Haoran Li/李浩然

PhysCanvas: A Vision-Tactile World Model for Robot Policy Evaluation and Learning

Zebin Xing, Yuhang Zheng, Yupeng Zheng, Yichen Zhang, Zichen Li, Shangqing Zhou, Yujie Zang, Yuchen Liu, Zhongpu Xia, Haoran Li, Qichao Zhang

arXiv, 2026

[paper] [webpage]

What Visual Representations Do World Action Models Need?

Kai Liu, Jiangran Lyu, Tingyu Deng, Yixin Zheng, Jingtian Wan, Wenbo Cui, Mi Yan, Yizhou Zhou, Haoran Li, Dongbin Zhao, Zhizheng Zhang, He Wang

arXiv, 2026

[paper] [webpage]

WoVR+: World Model as Reliable Simulator for Versatile VLA Policy Optimization with RL

Shangqing Zhou, Zhennan Jiang, Ning Ma, Xin Fu, Yupeng Zheng, Shuai Tian, Huangrui Li, Jiahao Liu, Chao Yu, Zhongpu Xia, Haoran Li*, Dongbin Zhao

arXiv, 2026

[paper] [webpage]

Token-World: World Modeling in Vision-Language Model Token Space for Robot Manipulation

Chuyao Fu, Xiaowei Chi, Yuhan Rui, Yu-kai Wang, Zezhong Qian, Xiaojie Zhang, Yunfan Lou, Kevin Zhang, Kuangzhi Ge, Chak Wing Mak, Zhiyang Chen, Athena Zhuoming Zhong, Hongyang Chen, Haoran Li, Yike Guo, Sirui Han, Shanghang Zhang

arXiv, 2026

[paper] [webpage]

GIFT: Guided Intermediate Feature Training via Action-Oriented Structural Supervision for Robotic Manipulation

Yupeng Zheng, Xiang Li, Songen Gu, Yuhang Zheng, Shuai Tian, Weize Li, Linbo Wang, Chaoyue Li, Qichao Zhang*, Haoran Li*, Zhongpu Xia, Ya-Qin Zhang, Shuicheng Yan, Dongbin Zhao

arXiv, 2026

[paper] [webpage]

WALA: Learning Executable Latent Actions from Action-Labeled Demonstrations and Action-Free Videos

Jiahao Liu, Yupeng Zheng, Zhongpu Xia, Shuai Tian, Huangrui Li, Yuhang Zheng, Ning Ma, ShangQing Zhou, Xiaotian Liu, Jing Li, Yixian Li, Haoran Li*, Dongbin Zhao

arXiv, 2026

[paper] [webpage]

VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation

Shuai Tian, Yupeng Zheng, Yuhang Zheng, Songen Gu, Yujie Zang, Yuxing Qin, Weize Li, Haoran Li*, Wenchao Ding, Dongbin Zhao

arXiv, 2026

[paper] [webpage]

X-DiffVLA: X-Embodied Diffusion Action Heads for Vision-Language-Action Models

Boyu Li, Chaoyi Xu, Haoqi Yuan, Xinrun Xu, Börje F. Karlsson, Dongbin Zhao, Haoran Li*, Zongqing Lu

RSS, 2026

[paper]

PokeVLA: Empowering Pocket-Sized Vision-Language-Action Model with Comprehensive World Knowledge Guidance

Yupeng Zheng, Xiang Li, Songen Gu, Yuhang Zheng, Shuai Tian, Weize Li, Linbo Wang, Senyu Fei, Pengfei Li, Yinfeng Gao, Zebin Xing, Yilun Chen, Qichao Zhang, Haoran Li*, Wenchao Ding

arXiv, 2026

[paper]

Posterior Optimization with Clipped Objective for Bridging Efficiency and Stability in Generative Policy Learning

Yuhui Chen, Haoran Li*, Zhennan Jiang, Yuxing Qin, Yuxuan Wan, Weiheng Liu, Dongbin Zhao

arXiv, 2026

[paper] [webpage]

OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation

Yuhang Zheng, Songen Gu, Weize Li, Yupeng Zheng, Yujie Zang, Shuai Tian, Xiang Li, Ce Hao, Chen Gao, Si Liu, Haoran Li, Yilun Chen, Shuicheng Yan, Wenchao Ding

arXiv, 2026

[paper] [webpage] [code]

InCoM: Intent-Driven Perception and Structured Coordination for Whole-Body Mobile Manipulation

Jiahao Liu, Wenbo Cui, Zhongpu Xia, Haoran Li*, Dongbin Zhao

CoRL, 2026

[paper] [webpage] [code]

WoVR: World Models as Reliable Simulators for Post-Training VLA Policies with RL

Zhennan Jiang, Shangqing Zhou, Yutong Jiang, Zefang Huang, Mingjie Wei, Yuhui Chen, Tianxing Zhou, Zhen Guo, Hao Lin, Quanlu Zhang, Yu Wang, Haoran Li*, Chao Yu, Dongbin Zhao

CoRL, 2026

[paper] [code]

Dual-Granularity Contrastive Reward via Generated Episodic Guidance for Efficient Embodied RL

Xin Liu, Yixuan Li, Yuhui Chen, Yuxing Qin, Haoran Li*, Dongbin Zhao

arXiv, 2026

[paper] [code]

LDA-1B: Scaling Latent Dynamics Action Model via Universal Embodied Data Ingestion

Jiangran Lyu, Kai Liu, Xuheng Zhang, Haoran Liao, Yusen Feng, Wenxuan Zhu, Tingrui Shen, Jiayi Chen, Jiazhao Zhang, Yifei Dong, Wenbo Cui, Senmao Qi, Shuo Wang, Yixin Zheng, Mi Yan, Xuesong Shi, Haoran Li, Dongbin Zhao, Ming-Yu Liu, Zhizheng Zhang, Li Yi, Yizhou Wang, He Wang

RSS, 2026

[paper] [webpage] [code]

Towards Long-Lived Robots: Continual Learning VLA Models via Reinforcement Fine-Tuning

Yuan Liu, Haoran Li*, Shuai Tian, Yuxing Qin, Yuhui Chen, Yupeng Zheng, Yongzhen Huang, Dongbin Zhao

RSS, 2026

[paper] [webpage]

面向具身操作的视觉-语言-动作模型综述

李浩然, 陈宇辉, 崔文博, 刘卫恒, 刘锴, 周明才, 张正涛, 赵冬斌

自动化学报，2026

[paper]

Saliency-Guided Representation with Consistency Policy Learning for Visual Unsupervised Reinforcement Learning

Jingbo Sun, Qichao Zhang, Songjun Tu, Xing Fang, Yupeng Zheng, Haoran Li, Ke Chen, Dongbin Zhao

CVPR, 2026

[paper]

QDepth-VLA: Quantized Depth Prediction as Auxiliary Supervision for Vision-Language-Action Models

Yixuan Li, Yuhui Chen, Mingcai Zhou, Haoran Li*, Zhengtao Zhang, Dongbin Zhao

AAMAS, 2026

[paper] [code]

RoboGPT-R1: Enhancing Robot Planning with Reinforcement Learning

Jinrui Liu, Bingyan Nie, Boyu Li, Yaran Chen, Yuze Wang, Shunsen He, Haoran Li*

AAMAS, 2026

[paper]

CL3R: 3D Reconstruction and Contrastive Learning for Enhanced Robotic Manipulation Representations

Wenbo Cui, Chengyang Zhao, Yuhui Chen, Haoran Li, Zhizheng Zhang, Dongbin Zhao, He Wang

ICRA, 2026

[paper]

DiffuDepGrasp: Diffusion-based Depth Noise Modeling Empowers Sim2Real Robotic Grasping

