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6 7 8 <meta name="description" content="ð¤ð£âï¸ððï¸ðð¦"> 9 <meta name="author" content="Haonan Duan"> 10 <title>Haonan Duan</title> 11 12 <link rel="canonical" href="https://haonan-duan.github.io/"> 13 <meta property="og:type" content="profile"> 14 <meta property="og:title" content="Haonan Duan"> 15 <meta property="og:description" content="ð¤ð£âï¸ððï¸ðð¦"> 16 <meta property="og:image" content="https://haonan-duan.github.io/images/haonan.png"> 17 <meta property="og:url" content="https://haonan-duan.github.io/"> 18 <meta name="twitter:card" content="summary"> 19 20 <link rel="apple-touch-icon" sizes="180x180" href="/images/apple-touch-icon.png"> 21 <link rel="icon" type="image/png" sizes="32x32" href="/images/favicon-32x32.png"> 22 <link rel="icon" type="image/png" sizes="16x16" href="/images/favicon-16x16.png"> 23 <meta name="theme-color" content="#fbf9fe"> 24 25 <link rel="stylesheet" href="/assets/css/main.css"> 26</head> 27 28<body data-author-email="[email protected]"> 29 <div class="blobs" aria-hidden="true"><span></span><span></span><span></span><span></span></div> 30 31 <div class="shell"> 32 <aside class="sidebar" aria-label="profile"> 33 <div class="card card--pink profile"> 34 <div class="profile__portrait"> 35 <img class="profile__avatar" src="/images/haonan.png" alt="Haonan Duan"> 36 </div> 37 38 <h1 class="profile__name">Haonan Duan</h1> 39 <p class="profile__bio">Robotics Learner</p> 40 <p class="profile__loc"> 41 <svg viewBox="0 0 16 16" width="12" height="12" aria-hidden="true"><path fill="currentColor" d="M8 0C4.7 0 2 2.7 2 6c0 4.5 6 10 6 10s6-5.5 6-10c0-3.3-2.7-6-6-6zm0 8.2A2.2 2.2 0 1 1 8 3.8a2.2 2.2 0 0 1 0 4.4z"/></svg> 42 Shanghai, China 43 </p> 44 45 <nav class="profile__nav" aria-label="sections"> 46 <a href="#about" data-dot="coral"><span></span>about</a> 47 <a href="#news" data-dot="amber"><span></span>news</a> 48 <a href="#publications" data-dot="violet"><span></span>publications</a> 49 <a href="#education" data-dot="sky"><span></span>education</a> 50 <a href="#experience" data-dot="mint"><span></span>experience</a> 51 </nav> 52 53 <ul class="profile__links"> 54 <li><a href="mailto:[email protected]" aria-label="email" title="email"> 55 <svg viewBox="0 0 16 16" width="17" height="17"><path fill="currentColor" d="M1.5 3h13c.3 0 .5.2.5.5v9c0 .3-.2.5-.5.5h-13a.5.5 0 0 1-.5-.5v-9c0-.3.2-.5.5-.5zm.7 1.3v.6L8 9l5.8-4.1v-.6H2.2zm11.6 1.8L8 10.3 2.2 6.1v6.2h11.6V6.1z"/></svg> 56 </a></li> 57 <li><a href="https://scholar.google.com/citations?user=4zO4UlcAAAAJ" target="_blank" rel="noopener" aria-label="google scholar" title="google scholar"> 58 <svg viewBox="0 0 16 16" width="17" height="17"><path fill="currentColor" d="M8 0L0 5.5 8 11l6.5-4.5V11h1V5.5L8 0zM4 9.3v2.2c0 1.2 1.8 2.5 4 2.5s4-1.3 4-2.5V9.3l-4 2.7-4-2.7z"/></svg> 59 </a></li> 60 <li><a href="https://github.com/haonan-duan" target="_blank" rel="noopener" aria-label="github" title="github"> 61 <svg viewBox="0 0 16 16" width="17" height="17"><path fill="currentColor" d="M8 0C3.6 0 0 3.6 0 8c0 3.5 2.3 6.5 5.5 7.6.4.1.5-.2.5-.4v-1.4c-2.2.5-2.7-1-2.7-1-.4-1-.9-1.2-.9-1.2-.7-.5.1-.5.1-.5.8.1 1.2.8 1.2.8.7 1.2 1.9.9 2.4.7.1-.5.3-.9.5-1.1-1.8-.2-3.6-.9-3.6-4 0-.9.3-1.6.8-2.1-.1-.2-.4-1 .1-2.1 0 0 .7-.2 2.2.8.6-.2 1.3-.3 2-.3s1.4.1 2 .3c1.5-1 2.2-.8 2.2-.8.4 1.1.2 1.9.1 2.1.5.5.8 1.2.8 2.1 0 3.1-1.9 3.7-3.6 3.9.3.3.6.8.6 1.6v2.3c0 .2.1.5.6.4C13.7 14.5 16 11.5 16 8c0-4.4-3.6-8-8-8z"/></svg> 62 </a></li> 63 <li><a href="https://linkedin.com/in/haonan-duan" target="_blank" rel="noopener" aria-label="linkedin" title="linkedin"> 64 <svg viewBox="0 0 16 16" width="17" height="17"><path fill="currentColor" d="M13.6 0H2.4A2.4 2.4 0 0 0 0 2.4v11.2A2.4 2.4 0 0 0 2.4 16h11.2a2.4 2.4 0 0 0 2.4-2.4V2.4A2.4 2.4 0 0 0 13.6 0zM4.8 13.3H2.7V6.1h2.1v7.2zM3.7 5.2a1.2 1.2 0 1 1 0-2.5 1.2 1.2 0 0 1 0 2.5zm9.6 8.1h-2.1V9.8c0-.9 0-2-1.2-2s-1.4.9-1.4 1.9v3.6H6.5V6.1h2.1v1c.3-.6 1-1.2 2.1-1.2 2.2 0 2.6 1.5 2.6 3.4v4z"/></svg> 65 </a></li> 66 </ul> 67 68 <p class="profile__hint">press <kbd>âK</kbd> to jump</p> 69 </div> 70</aside> 71 72 <main class="main" role="main"> 73 <section class="card card--coral reveal" id="about"> 74 <header class="card__head"> 75 <h2 class="card__title"><span class="card__icon">ð</span>About</h2> 76 </header> 77<div> 78 79 <p>
