Ph.D. in Robotics and Autonomous Systems, Hong Kong University of Science and Technology, 2025
Visiting Scholar, National University of Singapore, 2025
M.E. in Mechanical Engineering, Harbin Institute of Technology, 2020-2022
Visiting Student, University of Sydney, 2021
B.S. in Robot Engineering, Northeastern University, 2016-2020
H. Deng, H. Liu, W. Guo, Y. Ling, Z. Yang, Y. Xue, H. Sun, L. Wang, Z. Wang, "Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation," arXiv preprint arXiv:2609.01596, 2026.
Z. Liu, S. Guo, Z. Li, J. Cao, H. Liu, P. Qu, Y. Zhang, J. Zhou, J. Ma, "Tac4Loco: Learning Spatiotemporal Plantar Pressure Representations for Humanoid Locomotion," arXiv preprint arXiv:2608.15766, 2026.
S. Yan, H. Liu, J. Zhang, J. Wang, J. Ma and D. He, "Effects of Environmental Perception and Planned Maneuver Visualization on Takeover Performance in Silent Failure Scenarios," International Journal of Human - Computer Studies, vol. 0, no. 0, pp. 1-34, 2026.
J. Fan, H. Liu, Y. Zou, W. Liu, and J. Ma, "Potential-Game Structured Cooperative Eco-Driving for Mixed Platoons at Signalized Intersections," Unmanned Systems, vol. 0, no. 0, pp. 1-18, 2026.
B. Ma, H. Liu, R. Zhong, P. Liu, X. Zhou, and J. Ma, "Behavioral Uncertainty-Aware Attention Allocation via VLMs for Interactive Autonomous Driving," IEEE Transactions on Vehicular Technology, vol. 0, no. 0, pp. 1-13, 2026.
H. Liu, Y. Jiang, H. Park, Y. Xue, Z. Wang, "DexTeleop-0: Force-Aware Bimanual Dexterous Teleoperation with Ego-Centric Perception towards Shared Autonomy," arXiv preprint arXiv:2606.23431, 2026.
K. Li, Y. Jiang, M. Zhao, Q. Wang, and H. Liu, "Skeleton-Aware Hand-Arm Retargeting for Contact-Rich Dexterous Teleoperation," in Proceedings of the 2026 International Conference on Embodied Intelligence and Robotics (EIR 2026), 2026, pp. 1-9.
H. Deng, Y. Gao, Y. Lin, H. Liu, Z. Wu, Z. Wang, "UniIntervene: Agentic Intervention for Efficient Real-World Reinforcement Learning," arXiv preprint arXiv:2606.12372, 2026.
B. Ma, H. Liu, and J. Ma, "Attention Distribution via Vision Language Models for Interactive Decision-Making and Motion Planning in Autonomous Driving," in Proceedings of the 2026 IEEE 29th International Conference on Intelligent Transportation Systems (ITSC), 2026, pp. 1-8.
X. Qiu, H. Liu, Y. Pan, J. Ma, and X. Zheng, "An Intention-Driven Lane Change Framework Considering Heterogeneous Dynamic Cooperation in Mixed-Traffic Environments," IEEE Transactions on Intelligent Transportation Systems, vol. 0, no. 0, pp. 1-13, 2026.
H. Liu, Y. Zhou, Z. Wu, Z. Ji, Z. Shan, Q. Wang, R. Liu, Z. Yang, Y. Gu, S. Khan, S. Yan, J. Liu, H. Zhu, C. Liu, J. Yang, J. Zhang, Z. Wang, "RoCo Challenge at AAAI 2026: Benchmarking Robotic Collaborative Manipulation for Assembly Towards Industrial Automation," arXiv preprint arXiv:2603.15469, 2026.
K. Guo, H. Liu, Y. Sun, R. Zhao, J. Zhou, J. Ma, "MoE-ACT: Scaling Multi-Task Bimanual Manipulation with Sparse Language-Conditioned Mixture-of-Experts Transformers," arXiv preprint arXiv:2603.15265, 2026.
H. Liu, Y. Xue, Y. Zhou, H. Deng, Y. Liang, L. Xie, Z. Wang, "UniManip: General-Purpose Zero-Shot Robotic Manipulation with Agentic Operational Graph," arXiv preprint arXiv:2602.13086, 2026.
P. Liu, H. Liu, H. Liu, X. Liu, J. Ni, and J. Ma, "VLM-E2E: Enhancing End-to-End Autonomous Driving with Multimodal Driver Attention Fusion," in Proceedings of the 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026, pp. 1-8.
