Publications

Ideas, experiments,
and evidence.

Explore our work in autonomous driving, robotics, cooperative perception, and transportation systems.

† Equal contribution · * Corresponding author

All citations (.bib)

18 publications

2027AcceptedRobust driving

When Does Corruption Break the Plan? A Degradation-Tolerance Benchmark for Camera-Only End-to-End Driving.

Haohua Que, Handong Yao^*.

IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)

Also selected for a poster presentation at TRB 2027.

arXiv PDF

@inproceedings{que2027drivedegrade,
  author        = {Que, Haohua and Yao, Handong},
  title         = {When Does Corruption Break the Plan? A Degradation-Tolerance Benchmark for Camera-Only End-to-End Driving},
  booktitle     = {IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)},
  year          = {2027},
  eprint        = {2608.29005},
  archivePrefix = {arXiv},
  note          = {To appear}
}

2027AcceptedOnboard perception

FALCON: FPGA-Accelerated Latency-Certifiable Occupancy Networks for Camera-Based Autonomous Driving.

Haohua Que^†, Mingkai Liu^†, Handong Yao^*.

IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)

arXiv PDF Code

@inproceedings{que2027falcon,
  author        = {Que, Haohua and Liu, Mingkai and Yao, Handong},
  title         = {{FALCON}: {FPGA}-Accelerated Latency-Certifiable Occupancy Networks for Camera-Based Autonomous Driving},
  booktitle     = {IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)},
  year          = {2027},
  eprint        = {2610.22143},
  archivePrefix = {arXiv},
  note          = {To appear}
}

2027AcceptedOnboard perception

Look Only Where You Plan for Real-Time End-to-End Urban Driving.

Haohua Que, Tianle Zhu, Qianyi Wu, Zhipeng Bao, Handong Yao.

IEEE/CVF Winter Conference on Applications of Computer Vision Workshops (WACVW), UrbanState Workshop

@inproceedings{que2027lowp,
  author    = {Que, Haohua and Zhu, Tianle and Wu, Qianyi and Bao, Zhipeng and Yao, Handong},
  title     = {Look Only Where You Plan for Real-Time End-to-End Urban Driving},
  booktitle = {IEEE/CVF Winter Conference on Applications of Computer Vision Workshops (WACVW), UrbanState Workshop},
  year      = {2027},
  note      = {To appear}
}

2027AcceptedRobust driving

Greedy Decoding Hides Good Plans: Sample-and-Verify Planning for Vision-Language Driving Models.

Zhipeng Bao, Wenjie Zhao, Yiping Li, Haohua Que, Qianwen Li.

IEEE/CVF Winter Conference on Applications of Computer Vision Workshops (WACVW), UrbanState Workshop

@inproceedings{bao2027sampleandverify,
  author    = {Bao, Zhipeng and Zhao, Wenjie and Li, Yiping and Que, Haohua and Li, Qianwen},
  title     = {Greedy Decoding Hides Good Plans: Sample-and-Verify Planning for Vision-Language Driving Models},
  booktitle = {IEEE/CVF Winter Conference on Applications of Computer Vision Workshops (WACVW), UrbanState Workshop},
  year      = {2027},
  note      = {To appear}
}

2027Recommended for presentationVehicle behavior

Behavioral Analysis and Impact Assessment of Advanced Driver Assistance Systems' Interaction with Traffic Signs.

Q. Wu, H. Yao^*.

106th TRB Annual Meeting, Washington, DC

@inproceedings{wu2027behavioral,
  author    = {Wu, Q. and Yao, H.},
  title     = {Behavioral Analysis and Impact Assessment of Advanced Driver Assistance Systems' Interaction with Traffic Signs},
  booktitle = {106th TRB Annual Meeting},
  year      = {2027},
  address   = {Washington, DC},
  note      = {Recommended for presentation}
}

2027Poster presentation acceptedRobust driving

End-to-End Automated Driving Under Camera Degradation: Planning Tolerance Thresholds and Closed-Loop Evidence.

