Zhao, Hang

83 publications

ICLR 2026 Discrete Diffusion for Reflective Vision-Language-Action Models in Autonomous Driving Pengxiang Li, Yinan Zheng, Yue Wang, Huimin Wang, Hang Zhao, Jingjing Liu, Xianyuan Zhan, Kun Zhan, XianPeng Lang

ICLR 2026 DriveAgent-R1: Advancing VLM-Based Autonomous Driving with Active Perception and Hybrid Thinking Weicheng Zheng, Xiaofei Mao, Nanfei Ye, Pengxiang Li, Kun Zhan, XianPeng Lang, Hang Zhao

ICLR 2026 FASTer: Toward Powerful and Efficient Autoregressive Vision–Language–Action Models with Learnable Action Tokenizer and Block-Wise Decoding Yicheng Liu, Shiduo Zhang, Zibin Dong, Baijun Ye, Tianyuan Yuan, Xiaopeng Yu, Linqi Yin, Chenhao Lu, Junhao Shi, Luca Jiang-Tao Yu, Liangtao Zheng, Jingjing Gong, Tao Jiang, Xipeng Qiu, Hang Zhao

ICLR 2026 Intrinsic Entropy of Context Length Scaling in LLMs Jingzhe Shi, Qinwei Ma, Hongyi Liu, Hang Zhao, Jenq-Neng Hwang, Lei Li

ICLR 2026 Multimodal Dataset Distillation via Phased Teacher Models Shengbin Guo, Hang Zhao, Senqiao Yang, Chenyang Jiang, Yuhang Cheng, Xiangru Peng, Rui Shao, Zhuotao Tian

ICLR 2026 Preserving Forgery Artifacts: AI-Generated Video Detection at Native Scale Zhengcen Li, Chenyang Jiang, Hang Zhao, Shiyang Zhou, Yunyang Mo, Feng Gao, Fan Yang, Qiben Shan, Shaocong Wu, Jingyong Su

TMLR 2026 Re:Form --- Reducing Human Priors in Scalable Formal Software Verification with RL in LLMs: A Preliminary Study on Dafny Chuanhao Yan, Fengdi Che, Xuhan Huang, Xu Xu, Xin Li, Yizhi Li, Xingwei Qu, Jingzhe Shi, Chenghua Lin, Yaodong Yang, Binhang Yuan, Hang Zhao, Yu Qiao, Bowen Zhou, Jie Fu

NeurIPS 2025 Conditioning Matters: Training Diffusion Policies Is Faster than You Think Zibin Dong, Yicheng Liu, Yinchuan Li, Hang Zhao, Jianye Hao

CoRL 2025 Embrace Contacts: Humanoid Shadowing with Full Body Ground Contacts Ziwen Zhuang, Hang Zhao

ICCV 2025 GS-Occ3D: Scaling Vision-Only Occupancy Reconstruction with Gaussian Splatting Baijun Ye, Minghui Qin, Saining Zhang, Moonjun Gong, Shaoting Zhu, Hao Zhao, Hang Zhao

NeurIPS 2025 Impromptu VLA: Open Weights and Open Data for Driving Vision-Language-Action Models Haohan Chi, Huan-ang Gao, Ziming Liu, Jianing Liu, Chenyu Liu, Jinwei Li, Kaisen Yang, Yangcheng Yu, Zeda Wang, Wenyi Li, Leichen Wang, Xingtao Hu, Hao Sun, Hang Zhao, Hao Zhao

ICCV 2025 LONG3R: Long Sequence Streaming 3D Reconstruction Zhuoguang Chen, Minghui Qin, Tianyuan Yuan, Zhe Liu, Hang Zhao

NeurIPS 2025 Rectifying Soft-Label Entangled Bias in Long-Tailed Dataset Distillation Chenyang Jiang, Hang Zhao, Xinyu Zhang, Zhengcen Li, Qiben Shan, Shaocong Wu, Jingyong Su

