LMMCoDrive: Cooperative Driving with Large Multimodal Model
H. Liu, R. Yao, Z. Huang, S. Shen, and J. Ma, “LMMCoDrive: Cooperative Driving with Large Multimodal Model,” arXiv preprint arXiv: 2409.11981, 2024.
CV
Education
- B.S. in Robot Engineering, Northeastern University, 2020
- M.E. in Mechanical Engineering, Harbin Institute of Technology, 2022
- Ph.D in Robotics and Autonomous Systems, Hong Kong University of Science and Technology, Present
Work experience
- Summer 2019: Internship
- SIASUN Robot & Automation Co., Ltd
- Duties included: Observe the composition and operating principles of the robot control system, electrical drive system, and mechanical system; Inspect the robot automatic production workshop on the spot, conduct robot teaching and programming, and complete the palletizing and handling tasks in specific industrial scenarios.
Skills
- Programming
- Python
- MATLAB
- ROS
- PyTorch
- Organization
- Public Speaking
- Project Management
- Leadership
- Paperwork
- LaTeX
- Microsoft Office
- Simulation
- Gazebo
- V-REP
- CARLA
Publications
Robot Navigation in Unknown and Cluttered Workspace with Dynamical System Modulation in Starshaped Roadmap
K. Chen, H. Liu, Y. Li, J. Duan, L. Zhu, and J. Ma, “Robot navigation in unknown and cluttered workspace with dynamical system modulation in starshaped roadmap,” arXiv preprint arXiv: 2403.11484, 2024
Parallel optimization with hard safety constraints for cooperative planning of connected autonomous vehicles
Z. Huang, H. Liu, S. Shen, and J. Ma, “Parallel optimization with hard safety constraints for cooperative planning of connected autonomous vehicles,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2024, pp. 1-7.
Enhance Planning with Physics-informed Safety Controller for End-to-end Autonomous Driving
H. Zhou, H. Liu, H. Lu, D. Xu, J. Ma, and Y. Ji, “Enhance planning with physics-informed safety controller for end-to-end autonomous driving,” arXiv preprint arXiv: 2405.00316, 2024
Improved consensus ADMM for cooperative motion planning of large-scale connected autonomous vehicles with limited communication
H. Liu, Z. Huang, Z. Zhu, Y. Li, S. Shen, and J. Ma, “Improved consensus ADMM for cooperative motion planning of large-scale connected autonomous vehicles with limited communication,” IEEE Transactions on Intelligent Vehicles, vol. 0, no. 0, pp. 1-16, 2024.
Incremental learning-based real-time trajectory prediction for autonomous driving via sparse Gaussian process regression
H. Liu, K. Chen, and J. Ma, “Incremental learning-based real-time trajectory prediction for autonomous driving via sparse Gaussian process regression,” in Proceedings of Intelligent Vehicles Symposium(IV), IEEE, 2024, pp. 1-7.
Geometry-aware safety-critical local reactive controller for robot navigation in unknown and cluttered environments
Y. Li, X. Tang, K. Chen, C. Zheng, H. Liu, and J. Ma, “Geometry-aware safety-critical local reactive controller for robot navigation in unknown and cluttered environments,” IEEE Robotics and Automation Letters, vol. 9, no. 4, pp. 3419 - 3426, 2024.
Integrated behavior planning and motion control for autonomous vehicles with traffic rules compliance
H. Liu, K. Chen, Y. Li, Z. Huang, J. Duan, and J. Ma, “Integrated behavior planning and motion control for autonomous vehicles with traffic rules compliance,” in Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 2023, pp. 1-7.
Real-time parallel trajectory optimization with spatiotemporal safety constraints for autonomous driving in congested traffic
L. Zheng, R. Yang, Z. Peng, H. Liu, M. Y. Wang, and J. Ma, “Real-time parallel trajectory optimization with spatiotemporal safety constraints for autonomous driving in congested traffic,” in Proceedings of 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC), IEEE, 2023, pp. 1186-1193.
Bio-inspired robot swarm path formation with local sensor scope
Y. Zhao, Z. Qu, H. Liu, and R. Zhu, “Bio-inspired robot swarm path formation with local sensor scope,” Applied Intelligence, vol. 53, no. 1, pp. 17310-17326, 2022.
Solving a Multi-robot Search Problem with Bionic Sarsa Algorithm and Artificial Potential Field
H. Liu, Z. Qu and R. Zhu, "Solving a Multi-robot Search Problem with Bionic Sarsa Algorithm and Artificial Potential Field," 2021 China Automation Congress (CAC), Beijing, China, 2021, pp. 1830-1835.
Research on Robot Visual Grabbing Based on Mechanism Analysis
H. Liu, Z. Liu, H. Liu and W. Lin, "Research on Robot Visual Grabbing Based on Mechanism Analysis," 2021 IEEE 11th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Jiaxing, China, 2021, pp. 181-186.
Talks
Consensus Alternating Direction Method of Multipliers for Cooperative Motion Planning of Large-Scale Non-Holonomic Agents
University seminar talk at Room 2131B, HKUST, Clear Water Bay, Kowloon, Hong Kong, Hong Kong SAR, China
Hybrid A* for Car-Like Robots
Tutorial at Room 149, E1, HKUST(GZ), Guangzhou, China
Integrated Behavior Planning and Motion Control for Autonomous Vehicles with Traffic Rules Compliance
International conference talk at Bophut Koh Samui, Suratthani, Koh Samui, Thailand, Koh Samui, Thailand
Integrated Decision-Making and Control for Urban Autonomous Driving with Traffic Rules Compliance
Public talk at HKUST SZ-HK Collaborative Innovation Research Institute, Shenzhen, China
Greater Bay Area Science Forum - Young Scholars Participation vlog
Public talk at Greater Bay Area Science Forum, People's Government of Guangdong Province, Guangzhou, China
Teaching
Service and leadership
- Technical Reviewer: IEEE Transactions on Cybernetics, Aerospace Science and Technology, IV Symposium, ICRA, IROS, ROBIO, IECON
- Vice President of HKUST-GSAA
- Senate Committee Member of HKUST(GZ)