📝 Publications

Preprints and Codebases

• Dongxiu Liu$^*$, Haoyi Niu$^*$✉, Peng Cheng, Yuan Gao, Xirui Kang, Sangli Teng, Koushil Sreenath, Xianyuan Zhan✉, ODEWorld: A Continuous Predictive Architecture via Physical-Time Flow, 2026. [Website]

• Yilin Wang$^*$, Shangzhe Li$^*$, Haoyi Niu, Zhiao Huang and Hao Su, A Recipe for Efficient Sim-to-Real Transfer in Manipulation with Online Imitation-Pretrained World Models, 2025.

• Xiangyu Zhu$^*$, Jianxiong Li$^*$, Haoyi Niu$^*$, Yinan Zheng$^*$, Peng Cheng$^*$, Wenjia Zhang$^*$, Haoran Xu$^*$ and Xianyuan Zhan, D2C: A Data-Driven Control Library Based on Reinforcement Learning, Paper coming soon, 2023. [Code][Documentation]

Conference Proceedings and Workshop Papers

• Haoyi Niu$^*$, Qimao Chen$^*$, Tenglong Liu, Jianxiong Li, Guyue Zhou, Yi Zhang, Jianming Hu and Xianyuan Zhan, xTED: Cross-Domain Adaptation via Diffusion-Based Trajectory Editing, International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS 2026). [Code][Website]
• Zhihao Wang$^*$, Jianxiong Li$^*$, Jinliang Zheng$^*$, Wencong Zhang, Dongxiu Liu, Yinan Zheng, Haoyi Niu, Junzhi Yu and Xianyuan Zhan, PhysiAgent: An Embodied Agent Framework in Physical World, the New in ML Workshop at ICML 2025, 2025.
• Dongxiu Liu$^*$, Haoyi Niu$^*$, Zhihao Wang, Jinliang Zheng, Yinan Zheng, Zhonghong Ou, Jianming Hu, Jianxiong Li, Xianyuan Zhan, Efficient Robotic Policy Learning via Latent Space Backward Planning, International Conference on Machine Learning (ICML 2025). [Code][Website]
• Haoyi Niu$^*$, Tianying Ji$^*$, Bingqi Liu, Haocheng Zhao, Xiangyu Zhu, Jianying Zheng, Pengfei Huang, Guyue Zhou, Jianming Hu and Xianyuan Zhan, H2O+: An Improved Framework for Hybrid Offline-and-Online RL with Dynamics Gaps, IEEE International Conference on Robotics and Automation (ICRA 2025). [Code][Wbsite]
• Tenglong Liu$^*$, Jianxiong Li$^*$, Yinan Zheng, Haoyi Niu, Yixing Lan, Xin Xu and Xianyuan Zhan, Skill Expansion and Composition in Parameter Space, International Conference on Learning Representations (ICLR 2025).
• Guan Wang$^*$, Haoyi Niu$^*$, Jianxiong Li, Li Jiang, Jianming Hu and Xianyuan Zhan, Are Expressive Models Truly Necessary for Offline RL?, Annual AAAI Conference on Artificial Intelligence (AAAI 2025), Oral Presentation. [Code][Twitter]
• Jianxiong Li, Jinliang Zheng, Yinan Zheng, Liyuan Mao, Xiao Hu, Sijie Cheng, Haoyi Niu, Jihao Liu, Yu Liu, Jingjing Liu, Ya-Qin Zhang and Xianyuan Zhan, DecisionNCE: Embodied Multimodal Representations via Implicit Preference Learning, International Conference on Machine Learning (ICML 2024). [Website][Code]
• Haoyi Niu, Jianming Hu, Guyue Zhou and Xianyuan Zhan, A Comprehensive Survey of Cross-Domain Policy Transfer for Embodied Agents, International Joint Conference on Artificial Intelligence (IJCAI 2024), Oral Presentation. [Repo]
• Haoyi Niu$^*$, Yizhou Xu$^*$, Xingjian Jiang and Jianming Hu, Continual Driving Policy Optimization with Closed-Loop Individualized Curricula, IEEE International Conference on Robotics and Automation (ICRA 2024). [Code]
• Haoyi Niu$^*$, Qimao Chen$^*$, Yingyue Li and Jianming Hu, Stackelberg Driver Model for Continual Policy Improvement in Scenario-Based Closed-Loop Autonomous Driving, NeurIPS 2023 Symposium on Machine Learning for Autonomous Driving & Agent Learning in Open-Endedness Workshop, 2023. [Code]
• Haoyi Niu$^*$, Kun Ren$^*$, Yizhou Xu, Ziyuan Yang, Yichen Lin, Yi Zhang and Jianming Hu, (Re)$^2$H2O: Autonomous Driving Scenario Generation via Reversely Regularized Hybrid Offline-and-Online Reinforcement Learning, IEEE Intelligent Vehicles Symposium 2023 (IV 2023). [Code]
• Haoyi Niu, Shubham Sharma, Yiwen Qiu, Ming Li, Guyue Zhou, Jianming Hu and Xianyuan Zhan, When to Trust Your Simulator: Dynamics-Aware Hybrid Offline-and-Online Reinforcement Learning, Thirty-sixth Conference on Neural Information Processing Systems (NeurIPS 2022), Spotlight. [Video][Code][Spotlight]
• Wenjia Zhang, Haoran Xu, Haoyi Niu, Peng Cheng, Ming Li, Heming Zhang, Guyue Zhou and Xianyuan Zhan, Discriminator-Guided Model-Based Offline Imitation Learning, 6th Conference on Robot Learning (CoRL 2022).
• Guan Wang$^*$, Haoyi Niu$^*$, Desheng Zhu, Jianming Hu, Xianyuan Zhan and Guyue Zhou, A Versatile and Efficient Reinforcement Learning Approach for Autonomous Driving, NeurIPS Machine Learning for Autonomous Driving Workshop, NeurIPS RL for RealLife Workshop, 2022. [Video][OneRL Code][NoGap Benchmark]
• Haoyi Niu, Jianming Hu, Zheyu Cui and Yi Zhang, Tactical Decision Making for Emergency Vehicles Based on A Combinational Learning Method, the 20th and 21st Joint COTA International Conference of Transportation Professionals (CICTP 2020-21), Best Paper Award.
• Haoyi Niu, Jianming Hu, Zheyu Cui and Yi Zhang, DR$^2$L: Surfacing Corner Cases to Robustify Autonomous Driving via Domain Randomization Reinforcement Learning, the 5th International Conference on Computer Science and Application Engineering (CSAE 2021), Oral Presentation.
• Qingyu Song, Ruibo Ming, Jianming Hu, Haoyi Niu and Mingyang Gao, Graph Attention Convolutional Network: Spatiotemporal Modeling for Urban Traffic Prediction, IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC 2020).