CVPR 2025 Supervising Sound Localization by In-the-Wild Egomotion Anna Min, Ziyang Chen, Hang Zhao, Andrew Owens

ECCV 2024 CVT-Occ: Cost Volume Temporal Fusion for 3D Occupancy Prediction Zhangchen Ye, Tao Jiang, Chenfeng Xu, Yiming Li, Hang Zhao

ICML 2024 Deep Demonstration Tracing: Learning Generalizable Imitator Policy for Runtime Imitation from a Single Demonstration Xiong-Hui Chen, Junyin Ye, Hang Zhao, Yi-Chen Li, Xu-Hui Liu, Haoran Shi, Yu-Yan Xu, Zhihao Ye, Si-Hang Yang, Yang Yu, Anqi Huang, Kai Xu, Zongzhang Zhang

CoRL 2024 DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models Xiaoyu Tian, Junru Gu, Bailin Li, Yicheng Liu, Yang Wang, Zhiyong Zhao, Kun Zhan, Peng Jia, XianPeng Lang, Hang Zhao

ECCV 2024 Explore the Potential of CLIP for Training-Free Open Vocabulary Semantic Segmentation Tong Shao, Zhuotao Tian, Hang Zhao, Jingyong Su

CoRL 2024 Humanoid Parkour Learning Ziwen Zhuang, Shenzhe Yao, Hang Zhao

ECCV 2024 PreSight: Enhancing Autonomous Vehicle Perception with City-Scale NeRF Priors Tianyuan Yuan, Yucheng Mao, Jiawei Yang, Yicheng Liu, Yue Wang, Hang Zhao

WACV 2024 StreamMapNet: Streaming Mapping Network for Vectorized Online HD mAP Construction Tianyuan Yuan, Yicheng Liu, Yue Wang, Yilun Wang, Hang Zhao

CoRL 2024 Uncertainty-Aware Decision Transformer for Stochastic Driving Environments Zenan Li, Fan Nie, Qiao Sun, Fang Da, Hang Zhao

CoRL 2023 A Universal Semantic-Geometric Representation for Robotic Manipulation Tong Zhang, Yingdong Hu, Hanchen Cui, Hang Zhao, Yang Gao

CoRL 2023 Cross-Dataset Sensor Alignment: Making Visual 3D Object Detector Generalizable Liangtao Zheng, Yicheng Liu, Yue Wang, Hang Zhao

NeurIPS 2023 Diff-Foley: Synchronized Video-to-Audio Synthesis with Latent Diffusion Models Simian Luo, Chuanhao Yan, Chenxu Hu, Hang Zhao

CVPRW 2023 FUTR3D: A Unified Sensor Fusion Framework for 3D Detection Xuanyao Chen, Tianyuan Zhang, Yue Wang, Yilun Wang, Hang Zhao

NeurIPSW 2023 GPT-Driver: Learning to Drive with GPT Jiageng Mao, Yuxi Qian, Junjie Ye, Hang Zhao, Yue Wang

CVPR 2023 GeoMAE: Masked Geometric Target Prediction for Self-Supervised Point Cloud Pre-Training Xiaoyu Tian, Haoxi Ran, Yue Wang, Hang Zhao

ICCV 2023 INT2: Interactive Trajectory Prediction at Intersections Zhijie Yan, Pengfei Li, Zheng Fu, Shaocong Xu, Yongliang Shi, Xiaoxue Chen, Yuhang Zheng, Yang Li, Tianyu Liu, Chuxuan Li, Nairui Luo, Xu Gao, Yilun Chen, Zuoxu Wang, Yifeng Shi, Pengfei Huang, Zhengxiao Han, Jirui Yuan, Jiangtao Gong, Guyue Zhou, Hang Zhao, Hao Zhao

CVPR 2023 Neural mAP Prior for Autonomous Driving Xuan Xiong, Yicheng Liu, Tianyuan Yuan, Yue Wang, Yilun Wang, Hang Zhao

