Tao Huang - 黄涛

taohuang.jpg

at Lamma Island in 2023

I am a second-year Ph.D. student in Computer Science and Engineering at Shanghai AI Lab and Shanghai Jiao Tong University, supervised by Dahua Lin, Jingbo Wang, and Jiangmiao Pang. I obtained my M.Phil. degree at The Chinese University of Hong Kong and B.Eng. degree at ShanghaiTech. I have spent a wonderful time in Tencent Robotics X and Shanghai Qi Zhi Institute.

My current research focuses on humanoid robot control. I am open to any academic discussion or collaborations. Welcome to drop me an e-mail at taou.cs13@gmail.com or my wechat: h756058918.

Recent Activities

Oct 23, 2025 Latest humanoid work AdaMimic, PhysHSI, and Humanoid Goalkeeper are released.
Jun 17, 2025 HoST was selected as a Best Systems Paper Finalist at RSS 2025!
Apr 11, 2025 Two papers on learning humanoid control (HoST and BeamDojo) were accepted to RSS 2025!
Feb 21, 2025 One paper on perceptive humanoid locomotion (VB-Com) was released.
Jan 28, 2025 One paper on perceptive humanoid locomotion (PIM) was accepted to ICRA 2025. Good luck to Junfeng!
Jan 23, 2025 One paper on robotic representation from large-scale robot data (MCR) was accepted to ICLR 2025. Congrats to Guangqi and Yifei for their first paper!
Sep 18, 2024 I restart my Ph.D. in Shanghai.
Jul 2, 2024 One paper on visual reward learning for robotic tasks (Diffusion Reward) was accepted to ECCV 2024.

Selected Projects

  1. Preprint
    Towards Adaptable Humanoid Control via Adaptive Motion Tracking
    Tao Huang, Huayi Wang, Junli Ren, Kangning Yin, Zirui Wang, Xiao Chen, Feiyu Jia, Wentao Zhang, Junfeng Long, Jingbo Wang†, and Jiangmiao Pang†
    Under Review (Preprint), 2025
    Webpage PDF Code Video
    Details
  2. Preprint
    Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints
    Junli Ren*, Junfeng Long*, Tao Huang, Huayi Wang, Zirui Wang, Feiyu Jia, Wentao Zhang, Jingbo Wang†, Ping Luo†, and Jiangmiao Pang†
    Under Review (Preprint), 2025
    Webpage PDF Code Video
    Details
  3. Preprint
    PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System
    Huayi Wang*, Wentao Zhang*, Runyi Yu*, Tao Huang, Junli Ren, Feiyu Jia, Zirui Wang, Xiaojie Niu, Xiao Chen, Jiahe Chen, Qifeng Chen†, Jingbo Wang†, and Jiangmiao Pang†
    Under Review (Preprint), 2025
    Webpage PDF Code Video
    Details
  4. RSS
    Learning Humanoid Standing-up Control across Diverse Postures
    Tao Huang, Junli Ren, Huayi Wang, Zirui Wang, Qingwei Ben, Muning Wen, Xiao Chen, Jianan Li, and Jiangmiao Pang
    Robotics: Science and Systems (RSS), 2025 (Best Systems Paper Finalist - Top 4)
    Webpage PDF Code Video
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  5. RSS
    BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds
    Huayi Wang, Zirui Wang, Junli Ren, Qingwei Ben, Tao Huang, Weinan Zhang†, and Jiangmiao Pang†
    Robotics: Science and Systems (RSS), 2025 (Oral)
    Webpage PDF Video
    Details
  6. Preprint
    VB-Com: Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception
    Junli Ren, Tao Huang, Huayi Wang, Zirui Wang, Qingwei Ben, Jiangmiao Pang†, and Ping Luo†
    Under Review (Preprint), 2025
    Webpage PDF
    Details
  7. ICRA
    Learning Humanoid Locomotion with Perceptive Internal Model
    Junfeng Long*, Junli Ren*, Moji Shi*, Zirui Wang, Tao Huang, Ping Luo, and Pang Jiangmiao
    International Conference on Robotics and Automation (ICRA), 2025
    Webpage PDF Code
    Details
  8. ICLR
    Robots Pre-train Robots: Manipulation-Centric Robotic Representation from Large-Scale Robot Dataset
    Guangqi Jiang*, Yifei Sun*, Tao Huang*, Huanyu Li, Yongyuan Liang, and Huazhe Xu
    International Conference on Learning Representations (ICLR), 2025
    Webpage PDF Code
    Details
  9. ICCV
    GLEAM: Learning Generalizable Exploration Policy for Active Mapping in Complex 3D Indoor Scenes
    Xiao Chen, Tai Wang, Quanyi Li, Tao Huang, Jiangmiao Pang, and Tianfan Xue
    International Conference on Computer Vision (ICCV), 2025
    Webpage PDF Code Video
    Details
  10. ECCV
    Diffusion Reward: Learning Rewards via Conditional Video Diffusion
    Tao Huang*, Guangqi Jiang*, Yanjie Ze, and Huazhe Xu
    European Conference on Computer Vision (ECCV), 2024
    Webpage PDF Code
    Details
  11. Preprint
    GRUtopia: Dream General Robots in a City at Scale
    Hanqing Wang*, Jiahe Chen*, Wensi Huang*, Qingwei Ben*, Tai Wang*, Boyu Mi*, Tao Huang, Siheng Zhao, Yilun Chen, Sizhe Yang, Peizhou Cao, Wenye Yu, Zichao Ye, Jialun Li, Junfeng Long, ZiRui Wang, Huiling Wang, Ying Zhao, Zhongying Tu, Yu Qiao, Dahua Lin, and Jiangmiao Pang
    Under Review (Preprint), 2024
    Webpage PDF Code
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  12. SIGGRAPH
    Physics-based Scene Layout Generation from Human Motion
    Jianan Li, Tao Huang, Qingxu Zhu, and Tien-Tsin Wong
    ACM SIGGRAPH (SIGGRAPH), 2024
    Webpage PDF
    Details
  13. IROS
    Value-Informed Skill Chaining for Policy Learning of Long-Horizon Tasks with Surgical Robot
    Tao Huang, Kai Chen, Wang Wei, Jianan Li, Yonghao Long, and Qi Dou
    International Conference on Intelligent Robots and Systems (IROS), 2023 (Oral)
    Webpage PDF Code Video Poster
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  14. ICRA
    Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot
    Tao Huang, Kai Chen, Bin Li, Yun-Hui Liu, and Qi Dou
    International Conference on Robotics and Automation (ICRA), 2023
    Webpage PDF Code Video Poster
    Details
  15. RA-L
    Human-in-the-loop Embodied Intelligence with Interactive Simulation Environment for Surgical Robot Learning
    Yonghao Long, Wang Wei, Tao Huang, Yuehao Wang, and Qi Dou
    Robotics and Automation Letters (RA-L), 2023
    Webpage PDF Code
    Details
  16. ICC
    Learning-Aided Stable Matching for Switch-Controller Association in SDN Systems
    Yinxu Tang, Tao Huang, Xi Huang, Ziyu Shao, and Yang Yang
    International Conference on Communications (ICC), 2022
    PDF
    Details

Sevices

ICLR (2025), CoRL (2025), ICRA (2025), RA-L (2024, 2025)