79I am a researcher at <a href="https://research.nvidia.com/labs/gear/">NVIDIA GEAR</a>, working under the guidance of Dr. <a href="https://jimfan.me/">Jim Fan</a> and Prof. <a href="https://yukezhu.me/">Yuke Zhu</a>. My research sits at the intersection of Multimodal Large Language Models and Robot Learning, with a specific focus on building foundation models for robotic perception and manipulation.</p> 80 81 <p>Previously, I worked on robot foundation models at Xiaomi. Before that, I was a researcher at SenseTime, where I worked on Vision-Language-Action models across pre-training, post-training, and their applications in multi-view generalization and human-robot interaction. I also contributed to video understanding, particularly agent-based reinforcement learning for long-horizon video reasoning.</p> 82 83 <p>I received my Ph.D. from the Institute of Automation, Chinese Academy of Sciences in 2024. My doctoral research focused on robotic dexterous grasping and humanârobot interaction.</p> 84 85 </div> 86</section> 87 88<section class="card card--amber reveal" id="news"> 89 <header class="card__head"> 90 <h2 class="card__title"><span class="card__icon">â¨</span>News</h2> 91 <span class="card__chip">7 updates</span> 92 </header> 93 <ul class="feed"> 94 <li class="feed__item"> 95 <span class="feed__date">2025.11</span> 96 <span class="feed__body">One <a href="https://arxiv.org/abs/2508.13103v1">paper</a> got accepted by AAAI 2026.</span> 97 </li> 98 <li class="feed__item"> 99 <span class="feed__date">2025.06</span> 100 <span class="feed__body">One <a href="https://arxiv.org/abs/2503.19757">paper</a> got accepted by ICCV 2025.</span> 101 </li> 102 <li class="feed__item"> 103 <span class="feed__date">2024.11</span> 104 <span class="feed__body">One <a href="https://ieeexplore.ieee.org/document/10770603">paper</a> got accepted by IEEE Transactions on Robotics (T-RO).</span> 105 </li> 106 <li class="feed__item"> 107 <span class="feed__date">2024.06</span> 108 <span class="feed__body">One <a href="https://ieeexplore.ieee.org/document/10577462">paper</a> got accepted by IEEE Transactions on Robotics (T-RO).</span> 109 </li> 110 <li class="feed__item"> 111 <span class="feed__date">2024.05</span> 112 <span class="feed__body">Finished my Ph.D. final defense! What an unforgettable journey!</span> 113 </li> 114 <li class="feed__item"> 115 <span class="feed__date">2024.01</span> 116 <span class="feed__body">One <a href="https://ieeexplore.ieee.org/document/10610646">paper</a> got accepted by ICRA 2024.</span> 117 </li> 118 <li class="feed__item"> 119 <span class="feed__date">2023.01</span> 120 <span class="feed__body">Started internship at NIO Autonomous Driving.