H. Deng, Z. Wu, H. Liu, W. Guo, Y. Xue, Z. Shan, C. Zhang, B. Jia, Y. Ling, G. Lu, and Z. Wang, "A Survey on Reinforcement Learning of Vision-Language-Action Models for Robotic Manipulation," TechRxiv, 2025. doi: 10.36227/techrxiv.176531955.54563920/v1
H. Liu, H. Liu, and J. Ma, "An Autonomous Mobility on Demand Platform Supporting Cooperative Driving with Visual Context Generation for LMMs," in Proceedings of IEEE International Conference on Intelligent Transportation Systems (ITSC), IEEE, 2025, pp. 1-8.
H. Lu, J. Yang, Y. Liu, S. Shen, H. Liu, X. Zheng, and H. Yang, "Human-like driving: A comprehensive survey from depth and breadth," Artificial Intelligence for Transportation, vol. 3, p. 100033, 2025.
Z. Zhu, H. Liu, W. Wang, J. Duan, H. Zhao, and J. Ma, "Diffeomorphism-Transformed Iterative Linear Quadratic Regulator for Constrained Motion Planning in Autonomous Driving," IEEE Transactions on Intelligent Transportation Systems, vol. 0, no. 0, pp. 1-15, 2025.
H. Liu, H. Guo, P. Liu, B. Ma, Y. Zhang, J. Ma, and T. H. Lee, "VLM-UDMC: VLM-Enhanced Unified Decision-Making and Motion Control for Urban Autonomous Driving," arXiv preprint arXiv:2507.15266, 2025.
H. Liu, S. Guo, P. Mai, J. Cao, H. Li, and J. Ma, "RoboDexVLM: Visual Language Model-Enabled Task Planning and Motion Control for Dexterous Robot Manipulation," in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2025, pp. 1-8.
H. Liu, R. Yao, Z. Huang, S. Shen, and J. Ma, "LMMCoDrive: Cooperative Driving with Large Multimodal Model," in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2025, pp. 1-8.
H. Liu, K. Chen, Y. Li, Z. Huang, M. Liu, and J. Ma, "UDMC: Unified Decision-Making and Control Framework for Urban Autonomous Driving with Motion Prediction of Traffic Participants," IEEE Transactions on Intelligent Transportation Systems, , vol. 26, no. 5, pp. 5856-871, 2025.
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," in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2025, pp. 1-7.
H. Liu, R. Yao, W. Liu, Z. Huang, S. Shen, and J. Ma, "CoDriveVLM: VLM-enhanced urban cooperative dispatching and motion planning for future autonomous mobility on demand systems," arXiv preprint arXiv:2501.06132, 2025.
W. Liu, H. Liu, L. Zheng, Z. Huang, and J. Ma, "Synergizing Decision Making and Trajectory Planning Using Two-Stage Optimization for Autonomous Vehicles," IEEE Transactions on Vehicular Technology, vol. 74, no. 4, pp. 5489-503, 2025.
P. Peuchpen, H. Liu, and J. Ma, "Real-Time Teleoperation in Motion Mapping for Medical Robot Based on Robot Manipulator and Haptic Device," in Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 2024, pp. 1-6.
H. Zhou, H. Liu, H. Lu, J. Ma, and Y. Ji, "Enhance planning with physics-informed safety controller for end-to-end autonomous driving," in Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 2024, pp. 1-8.
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.
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. 9, no. 11, pp. 7222-238, 2024.
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.
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.
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.
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.
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.
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.
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.
Invited Talk at Online (via Tencent Meeting), School of Instrument Science and Engineering, Southeast University
Invited Talk at Online (via Zoom), Breakout Talks Day 1, Embodied Intelligence 2026 (EI 2026)
Invited Talk at The Star Grand, Broadbeach, Gold Coast, Queensland, Australia, Southport 3, The Star Grand, Broadbeach, Gold Coast, Queensland, Australia
Invited Talk at Shangri-La Singapore, 22 Orange Grove Road, Singapore 258350, Singapore, EmbodiedAI (具身智能之心), Online Live Talk
Presentation at Shangri-La Singapore, 22 Orange Grove Road, Singapore 258350, Singapore, Singapore, Singapore
Invited talk at E4A, 3F, 3 Engineering Drive 3, Singapore 117583, Singapore, Singapore, Singapore
International conference talk at Udo Room, GF, Landing Convention Center, Jeju Shinhwa World, Jeju Island, South Korea, Jeju Island, South Korea
University seminar talk at Room 2131B, HKUST, Clear Water Bay, Kowloon, Hong Kong, Hong Kong SAR, China
Tutorial at Room 149, E1, HKUST(GZ), Guangzhou, China
International conference talk at Bophut Koh Samui, Suratthani, Koh Samui, Thailand, Koh Samui, Thailand
Public talk at HKUST SZ-HK Collaborative Innovation Research Institute, Shenzhen, China
Public talk at Greater Bay Area Science Forum, People's Government of Guangdong Province, Guangzhou, China