NeurIPS 2023 Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Driving Xiaoyu Tian, Tao Jiang, Longfei Yun, Yucheng Mao, Huitong Yang, Yue Wang, Yilun Wang, Hang Zhao

ICML 2023 On Uni-Modal Feature Learning in Supervised Multi-Modal Learning Chenzhuang Du, Jiaye Teng, Tingle Li, Yichen Liu, Tianyuan Yuan, Yue Wang, Yang Yuan, Hang Zhao

ICCV 2023 PVT++: A Simple End-to-End Latency-Aware Visual Tracking Framework Bowen Li, Ziyuan Huang, Junjie Ye, Yiming Li, Sebastian Scherer, Hang Zhao, Changhong Fu

ICLR 2023 Programmatically Grounded, Compositionally Generalizable Robotic Manipulation Renhao Wang, Jiayuan Mao, Joy Hsu, Hang Zhao, Jiajun Wu, Yang Gao

CoRL 2023 Robot Parkour Learning Ziwen Zhuang, Zipeng Fu, Jianren Wang, Christopher G. Atkeson, Sören Schwertfeger, Chelsea Finn, Hang Zhao

ICLR 2023 Self-Supervision Through Random Segments with Autoregressive Coding (RandSAC) Tianyu Hua, Yonglong Tian, Sucheng Ren, Michalis Raptis, Hang Zhao, Leonid Sigal

CVPR 2023 SparseViT: Revisiting Activation Sparsity for Efficient High-Resolution Vision Transformer Xuanyao Chen, Zhijian Liu, Haotian Tang, Li Yi, Hang Zhao, Song Han

ICLR 2023 The Modality Focusing Hypothesis: Towards Understanding Crossmodal Knowledge Distillation Zihui Xue, Zhengqi Gao, Sucheng Ren, Hang Zhao

ICML 2023 VectorMapNet: End-to-End Vectorized HD mAP Learning Yicheng Liu, Tianyuan Yuan, Yue Wang, Yilun Wang, Hang Zhao

CVPR 2023 ViP3D: End-to-End Visual Trajectory Prediction via 3D Agent Queries Junru Gu, Chenxu Hu, Tianyuan Zhang, Xuanyao Chen, Yilun Wang, Yue Wang, Hang Zhao

CVPR 2023 What Happened 3 Seconds Ago? Inferring the past with Thermal Imaging Zitian Tang, Wenjie Ye, Wei-Chiu Ma, Hang Zhao

IJCAI 2022 AutoAlign: Pixel-Instance Feature Aggregation for Multi-Modal 3D Object Detection Zehui Chen, Zhenyu Li, Shiquan Zhang, Liangji Fang, Qinhong Jiang, Feng Zhao, Bolei Zhou, Hang Zhao

ECCV 2022 CYBORGS: Contrastively Bootstrapping Object Representations by Grounding in Segmentation Renhao Wang, Hang Zhao, Yang Gao

CVPR 2022 Co-Advise: Cross Inductive Bias Distillation Sucheng Ren, Zhengqi Gao, Tianyu Hua, Zihui Xue, Yonglong Tian, Shengfeng He, Hang Zhao

CVPR 2022 Egocentric Prediction of Action Target in 3D Yiming Li, Ziang Cao, Andrew Liang, Benjamin Liang, Luoyao Chen, Hang Zhao, Chen Feng

CVPR 2022 Embracing Single Stride 3D Object Detector with Sparse Transformer Lue Fan, Ziqi Pang, Tianyuan Zhang, Yu-Xiong Wang, Hang Zhao, Feng Wang, Naiyan Wang, Zhaoxiang Zhang

ICLR 2022 IFR-Explore: Learning Inter-Object Functional Relationships in 3D Indoor Scenes Qi Li, Kaichun Mo, Yanchao Yang, Hang Zhao, Leonidas Guibas

ICLR 2022 Learning Efficient Online 3D Bin Packing on Packing Configuration Trees Hang Zhao, Yang Yu, Kai Xu

ECCV 2022 Learning Visual Styles from Audio-Visual Associations Tingle Li, Yichen Liu, Andrew Owens, Hang Zhao

