Liuao Pei

Hi, I'm Liuao Pei. I am currently a second-year Ph.D. student at The University of Hong Kong, fortunately supervised by Prof. Ping Luo at MMLAB@HKU.

Photo taken by Jianuo Cao.

Publications

* Equal contribution.

A single robotic hand assembling a bottle, syringe, and marker, from alignment to insertion.

Assembling Two Parts in One Hand

Liuao Pei*, Tianyue Wu*, Hui Zhang, Ping Luo, Jie Song

Conference on Robot Learning (CoRL), 2026. Accepted.

Paper / Project

Discrete Diffusion VLA architecture with a VLM backbone, adaptive action decoding, and secondary re-masking.

Discrete Diffusion VLA: Bringing Discrete Diffusion to Action Decoding in Vision-Language-Action Policies

Zhixuan Liang, Yizhuo Li, Tianshuo Yang, Chengyue Wu, Sitong Mao, Liuao Pei, Tian Nian, Shunbo Zhou, Xiaokang Yang, Jiangmiao Pang, Yao Mu, Ping Luo

International Conference on Machine Learning (ICML), 2026.

Paper / Code

Optimization-embedded network for autonomous flight trajectory generation.

Dynamically Feasible Trajectory Generation With Optimization-Embedded Networks for Autonomous Flight

Zhichao Han*, Long Xu*, Liuao Pei, Fei Gao

IEEE Robotics and Automation Letters (RA-L), 2025.

Paper

An Efficient Spatial-Temporal Trajectory Planner for Autonomous Vehicles in Unstructured Environments

Zhichao Han*, Yuwei Wu*, Tong Li, Lu Zhang, Liuao Pei, Long Xu, Chengyang Li, Changjia Ma, Chao Xu, Shaojie Shen, Fei Gao

IEEE Transactions on Intelligent Transportation Systems (TITS), 25(2):1797–1814, 2024.

First published online in 2023.

Paper

Collaborative Planning for Catching and Transporting Objects in Unstructured Environments

Liuao Pei, Junxiao Lin, Zhichao Han, Lun Quan, Yanjun Cao, Chao Xu, Fei Gao

IEEE Robotics and Automation Letters (RA-L), 2023.

Paper

A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization

Qianhao Wang*, Zhepei Wang*, Liuao Pei, Chao Xu, Fei Gao

IEEE International Conference on Robotics and Automation (ICRA), 2023.

Paper