</span> 121 </li> 122 </ul> 123</section> 124 125<section class="card card--violet reveal" id="publications"> 126 <header class="card__head"> 127 <h2 class="card__title"><span class="card__icon">ð</span>Publications</h2> 128 <span class="card__chip">6 selected</span> 129 </header> 130 <p class="card__lede"> 131 See <a href="https://scholar.google.com/citations?user=4zO4UlcAAAAJ">Google Scholar</a> for the full list. 132 </p> 133 <div class="papers"><article class="paper"> 134 <a class="paper__figure" href="https://arxiv.org/abs/2508.13103v1" aria-hidden="true" tabindex="-1"> 135 <img src="/images/OC-VLA.png" alt="" loading="lazy" /> 136 </a> 137 <div class="paper__body"> 138 <h3 class="paper__title"> 139 <a href="https://arxiv.org/abs/2508.13103v1">Grounding Actions in Camera Space: Observation-Centric Vision-Language-Action Policy</a> 140 </h3> 141 <p class="paper__authors">Tianyi Zhang<sup>*</sup>, <strong>Haonan Duan</strong><sup>*</sup>, Haoran Hao, Yu Qiao, Jifeng Dai, Zhi Hou</p> 142 <p class="paper__meta"> 143 <span class="paper__venue" title="AAAI, 2026">AAAI 2026</span> 144 <a class="paper__link" href="https://arxiv.org/abs/2508.13103v1">Paper</a> 145 </p> 146 </div> 147 </article> 148<article class="paper"> 149 <a class="paper__figure" href="https://arxiv.org/abs/2503.19757" aria-hidden="true" tabindex="-1"> 150 <img src="/images/Dita.png" alt="" loading="lazy" /> 151 </a> 152 <div class="paper__body"> 153 <h3 class="paper__title"> 154 <a href="https://arxiv.org/abs/2503.19757">Dita: Scaling Diffusion Transformer for Generalist Vision-Language-Action Policy</a> 155 </h3> 156 <p class="paper__authors">Zhi Hou<sup>*</sup>, Tianyi Zhang<sup>*</sup>, Yuwen Xiong, <strong>Haonan Duan</strong>, Hengjun Pu, Ronglei Tong, Chengyang Zhao, Xizhou Zhu, Yu Qiao, Jifeng Dai, Yuntao Chen</p> 157 <p class="paper__meta">
158 <span class="paper__venue" title="ICCV, 2025">ICCV 2025</span> 159 <a class="paper__link" href="https://robodita.github.io/">Project</a> 160 <a class="paper__link" href="https://arxiv.org/abs/2503.19757">Paper</a> 161 <a class="paper__link" href="https://www.bilibili.com/video/BV1j5QBYzEkR">Bilibili</a> 162 <a class="paper__link" href="https://www.youtube.com/watch?v=pBLcmeg0mdY">YouTube</a> 163 <a class="paper__link" href="https://zhuanlan.zhihu.com/p/31684414907">ç¥ä¹</a> 164 </p> 165 </div> 166 </article> 167<article class="paper"> 168 <a class="paper__figure" href="https://ieeexplore.ieee.org/document/10770603" aria-hidden="true" tabindex="-1"> 169 <img src="/images/TRO-D.png" alt="" loading="lazy" /> 170 </a> 171 <div class="paper__body"> 172 <h3 class="paper__title"> 173 <a href="https://ieeexplore.ieee.org/document/10770603">Reactive Human-to-Robot Dexterous Handovers for Anthropomorphic Hand</a> 174 </h3> 175 <p class="paper__authors"><strong>Haonan Duan</strong>, Peng Wang, Yifan Yang, Daheng Li, Wei Wei, Yongkang Luo, Guoqiang Deng</p> 176 <p class="paper__meta"> 177 <span class="paper__venue" title="IEEE Transactions on Robotics, 2024">T-RO 2024</span> 178 <a class="paper__link" href="https://ieeexplore.ieee.org/document/10770603">Paper</a> 179 </p> 180 </div> 181 </article> 182<article class="paper"> 183 <a class="paper__figure" href="https://ieeexplore.ieee.org/document/10577462" aria-hidden="true" tabindex="-1"> 184 <img src="/images/TRO-W.png" alt="" loading="lazy" /> 185 </a> 186 <div class="paper__body"> 187 <h3 class="paper__title"> 188 <a href="https://ieeexplore.ieee.org/document/10577462">Learning Human-like Functional Grasping for Multi-finger Hands from Few Demonstrations</a> 189 </h3> 190 <p class="paper__authors">Wei Wei, Peng Wang, Sizhe Wang, Yongkang Luo, Wanyi Li, Daheng Li, Yayu Huang, <strong>Haonan Duan</strong></p> 191 <p class="paper__meta"> 192 <span class="paper__venue" title="IEEE Transactions on Robotics, 2024">T-RO 2024</span> 193 <a class="paper__link" href="https://v-wewei.github.io/sr_dexgrasp/">Project</a> 194 <a class="paper__link" href="https://www.bilibili.com/video/BV1Pe411n7w6/?spm_id_from=888.80997.embed_other.whitelist&t=18.087712&bvid=BV1Pe411n7w6&vd_source=1f3c77957407e0c8a5f2cd9dd9baede0">Video</a> 195 </p> 196 </div> 197 </article> 198<article class="paper"> 199 <a class="paper__figure" href="https://ieeexplore.ieee.org/document/10610646" aria-hidden="true" tabindex="-1"> 