CVPR 2022 M2I: From Factored Marginal Trajectory Prediction to Interactive Prediction Qiao Sun, Xin Huang, Junru Gu, Brian C. Williams, Hang Zhao

CVPRW 2022 MUTR3D: A Multi-Camera Tracking Framework via 3D-to-2D Queries Tianyuan Zhang, Xuanyao Chen, Yue Wang, Yilun Wang, Hang Zhao

ICLR 2022 R4D: Utilizing Reference Objects for Long-Range Distance Estimation Yingwei Li, Tiffany Chen, Maya Kabkab, Ruichi Yu, Longlong Jing, Yurong You, Hang Zhao

AAAI 2022 SimIPU: Simple 2D Image and 3D Point Cloud Unsupervised Pre-Training for Spatial-Aware Visual Representations Zhenyu Li, Zehui Chen, Ang Li, Liangji Fang, Qinhong Jiang, Xianming Liu, Junjun Jiang, Bolei Zhou, Hang Zhao

IJCAI 2022 Sound2Synth: Interpreting Sound via FM Synthesizer Parameters Estimation Zui Chen, Yansen Jing, Shengcheng Yuan, Yifei Xu, Jian Wu, Hang Zhao

CoRL 2021 Adversarially Robust Imitation Learning Jianren Wang, Ziwen Zhuang, Yuyang Wang, Hang Zhao

CoRL 2021 DETR3D: 3D Object Detection from Multi-View Images via 3D-to-2D Queries Yue Wang, Vitor Campagnolo Guizilini, Tianyuan Zhang, Yilun Wang, Hang Zhao, Justin Solomon

ICCV 2021 DenseTNT: End-to-End Trajectory Prediction from Dense Goal Sets Junru Gu, Chen Sun, Hang Zhao

CVPR 2021 HDMapGen: A Hierarchical Graph Generative Model of High Definition Maps Lu Mi, Hang Zhao, Charlie Nash, Xiaohan Jin, Jiyang Gao, Chen Sun, Cordelia Schmid, Nir Shavit, Yuning Chai, Dragomir Anguelov

ICCV 2021 Large Scale Interactive Motion Forecasting for Autonomous Driving: The Waymo Open Motion Dataset Scott Ettinger, Shuyang Cheng, Benjamin Caine, Chenxi Liu, Hang Zhao, Sabeek Pradhan, Yuning Chai, Ben Sapp, Charles R. Qi, Yin Zhou, Zoey Yang, Aurélien Chouard, Pei Sun, Jiquan Ngiam, Vijay Vasudevan, Alexander McCauley, Jonathon Shlens, Dragomir Anguelov

CoRL 2021 Multi-Agent Trajectory Prediction by Combining Egocentric and Allocentric Views Xiaosong Jia, Liting Sun, Hang Zhao, Masayoshi Tomizuka, Wei Zhan

ICCV 2021 Multimodal Knowledge Expansion Zihui Xue, Sucheng Ren, Zhengqi Gao, Hang Zhao

NeurIPS 2021 Neural Dubber: Dubbing for Videos According to Scripts Chenxu Hu, Qiao Tian, Tingle Li, Wang Yuping, Yuxuan Wang, Hang Zhao

ICCV 2021 On Feature Decorrelation in Self-Supervised Learning Tianyu Hua, Wenxiao Wang, Zihui Xue, Sucheng Ren, Yue Wang, Hang Zhao

AAAI 2021 Online 3D Bin Packing with Constrained Deep Reinforcement Learning Hang Zhao, Qijin She, Chenyang Zhu, Yin Yang, Kai Xu

NeurIPS 2021 What Makes Multi-Modal Learning Better than Single (Provably) Yu Huang, Chenzhuang Du, Zihui Xue, Xuanyao Chen, Hang Zhao, Longbo Huang

WACV 2020 AlignNet: A Unifying Approach to Audio-Visual Alignment Jianren Wang, Zhaoyuan Fang, Hang Zhao

