Haoran Song
I'm currently working as a Tech Lead at Huawei IAS BU, leading a team working on Prediction & ML Planning.
I stepped on this journey towards Autonomous Driving in my Ph.D. study.
Starting with injecting traditional planning ideas into learning-based methods, I have been exploring the way for planning-prediction-coupled framework, data-driven decision-making, deep-learning-based planning, and further more.
CV  / 
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Learning to Predict Vehicle Trajectories with Model-based Planning
Haoran Song, Di Luan, Wenchao Ding, Michael Yu Wang, Qifeng Chen
Conference on Robot Learning (CoRL 2021), London, UK
Ranked 1st on the Argoverse Motion Forecasting Leaderboard by March 2021
Make accurate, feasible, and robust trajectory prediction by a novel architecture with a model-based generator and a learning-based evaluator.
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PiP: Planning-informed Trajectory Prediction for Autonomous Driving
Haoran Song, Wenchao Ding, Yuxuan Chen, Shaojie Shen, Michael Yu Wang, Qifeng Chen
European Conference on Computer Vision (ECCV 2020), Glasgow, Scotland, UK
Inform the multi-agent future prediction with ego vehicle's planning in a novel planning-prediction-coupled pipeline.
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Multi-Object Rearrangement with Monte Carlo Tree Search: A Case Study on Planar Nonprehensile Sorting
Haoran Song*, Joshua A. Haustein*, Weihao Yuan, Kaiyu Hang, Michael Yu Wang, Danica Kragic, Johannes A. Stork
IEEE International Conference on Intelligent Robots and Systems (IROS 2020), Las Vegas, USA
Learn policy from MCTS and employ it to reinforce MCTS, to address sorting task under multi-contact physics.
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Herding by Caging: A Formation-based Motion Planning Framework for Guiding Mobile Agents
Haoran Song*, Anastasiia Varava*, Oleksandr Kravchenko, Danica Kragic, Michael Yu Wang, Florian T. Pokorny, Kaiyu Hang
Autonomous Robots (AURO), 2021
Apply computational geometry and topology in planning a set of mobile robots to address the interesting herding task.
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Perching and resting - A paradigm for UAV maneuvering with modularized landing gears
Kaiyu Hang*, Ximin Lyu*, Haoran Song*, Johannes A Stork*, Aaron M Dollar, Danica Kragic, Fu Zhang (* denotes equal contribution)
Science Robotics, 2019
Cover article
Drones that perch like birds could go on much longer flights!
with reported by
MIT Technology Review,
Nature Electronics,
National Public Radio, etc.
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Fingertip surface optimization for robust grasping on contact primitives
Haoran Song, Michael Yu Wang, Kaiyu Hang
IEEE Robotics and Automation Letters (RA-L), 2018 &
IEEE International Conference on Robotics and Automation (ICRA 2018), Brisbane, Australia
Rethink grasp planning from geometry matching rather than traditional point contact modeling.
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Others
These include other projects and issued patents.
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Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation
Weihao Yuan, Kaiyu Hang, Haoran Song, Danica Kragic, Michael Y. Wang, Johannes A. Stork
IEEE International Conference on Robotics and Automation (ICRA 2019), Montreal, Canada
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Robotic fingertip design and grasping on contact primitives
Kaiyu Hang, Haoran Song
US Patent App. 16/192,169, 2019
patent info  / 
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Reviewer for IEEE Transactions on Robotics (T-RO)
Reviewer for IEEE Robotics and Automation Letters (RA-L)
Reviewer for The Conference on Robot Learning (CoRL)
Reviewer for The European Conference on Computer Vision (ECCV)
Reviewer for IEEE International Conference on Robotics and Automation (ICRA)
Reviewer for IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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