Haoang Li

Experience 

• Assistant Professor, Thrust of Robotics and Autonomous Systems/Intelligent Transportation,  The Hong Kong University of Science and Technology (Guangzhou), February 2024 - Present

          Leader of Intelligent Robot Perception and Navigation (IRPN) Lab

• Postdoc, Department of Informatics, Technical University of Munich, August 2022 – February 2024

          Supervisor: Prof. Daniel Cremers

• Ph.D., Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, August 2018 – July 2022

          Supervisor: Prof. Yun-Hui Liu

• Visiting Ph.D., Department of Computer Science, ETH Zurich, November 2021 – February 2022

          Supervisor: Prof. Marc Pollefeys

• M.Eng., School of Remote Sensing and Information Engineering, Wuhan University, September 2016 – June 2018

           Supervisor: Prof. Jian Yao

• B.Eng., School of Remote Sensing and Information Engineering, Wuhan University, September 2012 – June 2016

Publications (selected)

Please refer to Google Scholar for the full publication list. The download links of codes and/or datasets are available in the papers.

"J": Journal, "C": Conference, "U": Under-review/Pre-print

2025

[J3] H. Li, X. Meng, X. Zuo, Z. Liu, H. Wang, D. Cremers, "PG-SLAM: Photo-realistic and Geometry-aware RGB-D SLAM in Dynamic Environments", IEEE Transactions on Robotics (TRO).

[C9] B. Liao, Z. Zhao, H. Li, Y. Zhou, Y. Zeng, H. Li, P. Liu, "Convex Relaxation for Robust Vanishing Point Estimation in Manhattan World", in IEEE Conference on Computer Vision and Pattern Recognition (CVPR).

[J2] H. Li, Y. Mai, M. Gao, J. He, Z. Liu, H. Wang, "Large-Scale LiDAR-Based Loop Closing via Combination of Equivariance and Invariance on SE (3)", IEEE/ASME Transactions on Mechatronics (TMECH).

[J1] K. Chen, J. Cao, Y. Li, H. Li, J. Ma, "G2-SDF: Geometry-Guided Neural Signed Distance Fields for Scalable and Detailed Reconstruction", IEEE Robotics and Automation Letters (RAL).

[C8] W. Song, J. Chen, P. Ding, H. Zhao, W. Zhao, Z. Zhong, Z. Ge, J. Ma, H. Li, "Accelerating Vision-language-action Model Integrated with Action Chunking via Parallel Decoding", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[C7] Z. Bi, K. Chen, C. Zheng, Y. Li, H. Li, J. Ma, "Interactive Navigation for Legged Manipulators with Learned Arm-Pushing Controller", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[C6] H. Liu, S. Guo, P. Mai, J. Cao, H. Li, J. Ma, "RoboDexVLM: Visual Language Model-Enabled Task Planning and Motion Control for Dexterous Robot Manipulation", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[C5] R. Wang, Y. Ma, Y. Yao, S. Tao, H. Li, Z. Zhu, Y. Liu, X. Zuo, "L2COcc: Lightweight Camera-Centric Semantic Scene Completion via Distillation of LiDAR Model", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[C4] T. Li, T. Huai, L. Zhen, Y. Gao, H. Li, X. Zheng, "SkyVLN: Vision-and-Language Navigationand NMPC Control for UAVs in Urban Environments", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[C3] G. Jiang, T. Zhang, D. Li, Z. Zhao, H. Li, M. Li, H. Wang, "STG-Avatar: Animatable Human Avatars via Spacetime Gaussian", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[C2] J. Li, H. Song, H. Li, J. Zhou, Q. Nie, Y. Cai, "RMG: Real-Time Expressive Motion Generation with Self-Collision Avoidance for 6-DOF Companion Robotic Arms", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[C1] T. Wu, Y. Miao, Z. Li, H. Zhao, K. Dang, J. Su, L. Yu, H. Li, "EndoFlow-SLAM: Real-Time Endoscopic SLAM with Flow-Constrained Gaussian Splatting", International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI).

[U8] Z. Zhong, H. Yan, J. Li, X. Liu, X. Gong, W. Song, J. Chen, H. Li, "FlowVLA: Thinking in Motion with a Visual Chain of Thought".

[U7] W. Song, Z. Zhou, H. Zhao, J. Chen, P. Ding, H. Yan, Y. Huang, F. Tang, D.Wang, H. Li, "ReconVLA: Reconstructive Vision-Language-Action Model as Effective Robot Perceiver".

[U6] W. Song, J. Chen, P. Ding, Y. Huang, H. Zhao, X. Zheng, D. Wang, G. Hua, H. Li, "CEED-VLA: Consistency Vision-Language-Action Model with Early-Exit Decoding".

[U5] W. Song, J. Chen, W. Li, X. He, X. Zheng, Z. Liu, H. Wang, H. Li, "A Dual-system Vision-Language-Action Model for Rational Manipulation".

[U4] J. Li, J. He, W. Liu, T. Huang, S. Zhou, J. Ma, H. Wang, H. Li, "SCSV: Spatial-temporal Consistent Dynamic 3D Scene Generation from Sparse Views".

[U3] H. Yan, P. Hou, Z. Zhong, X. Zheng, Z. Liu, H. Wang, H. Li, "CARE: Contextually-Aligned and Realistic 4D Scene Generation from a Single Image and Text".

[U2] Z. Zhong, J. Lu, X. Liu, R. Yu, X. Zheng, Z. Liu, H. Wang, H. Li, "Spatial-Aware and Viewpoint-Robust Vision-Language Navigation of Mobile Robots".

[U1] T. Huang, L. Peng, X. Zhang, T. Guan, J. Dong, H. Li, L. Kneip, Y.-H. Liu, "Global Truncated Loss Minimization for Robust and Threshold-Resilient Geometric Estimation".