H. Que, H. Yao^*.

106th TRB Annual Meeting, Washington, DC

@inproceedings{que2027endtoend,
  author    = {Que, H. and Yao, H.},
  title     = {End-to-End Automated Driving Under Camera Degradation: Planning Tolerance Thresholds and Closed-Loop Evidence},
  booktitle = {106th TRB Annual Meeting},
  year      = {2027},
  address   = {Washington, DC},
  note      = {Poster presentation accepted}
}

2026AcceptedV2X perception

CABLE: Cloud-Assisted Bandwidth-efficient LMM-based Encoding for V2X Systems.

Haohua Que, Zhipeng Bao, Qianyi Wu, Handong Yao^*.

IEEE International Conference on Systems, Man, and Cybernetics (SMC)

arXiv PDF

@inproceedings{que2026cable,
  author        = {Que, Haohua and Bao, Zhipeng and Wu, Qianyi and Yao, Handong},
  title         = {{CABLE}: Cloud-Assisted Bandwidth-efficient {LMM}-based Encoding for {V2X} Systems},
  booktitle     = {IEEE International Conference on Systems, Man, and Cybernetics (SMC)},
  year          = {2026},
  eprint        = {2606.19258},
  archivePrefix = {arXiv},
  note          = {To appear}
}

2026Accepted3D scenes & robots

SenseExpo: Spatial Exploration and Navigation Via Scene Estimation from Expeditious Predictive Operators.

Haojia Gao^†, Haohua Que^†, Mingkai Liu, Jiayue Xie, Hoiian Au, Yusen Qin, Qian Zhang, Jiajun Sun, Weihao Shan, Tianle Zhu, Fei Qiao^*, Handong Yao^*.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

arXiv PDF

@inproceedings{gao2026senseexpo,
  author        = {Gao, Haojia and Que, Haohua and Liu, Mingkai and Xie, Jiayue and Au, Hoiian and Qin, Yusen and Zhang, Qian and Sun, Jiajun and Shan, Weihao and Zhu, Tianle and Qiao, Fei and Yao, Handong},
  title         = {{SenseExpo}: Spatial Exploration and Navigation Via Scene Estimation from Expeditious Predictive Operators},
  booktitle     = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year          = {2026},
  eprint        = {2503.16000},
  archivePrefix = {arXiv},
  note          = {To appear}
}

2026Accepted3D scenes & robots

ACESplat: Accelerated 3D Gaussian Scene Regression Via RGB and Poses Only.

Mingkai Liu^†, Haohua Que^†, Dikai Fan, Haojia Gao, Tianle Zhu, Handong Yao, Qian Zhang, Ruopeng Zhang, Xianliang Huang, Fei Qiao^*.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

arXiv PDF

@inproceedings{liu2026acesplat,
  author        = {Liu, Mingkai and Que, Haohua and Fan, Dikai and Gao, Haojia and Zhu, Tianle and Yao, Handong and Zhang, Qian and Zhang, Ruopeng and Huang, Xianliang and Qiao, Fei},
  title         = {{ACESplat}: Accelerated {3D} Gaussian Scene Regression Via {RGB} and Poses Only},
  booktitle     = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year          = {2026},
  eprint        = {2606.22091},
  archivePrefix = {arXiv},
  note          = {To appear}
}

2026AcceptedV2X perception

DinoLink: A Token-Centric Representation Compression Framework for Bandwidth-Constrained Collaborative V2X Perception.

Tianle Zhu^†, Haohua Que^†, Hongyi Xu, Handong Yao^*, Zhipeng Bao.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

arXiv PDF Code

@inproceedings{zhu2026dinolink,
  author        = {Zhu, Tianle and Que, Haohua and Xu, Hongyi and Yao, Handong and Bao, Zhipeng},
  title         = {{DinoLink}: A Token-Centric Representation Compression Framework for Bandwidth-Constrained Collaborative {V2X} Perception},
  booktitle     = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year          = {2026},
  eprint        = {2606.26398},
  archivePrefix = {arXiv},
  note          = {To appear}
}

2026AcceptedOnboard perception

MotiMem: Motion-Aware Approximate Memory for Energy-Efficient Neural Perception in Autonomous Vehicles.