CoRL 2020 CLOUD: Contrastive Learning of Unsupervised Dynamics Jianren Wang, Yujie Lu, Hang Zhao

CVPR 2020 Music Gesture for Visual Sound Separation Chuang Gan, Deng Huang, Hang Zhao, Joshua B. Tenenbaum, Antonio Torralba

CVPR 2020 Scalability in Perception for Autonomous Driving: Waymo Open Dataset Pei Sun, Henrik Kretzschmar, Xerxes Dotiwalla, Aurelien Chouard, Vijaysai Patnaik, Paul Tsui, James Guo, Yin Zhou, Yuning Chai, Benjamin Caine, Vijay Vasudevan, Wei Han, Jiquan Ngiam, Hang Zhao, Aleksei Timofeev, Scott Ettinger, Maxim Krivokon, Amy Gao, Aditya Joshi, Yu Zhang, Jonathon Shlens, Zhifeng Chen, Dragomir Anguelov

CoRL 2020 TNT: Target-Driven Trajectory Prediction Hang Zhao, Jiyang Gao, Tian Lan, Chen Sun, Ben Sapp, Balakrishnan Varadarajan, Yue Shen, Yi Shen, Yuning Chai, Cordelia Schmid, Congcong Li, Dragomir Anguelov

NeurIPS 2020 UnModNet: Learning to Unwrap a Modulo Image for High Dynamic Range Imaging Chu Zhou, Hang Zhao, Jin Han, Chang Xu, Chao Xu, Tiejun Huang, Boxin Shi

CoRL 2020 Unsupervised Monocular Depth Learning in Dynamic Scenes Hanhan Li, Ariel Gordon, Hang Zhao, Vincent Casser, Anelia Angelova

CVPR 2020 VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representation Jiyang Gao, Chen Sun, Hang Zhao, Yi Shen, Dragomir Anguelov, Congcong Li, Cordelia Schmid

ICCV 2019 HACS: Human Action Clips and Segments Dataset for Recognition and Temporal Localization Hang Zhao, Antonio Torralba, Lorenzo Torresani, Zhicheng Yan

ICCV 2019 Self-Supervised Moving Vehicle Tracking with Stereo Sound Chuang Gan, Hang Zhao, Peihao Chen, David Cox, Antonio Torralba

CVPRW 2019 Self-Supervised Segmentation and Source Separation on Videos Andrew Rouditchenko, Hang Zhao, Chuang Gan, Josh H. McDermott, Antonio Torralba

ICCV 2019 The Sound of Motions Hang Zhao, Chuang Gan, Wei-Chiu Ma, Antonio Torralba

ICCV 2019 Through-Wall Human Mesh Recovery Using Radio Signals Mingmin Zhao, Yingcheng Liu, Aniruddh Raghu, Tianhong Li, Hang Zhao, Antonio Torralba, Dina Katabi

ECCV 2018 The Sound of Pixels Hang Zhao, Chuang Gan, Andrew Rouditchenko, Carl Vondrick, Josh McDermott, Antonio Torralba

CVPR 2018 Through-Wall Human Pose Estimation Using Radio Signals Mingmin Zhao, Tianhong Li, Mohammad Abu Alsheikh, Yonglong Tian, Hang Zhao, Antonio Torralba, Dina Katabi

ICCV 2017 Open Vocabulary Scene Parsing Hang Zhao, Xavier Puig, Bolei Zhou, Sanja Fidler, Antonio Torralba

CVPR 2017 Scene Parsing Through ADE20K Dataset Bolei Zhou, Hang Zhao, Xavier Puig, Sanja Fidler, Adela Barriuso, Antonio Torralba

ECCV 2014 Sub-Pixel Layout for Super-Resolution with Images in the Octic Group Boxin Shi, Hang Zhao, Moshe Ben-Ezra, Sai-Kit Yeung, Christy Fernandez-Cull, R. Hamilton Shepard, Christopher Barsi, Ramesh Raskar