Jia},
  booktitle = {RSS 2026 Workshop: Open World Navigation in the Foundation Model Era: Robustness and Failure Recovery},
  year = {2026},
}

@article{fan2026dreamavoid,
  title = {DreamAvoid: Critical-Phase Test-Time Dreaming to Avoid Failures in VLA Policies},
  author = {Fan, Xianzhe and Lu, Yuxiang and Gao, Shenyuan and Wu, Xiaoyang and Han, Ruihua and Li, Manling and Zhao, Hengshuang},
  journal = {arXiv preprint arXiv:2605.11750},
  year = {2026},
}

@article{li2026agentic,
  title = {Self-Evolutionary Replanning for Failure-Aware Motion Planning},
  author = {Li, Guoliang and Han, Ruihua and Li, Chengyang and Li, He and Wang, Shuai and Ding, Wenchao and Zhang, Hong and Xu, Chengzhong},
  journal = {arXiv preprint arXiv:2603.02772},
  year = {2026},
}

@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)},
  volume = {41},
  pages = {2804--2824},
  year = {2025},
  doi = {10.1109/TRO.2025.3554252},
}

@article{linEmbodiedNeuromorphicSynergy2024,
  title = {Embodied Neuromorphic Synergy for Lighting-Robust Machine Vision to See in Extreme Bright},
  author = {Lin, Shijie and Zheng, Guangze and Wang, Ziwei and Han, Ruihua and Xing, Wanli and Zhang, Zeqing and Peng, Yifan and Pan, Jia},
  year = {2024},
  month = dec,
  journal = {Nature Communications},
  volume = {15},
  number = {1},
  pages = {10781},
  issn = {2041-1723},
  doi = {10.1038/s41467-024-54789-8},
}

@inproceedings{zhang2024haptic,
  title = {A Haptic-Based Proximity Sensing System for Buried Object in Granular Material},
  author = {Zhang, Zeqing and Jia, Ruixing and Yan, Youcan and Han, Ruihua and Lin, Shijie and Jiang, Qian and Zhang, Liangjun and Pan, Jia},
  booktitle = {International Symposium of Robotics Research (ISRR)},
  year = {2024},
  month = dec,
  eprint = {2411.17083},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
  url = {https://arxiv.org/abs/2411.17083},
}

@article{li2024edge,
  title = {Edge Accelerated Robot Navigation With Collaborative Motion Planning},
  author = {Li*, Guoliang and Han*, Ruihua and Wang, Shuai and Gao, Fei and Eldar, Yonina C and Xu, Chengzhong},
  journal = {IEEE/ASME Transactions on Mechatronics},
  volume = {30},
  number = {2},
  pages = {1166--1178},
  year = {2024},
  doi = {10.1109/TMECH.2024.3419436},
  publisher = {IEEE},
}

@article{10465251,
  author = {Li, He and Han, Ruihua and Zhao, Zirui and Xu, Wei and Hao, Qi and Wang, Shuai and Xu, Chengzhong},
  journal = {IEEE Robotics and Automation Letters},
  title = {Seamless Virtual Reality With Integrated Synchronizer and Synthesizer for Autonomous Driving},
  year = {2024},
  volume = {9},
  number = {5},
  pages = {4218--4225},
  keywords = {Synchronization;Vectors;Synthesizers;Image synthesis;Solid modeling;Data models;Autonomous vehicles;Autonomous driving;imitation learning;sim-to-real;virtual reality},
  doi = {10.1109/LRA.2024.3375266},
}

@inproceedings{wang2023oaecbvc,
  title = {{OA-ECBVC}: A Cooperative Collision-Free Encirclement and Capture Approach in Cluttered Environments},
  author = {Wang, Xinyi and Ding, Yulong and Chen, Yizhou and Han, Ruihua and Xi, Lele and Chen, Ben M.},
  booktitle = {2023 62nd IEEE Conference on Decision and Control (CDC)},
  pages = {5416--5422},
  year = {2023},
  month = dec,
  publisher = {IEEE},
  doi = {10.1109/CDC49753.2023.10384055},
  eprint = {2312.01326},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
}

@article{wang20233dsf,
  title = {3DSF-MixNet: Mixer-Based Symmetric Scene Flow Estimation From 3D Point Clouds},
  author = {Wang, Shuaijun and Gao, Rui and Han, Ruihua and Hao, Qi},
  journal = {IEEE Robotics and Automation Letters},
  volume = {9},
  number = {1},
  pages = {611--618},
  year = {2023},
  publisher = {IEEE},
}

@article{wang2023active,
  title = {Active Scene Flow Estimation for Autonomous Driving via Real-Time Scene Prediction and Optimal Decision},
  author = {Wang, Shuaijun and Gao, Rui and Han, Ruihua and Chen, Jianjun and Zhao, Zirui and Lyu, Zhijun and Hao, Qi},
  journal = {IEEE Transactions on Intelligent Transportation Systems},
  volume = {25},
  number = {6},
  pages = {5997--6012},
  year = {2023},
  doi = {10.1109/TITS.2023.3332399},
  publisher = {IEEE},
}

@inproceedings{zhang2023spatial,
  title = {Spatial-temporal graph learning with adversarial contrastive adaptation},
  author = {Zhang, Qianru and Huang, Chao and Xia, Lianghao and Wang, Zheng and Yiu, Siu Ming and Han, Ruihua},
  booktitle = {International Conference on Machine Learning (ICML)},
  pages = {41151--41163},
  year = {2023},
  organization = {PMLR},
}

@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},
}

@inproceedings{wang2022adaptive,
  title = {Adaptive environment modeling based reinforcement learning for collision avoidance in complex scenes},
  author = {Wang, Shuaijun and Gao, Rui and Han, Ruihua and Chen, Shengduo and Li, Chengyang and Hao, Qi},
  booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {9011--9018},
  year = {2022},
  organization = {IEEE},
}

@article{zhang2022generalized,
  title = {A Generalized Continuous Collision Detection Framework of Polynomial Trajectory for Mobile Robots in Cluttered Environments},
  author = {Zhang, Zeqing and Zhang, Yinqiang and Han, Ruihua and Zhang, Liangjun and Pan, Jia},
  journal = {IEEE Robotics and Automation Letters},
  volume = {7},
  number = {4},
  pages = {9810--9817},
  year = {2022},
  month = oct,
  publisher = {IEEE},
  doi = {10.1109/LRA.2022.3191934},
  eprint = {2206.13175},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
}

@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},
}

@article{zhang2021efficient,
  title = {An Efficient Centralized Planner for Multiple Automated Guided Vehicles at the Crossroad of Polynomial Curves},
  author = {Zhang, Zeqing and Han, Ruihua and Pan, Jia},
  journal = {IEEE Robotics and Automation Letters},
  volume = {7},
  number = {1},
  pages = {398--405},
  year = {2021},
  doi = {10.1109/LRA.2021.3124093},
  publisher = {IEEE},
}

@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},
}

@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},
}