Yingting Zhou, Wenbo Cui, Weiheng Liu, Guixing Chen, Haoran Li*, Dongbin Zhao

ICRA, 2026

[paper]

World4RL: Diffusion World Models for Policy Refinement with Reinforcement Learning for Robotic Manipulation

Zhennan Jiang, Kai Liu, Yuxin Qin, Shuai Tian, Yupeng Zheng, Mingcai Zhou, Chao Yu, Haoran Li*, Dongbin Zhao

RA-L, 2026

[paper] [webpage]

Videos are Sample-Efficient Supervisions: Behavior Cloning from Videos via Latent Representations

Xin Liu, Haoran Li*, Dongbin Zhao

NeurIPS，2025

[paper]

Balancing state exploration and skill diversity in unsupervised skill discovery

Xin Liu, Yaran Chen, Guixing Chen, Haoran Li, Dongbin Zhao

IEEE Transactions on Cybernetics, 2025

[paper]

Cross-domain random pretraining with prototypes for reinforcement learning

Xin Liu, Yaran Chen, Haoran Li, Boyu Li, Dongbin Zhao

IEEE Transactions on Systems, Man, and Cybernetics: Systems，2025

[paper]

FetchBot: Learning Generalizable Object Fetching in Cluttered Scenes via Zero-Shot Sim2Real

Weiheng Liu, Yuxuan Wan, Jilong Wang, Yuxuan Kuang, Wenbo Cui, Xuesong Shi, Haoran Li, Dongbin Zhao, Zhizheng Zhang, He Wang

CoRL 2025 (Oral)

[paper] [webpage]

ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy

Yuhui Chen, Shuai Tian, Shugao Liu, Yingting Zhou, Haoran Li*, Dongbin Zhao

RSS, 2025

[paper] [webpage] [code]

TeViR: Text-to-Video Reward with Diffusion Models for Efficient Reinforcement Learning

Yuhui Chen, Haoran Li*, Zhennan Jiang, Haowei Wen, Dongbin Zhao

IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2025

[paper]

SELU: Self-Learning Embodied Multimodal Large Language Models in Unknown Environments

Boyu Li, Haobin Jiang, Ziluo Ding, Xinrun Xu, Haoran Li, Dongbin Zhao, Zongqing Lu

TMLR, 2025

[paper]

LeAffordNav: Enhancing open-vocabulary mobile manipulation with LLM-guided exploration and affordance-aware navigation

Yuanwen Chen, Haoran Li*, Yaran Chen, Dongbin Zhao

ICME, 2025

[paper] [code]

Advancing Object-Goal Navigation Through LLM-enhanced Object Affinities Transfer

Mengying Lin, Shugao Liu, Dingxi Zhang, Yaran Chen, Zhaoran Wang, Haoran Li*, Dongbin Zhao

IROS, 2025

[paper]

FusionNav: Enhancing Zero-Shot Object-Goal Navigation via 3D Semantic Fusion and Farsight Value Reasoning

Shugao Liu, Qichao Zhang, Haoran Li*, Dongbin Zhao

IEEE SMC, 2025

[paper]

Fast and Accurate Visuomotor Imitation Learning via 2D Consistency Flow Matching Policy

Shuai Tian, Haoran Li*, Dongbin Zhao

ICONIP, 2025

[paper]

Sample-Efficient Unsupervised Policy Cloning from Ensemble Self-Supervised Labeled Videos

Xin Liu, Yaran Chen, Haoran Li*

ICRA, 2025

[paper]

Unsupervised Zero-Shot Reinforcement Learning via Dual-Value Forward-Backward Representation

Jingbo Sun, Songjun Tu, Qichao Zhang, Haoran Li, Xin Liu, Yaran Chen, Ke Chen, Dongbin Zhao

ICLR, 2025

[paper] [code]

Generalizing Consistency Policy to Visual RL with Prioritized Proximal Experience Regularization

Haoran Li, Zhennan Jiang, Yuhui Chen, Dongbin Zhao

NeurIPS, 2024

[paper] [webpage] [code]

