Haoang Li

Welcome to my homepage! I am Haoang Li (pronounced as "Horn Lee"). I am currently an Assistant Professor at The Hong Kong University of Science and Technology (Guangzhou).

My research interest lies in 3D computer vision and robotics. Previously, I mainly focused on geometric SLAM and 3D reconstruction. Currently, along with my students, we are working on the following directions:

Embodied AI: 1) Vision-language action/manipulation; 2) Vision-language navigation; 3) Humanoid perception and control
AI-generated content: 3D/4D scene synthesis
3D/4D reconstruction and rendering: 1) Gaussian splatting/NeRF; 2) Dynamic SLAM; 3) Human avatar

We are working closely with Prof. Hesheng Wang from Shanghai Jiao Tong University.

I serve as an Organizing Committee Member of IROS 2025, an Associate Editor of ICRA, and reviewers of top-tier journals and conferences.

Our work was selected as CVPR 2025 Best Paper Candidate. We also won ICCV 2021 Doctoral Consortium Award, third place in ICRA 2025 RoboDrive Challenge, CVPR 2021 Outstanding Reviewer Award, etc.

We are continuously looking for Ph.D. students, Research Assistants, and Interns/Visiting Students working on the above directions. For details, please refer to 小红书.

Email: haoang.li.cuhk@gmail.com

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.

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