2024

[J2] T. Huang, H. Li, L. Peng, Y. Liu, Y.-H. Liu, "Efficient and robust point cloud registration via heuristics-guided parameter search", IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI).

[C3] Z. Zhong, J. Cao, S. Gu, S. Xie, L. Luo, H. Zhao, G. Zhou, H. Li, Z. Yan, "Structured-NeRF: Hierarchical Scene Graph with Neural Representation", European Conference on Computer Vision (ECCV).

[C2] B. Liao, Z. Zhao, L. Chen, H. Li, D. Cremers, P. Liu, "GlobalPointer: Large-Scale Plane Adjustment with Bi-Convex Relaxation", European Conference on Computer Vision (ECCV).

[J1] J. Ham, M. Kim, S. Kang, K. Joo, H. Li, P. Kim, "San Francisco World: Leveraging Structural Regularities of Slope for 3-DoF Visual Compass", IEEE Robotics and Automation Letters (RAL).

[C1] L. Cheng, J. Hu, H. Yan, M. Gladkova, T. Huang, Y.-H. Liu, D. Cremers, H. Li, "Physically-Based Photometric Bundle Adjustment in Non-Lambertian Environments", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[U1] W. Li, W. Chen, S. Qian, J. Chen, D. Cremers, H. Li, "DynSUP: Dynamic Gaussian Splatting from An Unposed Image Pair".

2023 and Before

[C13] Haoang Li*, Jinghu Dong*, Binghui Wen*, Ming Gao*, Tianyu Huang, Yun-Hui Liu, and Daniel Cremers, "DDIT: Semantic Scene Completion via Deformable Deep Implicit Templates," in IEEE/CVF International Conference on Computer Vision (ICCV), 2023.

[J3] Haoang Li, Ji Zhao, Jean-Charles Bazin, Pyojin Kim, Kyungdon Joo, Zhenjun Zhao, and Yun-Hui Liu, "Hong Kong World: Leveraging Structural Regularity for Line-based SLAM," IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2023.

[C12] Tianyu Huang*, Haoang Li*, Kejing He, Congying Sui, Bin Li, and Yun-Hui Liu, "Learning Accurate 3D Shape Based on Stereo Polarimetric Imaging," IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2023.

[J2] Haoang Li, Ji Zhao, Jean-Charles Bazin, and Yun-Hui Liu, "Quasi-globally Optimal and Near/True Real-time Vanishing Point Estimation in Manhattan World," IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2022.

[C11] Wen Chen*, Haoang Li*, Qiang Nie, and Yun-Hui Liu, "Deterministic Point Cloud Registration via Novel Transformation Decomposition," IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

[C10] Haoang Li*, Kai Chen*, Pyojin Kim, Kuk-Jin Yoon, Zhe Liu, Kyungdon Joo, and Yun-Hui Liu, "Learning Icosahedral Spherical Probability Map Based on Bingham Mixture Model for Vanishing Point Estimation," IEEE/CVF International Conference on Computer Vision (ICCV), 2021.

[C9] Haoang Li, Kai Chen, Ji Zhao, Jiangliu Wang, Pyojin Kim, Zhe Liu, and Yun-Hui Liu, "Learning to Identify Correct 2D-2D Line Correspondences on Sphere," IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021.

[J1] Haoang Li, Ji Zhao, Jean-Charles Bazin, and Yun-Hui Liu, "Robust Estimation of Absolute Camera Pose via Intersection Constraint and Flow Consensus," IEEE Transactions on Image Processing (TIP), 2020.

[C8] Haoang Li, Pyojin Kim, Ji Zhao, Kyungdon Joo, Zhipeng Cai, Zhe Liu, and Yun-Hui Liu, "Globally Optimal and Efficient Vanishing Point Estimation in Atlanta World," European Conference on Computer Vision (ECCV), 2020.

[C7] Haoang Li, Ji Zhao, Jean-Charles Bazin, Wen Chen, Zhe Liu, and Yun-Hui Liu, "Quasi-globally Optimal and Efficient Vanishing Point Estimation in Manhattan World," IEEE/CVF International Conference on Computer Vision (ICCV), oral presentation, 2019.

[C6] Haoang Li, Wen Chen, Ji Zhao, Jean-Charles Bazin, Lei Luo, Zhe Liu, and Yun-Hui Liu, "Robust and Efficient Estimation of Absolute Camera Pose for Monocular Visual Odometry," IEEE International Conference on Robotics and Automation (ICRA), 2020. 

[C5] Haoang Li, Ji Zhao, Jean-Charles Bazin, Wen Chen, Kai Chen, and Yun-Hui Liu, "Line-based Absolute and Relative Camera Pose Estimation in Structured Environments," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.

[C4] Haoang Li, Yazhou Xing, Ji Zhao, Jean-Charles Bazin, Zhe Liu, and Yun-Hui Liu, "Leveraging Structural Regularity of Atlanta World for Monocular SLAM," IEEE International Conference on Robotics and Automation (ICRA), 2019.

[C3] Haoang Li, Ji Zhao, Jean-Charles Bazin, Lei Luo, Junlin Wu, and Jian Yao, "Robust Camera Pose Estimation via Consensus on Ray Bundle and Vector Field," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.

[C2] Haoang Li, Jian Yao, Jean-Charles Bazin, Xiaohu Lu, Yazhou Xing, and Kang Liu, "A Monocular SLAM System Leveraging Structural Regularity in Manhattan World," IEEE International Conference on Robotics and Automation (ICRA), 2018.

[C1] Haoang Li, Jian Yao, Xiaohu Lu, and Junlin Wu, "Combining Points and Lines for Camera Pose Estimation and Optimization in Monocular Visual Odometry," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.