RoboGPT: An LLM-Based Long-Term Decision-Making Embodied Agent for Instruction Following Tasks

Yaran Chen, Wenbo Cui, Yuanwen Chen, Ming Tan, Xinyao Zhang, Jinrui Liu, Haoran Li, Dongbin Zhao, He Wang

IEEE Transactions on Cognitive and Developmental Systems, 2024

[paper]

Boosting Continuous Control with Consistency Policy

Yuhui Chen, Haoran Li*, Dongbin Zhao

AAMAS, 2024

[paper] [code]

NeuronsGym: A Hybrid Framework and Benchmark for Robot Navigation with Sim2Real Policy Learning

Haoran Li, Guangzheng Hu, Shasha Liu, Mingjun Ma, Yaran Chen, Dongbin Zhao

IEEE Transactions on Emerging Topics in Computational Intelligence, 2025

[paper] [code]

ATV3D: 3D Object Detection from Attention-Based Three-View Representation

Yu Han, Yaran Chen, Haoran Li, Yunzhen Zhao, Zhe Zhao, Pengfei Hu

IJCNN, 2024

[paper]

FM3Q: Factorized Multi-Agent MiniMax Q-Learning for Two-Team Zero-Sum Markov Game

Guangzheng Hu, Yuanheng Zhu, Haoran Li, Dongbin Zhao

IEEE Transactions on Emerging Topics in Computational Intelligence, 2024

[paper]

Stabilizing Diffusion Model for Robotic Control with Dynamic Programming and Transition Feasibility

Haoran Li, Yaocheng Zhang, Haowei Wen, Yuanheng Zhu, Dongbin Zhao

IEEE Transactions on Artificial Intelligence, 2024

[paper]

MAT: Morphological Adaptive Transformer for Universal Morphology Policy Learning

Boyu Li, Haoran Li*, Yuanheng Zhu, Dongbin Zhao

IEEE Transactions on Cognitive and Developmental Systems, 2024

[paper]

Multi-Modal Learning Based Prediction for Disease

Yaran Chen, Xueyu Chen, Yu Han, Haoran Li, Dongbin Zhao, Jingzhong Li, Xu Wang

Machine Intelligence Research, 2025

[paper]

NeuronsMAE: A Novel Multi-Agent Reinforcement Learning Environment for Cooperative and Competitive Multi-Robot Tasks

Guangzheng Hu, Haoran Li, Shasha Liu, Mingjun Ma, Yuanheng Zhu, Dongbin Zhao

IJCNN, 2023

[paper] [code]

ABCP: Automatic Blockwise and Channelwise Network Pruning via Joint Search

Jiaqi Li, Haoran Li*, Yaran Chen, Zixiang Ding, Nannan Li, Mingjun Ma, Zicheng Duan, Dongbing Zhao

IEEE Transactions on Cognitive and Developmental Systems, 2023

[paper] [code]

BiFNet: Bidirectional Fusion Network for Road Segmentation

Haoran Li, Yaran Chen, Qichao Zhang, Dongbin Zhao

IEEE Transactions on Cybernetics, 2022

[paper]

Boost 3-D Object Detection via Point Clouds Segmentation and Fused 3-D GIoU-L₁ Loss

Yaran Chen, Haoran Li, Ruiyuan Gao, Dongbin Zhao

IEEE Transactions on Neural Networks and Learning Systems, 2022

[paper]

Deep Reinforcement Learning-Based Automatic Exploration for Navigation in Unknown Environment

Haoran Li, Qichao Zhang, Dongbin Zhao

IEEE Transactions on Neural Networks and Learning Systems, 2020

[paper]

RailNet: An Information Aggregation Network for Rail Track Segmentation

Haoran Li, Qichao Zhang, Dongbin Zhao, Yaran Chen

IJCNN, 2020

[paper]

Haoran Li / 李浩然

Publications