Haonan Duan

Haonan Duan

Robotics Learner

I am a senior researcher at SenseTime Research. My primary research interests lie in Multimodal Large Language Models, Embodied AI, and Robot Learning, with a specific focus on designing foundational models for robotic perception and manipulation.

I received my Ph.D. from Institute of Automation, Chinese Academy of Sciences in 2024. My research primarily focused on robot dexterous grasping and human-robot interaction.

πŸ”₯ News

  • 2025.06: One paper got accepted by ICCV 2025.
  • 2024.11: One paper got accepted by IEEE Transactions on Robotics (T-RO).
  • 2024.06: One paper got accepted by IEEE Transactions on Robotics (T-RO).
  • 2024.05: Finished my Ph.D. final defense! What an unforgettable journey!
  • 2024.01: One paper got accepted by ICRA 2024.
  • 2023.01: Started internship at NIO Autonomous Driving.

πŸ“ Publications

Please visit my Google Scholar page for full publications.

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Grounding Actions in Camera Space: Observation-Centric Vision-Language-Action Policy

Tianyi Zhang*, Haonan Duan*, Haoran Hao, Yu Qiao, Jifeng Dai, Zhi Hou

arXiv, 2025

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Dita: Scaling Diffusion Transformer for Generalist Vision-Language-Action Policy

Zhi Hou*, Tianyi Zhang*, Yuwen Xiong, Haonan Duan, Hengjun Pu, Ronglei Tong, Chengyang Zhao, Xizhou Zhu, Yu Qiao, Jifeng Dai, Yuntao Chen

ICCV, 2025

Project / Paper / Bilibili / YouTube / ηŸ₯乎

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Reactive Human-to-Robot Dexterous Handovers for Anthropomorphic Hand

Haonan Duan, Peng Wang, Yifan Yang, Daheng Li, Wei Wei, Yongkang Luo, Guoqiang Deng

IEEE Transactions on Robotics, 2024

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Learning Human-like Functional Grasping for Multi-finger Hands from Few Demonstrations

Wei Wei, Peng Wang, Sizhe Wang, Yongkang Luo, Wanyi Li, Daheng Li, Yayu Huang, Haonan Duan

IEEE Transactions on Robotics, 2024

Project / Video

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Learning Realistic and Reasonable Grasps for Anthropomorphic Hand in Cluttered Scenes

Haonan Duan, Yiming Li, Daheng Li, Wei Wei, Yayu Huang, Peng Wang

IEEE International Conference on Robotics and Automation (ICRA), 2024

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Learning Human-to-Robot Dexterous Handovers for Anthropomorphic Hand

Haonan Duan, Peng Wang, Yiming Li, Daheng Li, Wei Wei

IEEE Transactions on Cognitive and Developmental Systems, 2022

πŸ“– Educations

  • 2021 - 2024, Ph.D., Institute of Automation, Chinese Academy of Sciences, Beijing, China.
  • 2019 - 2021, M.Sc., University of Pittsburgh, Pittsburgh, Pennsylvania, U.S.

πŸ’» Experiences

  • 2024.07 - Now, Senior Researcher, SenseTime Research.
  • 2023.01 - 2023.06, Algorithm Engineer Intern, NIO Autonomous Driving.