200 <img src="/images/ICRA2024.png" alt="" loading="lazy" /> 201 </a> 202 <div class="paper__body"> 203 <h3 class="paper__title"> 204 <a href="https://ieeexplore.ieee.org/document/10610646">Learning Realistic and Reasonable Grasps for Anthropomorphic Hand in Cluttered Scenes</a> 205 </h3> 206 <p class="paper__authors"><strong>Haonan Duan</strong>, Yiming Li, Daheng Li, Wei Wei, Yayu Huang, Peng Wang</p> 207 <p class="paper__meta"> 208 <span class="paper__venue" title="ICRA, 2024">ICRA 2024</span> 209 <a class="paper__link" href="https://ieeexplore.ieee.org/document/10610646">Paper</a> 210 </p> 211 </div> 212 </article> 213<article class="paper"> 214 <a class="paper__figure" href="https://ieeexplore.ieee.org/document/9870872" aria-hidden="true" tabindex="-1"> 215 <img src="/images/TCDS2022.png" alt="" loading="lazy" /> 216 </a> 217 <div class="paper__body"> 218 <h3 class="paper__title"> 219 <a href="https://ieeexplore.ieee.org/document/9870872">Learning Human-to-Robot Dexterous Handovers for Anthropomorphic Hand</a> 220 </h3> 221 <p class="paper__authors"><strong>Haonan Duan</strong>, Peng Wang, Yiming Li, Daheng Li, Wei Wei</p> 222 <p class="paper__meta"> 223 <span class="paper__venue" title="IEEE Transactions on Cognitive and Developmental Systems, 2022">T-CDS 2022</span> 224 <a class="paper__link" href="https://ieeexplore.ieee.org/document/9870872">Paper</a> 225 </p> 226 </div> 227 </article> 228 229 </div> 230</section> 231 232<section class="card card--sky reveal" id="education"> 233 <header class="card__head"> 234 <h2 class="card__title"><span class="card__icon">ð</span>Education</h2> 235 </header> 236 <ul class="feed"> 237 <li class="feed__item">
238 <span class="feed__date">2021 â 2024</span> 239 <span class="feed__body"> 240 <strong>Ph.D.</strong>, Institute of Automation, Chinese Academy of Sciences 241 <span class="feed__meta">Beijing, China</span> 242 </span> 243 </li> 244 <li class="feed__item"> 245 <span class="feed__date">2019 â 2021</span> 246 <span class="feed__body"> 247 <strong>M.Sc.</strong>, University of Pittsburgh 248 <span class="feed__meta">Pittsburgh, PA, USA</span> 249 </span> 250 </li> 251 </ul> 252</section> 253 254<section class="card card--mint reveal" id="experience"> 255 <header class="card__head"> 256 <h2 class="card__title"><span class="card__icon">ð¼</span>Experience</h2> 257 </header> 258 <ul class="feed"> 259 <li class="feed__item feed__item--current"> 260 <span class="feed__date">2025.12 â now</span> 261 <span class="feed__body"> 262 <strong>Researcher</strong> 263 <span class="feed__meta">NVIDIA GEAR</span> 264 </span> 265 </li> 266 <li class="feed__item"> 267 <span class="feed__date">2025.09 â 2025.12</span> 268 <span class="feed__body"> 269 <strong>Senior Researcher</strong> 270 <span class="feed__meta">Xiaomi Robot Foundation Models</span> 271 </span> 272 </li> 273 <li class="feed__item"> 274 <span class="feed__date">2024.07 â 2025.09</span> 275 <span class="feed__body"> 276 <strong>Senior Researcher</strong> 277 <span class="feed__meta">SenseTime Research</span> 278 </span> 279 </li> 280 <li class="feed__item"> 281 <span class="feed__date">2023.01 â 2023.06</span> 282 <span class="feed__body"> 283 <strong>Algorithm Engineer Intern</strong> 284 <span class="feed__meta">NIO Autonomous Driving</span> 285 </span> 286 </li> 287 </ul> 288</section> 289 290 </main> 291 </div> 292 293 <footer class="footer"> 294 <p class="footer__count">visitors · <b id="visitor-count" aria-live="polite">â</b></p> 295 <p>built with <a href="https://claude.com/claude-code">claude code</a></p> 296 </footer> 297 298 299 300<!-- Global site tag (gtag.js) - Google Analytics -->
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