Huaihai Lyu

Research Output

Publications

A running list of journal papers, conference papers, and preprints in embodied intelligence, vision-language-action learning, prompt learning, and domain generalization.

2026

  1. General Covariant Action Modeling: Constructing Generalized Manifolds via Spatio-Temporal Decoupling

    Huaihai Lyu

    ICML 2026. First Author.

  2. LAST: Bridging Vision-Language and Action Manifolds via Gromov-Wasserstein Alignment

    Huaihai Lyu

    ICML 2026. First Author.

  3. EgoFusion: Unified Semantic and Scale-Aware Prompt Fusion for Egocentric Action Recognition

    Hechenrui Fan, Huaihai Lyu, Chaofan Chen

    Multimedia Systems 32(3): 217, 2026.

  4. H2R-BM: Can Leveraging Human Videos Enhance Performance and Generalizability in Robotic Bimanual Manipulation?

    Xiaoshuai Hao, Huaihai Lyu, Lingfeng Zhang, Rui Liu, Dayan Wu, Jing Zhang, Long Chen

    Pattern Recognition 179: 113637, 2026.

  5. PRM-as-a-Judge: A Dense Evaluation Paradigm for Fine-Grained Robotic Auditing

    Yuheng Ji, Yuyang Liu, Huajie Tan, Xuchuan Huang, Fanding Huang, Yijie Xu, Cheng Chi, Yuting Zhao, Huaihai Lyu, Peterson Co, Mingyu Cao, Qiongyu Zhang, Zhe Li, Enshen Zhou, Pengwei Wang, Zhongyuan Wang, Shanghang Zhang, Xiaolong Zheng

    CoRR abs/2603.21669, 2026.

2025

  1. Bi-Modality Individual-Aware Prompt Tuning for Visual-Language Model

    Hantao Yao, Rui Zhang, Huaihai Lyu, Yongdong Zhang, Changsheng Xu

    IEEE Transactions on Pattern Analysis and Machine Intelligence 47(8): 6352-6368, 2025.

  2. Multiple Local Prompts Distillation for Domain Generalization

    Huaihai Lyu, Hantao Yao, Changsheng Xu

    IEEE Transactions on Multimedia 27: 8555-8564, 2025.

  3. RoboBrain: A Unified Brain Model for Robotic Manipulation from Abstract to Concrete

    Yuheng Ji, Huajie Tan, Jiayu Shi, Xiaoshuai Hao, Yuan Zhang, Hengyuan Zhang, Pengwei Wang, Mengdi Zhao, Yao Mu, Pengju An, Xinda Xue, Qinghang Su, Huaihai Lyu, Xiaolong Zheng, Jiaming Liu, Zhongyuan Wang, Shanghang Zhang

    CVPR 2025: 1724-1734.

  4. RoboBrain: A Unified Brain Model for Robotic Manipulation from Abstract to Concrete

    Yuheng Ji, Huajie Tan, Jiayu Shi, Xiaoshuai Hao, Yuan Zhang, Hengyuan Zhang, Pengwei Wang, Mengdi Zhao, Yao Mu, Pengju An, Xinda Xue, Qinghang Su, Huaihai Lyu, Xiaolong Zheng, Jiaming Liu, Zhongyuan Wang, Shanghang Zhang

    CoRR abs/2502.21257, 2025.

  5. EgoPrompt: Prompt Learning for Egocentric Action Recognition

    Huaihai Lyu, Chaofan Chen, Yuheng Ji, Changsheng Xu

    ACM Multimedia 2025: 2762-2770.

  6. EgoPrompt: Prompt Learning for Egocentric Action Recognition

    Huaihai Lyu, Chaofan Chen, Yuheng Ji, Changsheng Xu

    CoRR abs/2508.03266, 2025.

  7. RoboBrain 2.0 Technical Report

    Mingyu Cao, Huajie Tan, Yuheng Ji, Minglan Lin, Zhiyu Li, Zhou Cao, Pengwei Wang, Enshen Zhou, Yi Han, Yingbo Tang, Xiangqi Xu, Wei Guo, Yaoxu Lyu, Yijie Xu, Jiayu Shi, Mengfei Du, Cheng Chi, Mengdi Zhao, Xiaoshuai Hao, Junkai Zhao, Xiaojie Zhang, Shanyu Rong, Huaihai Lyu, Zhengliang Cai, Yankai Fu, Ning Chen, Bolun Zhang, Lingfeng Zhang, Shuyi Zhang, Dong Liu, Xi Feng, Songjing Wang, Xiaodan Liu, Yance Jiao, Mengsi Lyu, Zhuo Chen, Chenrui He, Yulong Ao, Xue Sun, Zheqi He, Jingshu Zheng, Xi Yang, Donghai Shi, Kunchang Xie, Bochao Zhang, Shaokai Nie, Chunlei Men, Yonghua Lin, Zhongyuan Wang, Tiejun Huang, Shanghang Zhang

    CoRR abs/2507.02029, 2025.

  8. VisualTrans: A Benchmark for Real-World Visual Transformation Reasoning

    Yuheng Ji, Yipu Wang, Yuyang Liu, Xiaoshuai Hao, Yue Liu, Yuting Zhao, Huaihai Lyu, Xiaolong Zheng

    CoRR abs/2508.04043, 2025.

  9. MathSticks: A Benchmark for Visual Symbolic Compositional Reasoning with Matchstick Puzzles

    Yuheng Ji, Huajie Tan, Cheng Chi, Yijie Xu, Yuting Zhao, Enshen Zhou, Huaihai Lyu, Pengwei Wang, Zhongyuan Wang, Shanghang Zhang, Xiaolong Zheng

    CoRR abs/2510.00483, 2025.

  10. OmniSAT: Compact Action Token, Faster Auto Regression

    Huaihai Lyu, Chaofan Chen, Senwei Xie, Pengwei Wang, Xiansheng Chen, Shanghang Zhang, Changsheng Xu

    CoRR abs/2510.09667, 2025.

  11. RoboOS-NeXT: A Unified Memory-Based Framework for Lifelong, Scalable, and Robust Multi-Robot Collaboration

    Huajie Tan, Cheng Chi, Xiansheng Chen, Yuheng Ji, Zhongxia Zhao, Xiaoshuai Hao, Yaoxu Lyu, Mingyu Cao, Junkai Zhao, Huaihai Lyu, Enshen Zhou, Ning Chen, Yankai Fu, Cheng Peng, Wei Guo, Dong Liang, Zhuo Chen, Mengsi Lyu, Chenrui He, Yulong Ao, Yonghua Lin, Pengwei Wang, Zhongyuan Wang, Shanghang Zhang

    CoRR abs/2510.26536, 2025.

  12. RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation

    Shihan Wu et al., including Huaihai Lyu

    CoRR abs/2511.17441, 2025.