Haohua Que, Mingkai Liu, Jiayue Xie, Haojia Gao, Jiajun Sun, Hongyi Xu, Handong Yao, Fei Qiao.

IEEE World Congress on Computational Intelligence / International Joint Conference on Neural Networks (WCCI / IJCNN)

arXiv PDF

@inproceedings{que2026motimem,
  author        = {Que, Haohua and Liu, Mingkai and Xie, Jiayue and Gao, Haojia and Sun, Jiajun and Xu, Hongyi and Yao, Handong and Qiao, Fei},
  title         = {{MotiMem}: Motion-Aware Approximate Memory for Energy-Efficient Neural Perception in Autonomous Vehicles},
  booktitle     = {IEEE World Congress on Computational Intelligence / International Joint Conference on Neural Networks (WCCI / IJCNN)},
  year          = {2026},
  eprint        = {2603.27108},
  archivePrefix = {arXiv},
  note          = {To appear}
}

2026Accepted3D scenes & robots

MACE: Mixture-of-Experts Accelerated Coordinate Encoding for Large-Scale Scene Localization and Rendering.

Mingkai Liu, Dikai Fan, Haohua Que, Haojia Gao, Xiao Liu, Shuxue Peng, Meixia Lin, Shengyu Gu, Ruicong Ye, Wanli Qiu, Handong Yao, Ruopeng Zhang, Xianliang Huang.

IEEE International Conference on Robotics and Automation (ICRA)

A preliminary version received the Best Paper Award at the Edge AI for Robotics Workshop, IROS 2025.

arXiv PDF

@inproceedings{liu2026mace,
  author        = {Liu, Mingkai and Fan, Dikai and Que, Haohua and Gao, Haojia and Liu, Xiao and Peng, Shuxue and Lin, Meixia and Gu, Shengyu and Ye, Ruicong and Qiu, Wanli and Yao, Handong and Zhang, Ruopeng and Huang, Xianliang},
  title         = {{MACE}: Mixture-of-Experts Accelerated Coordinate Encoding for Large-Scale Scene Localization and Rendering},
  booktitle     = {IEEE International Conference on Robotics and Automation (ICRA)},
  year          = {2026},
  eprint        = {2510.14251},
  archivePrefix = {arXiv},
  note          = {To appear}
}

2026AcceptedRural roads

Road Infrastructure Readiness Evaluation for Commercial Low-Level Autonomous Vehicles.

Tianle Zhu, Haohua Que, Handong Yao.

ASCE International Conference on Transportation and Development (ICTD)

Project & conference record Related symposium poster

@inproceedings{zhu2026road,
  author    = {Zhu, Tianle and Que, Haohua and Yao, Handong},
  title     = {Road Infrastructure Readiness Evaluation for Commercial Low-Level Autonomous Vehicles},
  booktitle = {ASCE International Conference on Transportation and Development (ICTD)},
  year      = {2026},
  note      = {To appear}
}

2026PublishedVehicle behavior

Investigating the car-following behavior of electric vehicles with one-pedal driving.

Tianle Zhu, Handong Yao^*, Wenjie Zhao, Qianwen Li.

Communications in Transportation Research, 6(2), 9640030

Open-access article Dataset Data repository

@article{zhu2026investigating,
  author  = {Zhu, Tianle and Yao, Handong and Zhao, Wenjie and Li, Qianwen},
  title   = {Investigating the car-following behavior of electric vehicles with one-pedal driving},
  journal = {Communications in Transportation Research},
  year    = {2026},
  volume  = {6},
  number  = {2},
  pages   = {9640030},
  doi     = {10.26599/COMMTR.2026.9640030}
}

2026Conference presentationVehicle behavior

Investigating the Car Following Behavior of Electric Vehicles with One-Pedal Driving Through Field Experiments.

T. Zhu, H. Yao^*.

105th TRB Annual Meeting, Washington, DC

The open-access journal version, with an updated title and author list, was published in Communications in Transportation Research, 6(2), 9640030 (2026).

Journal version Dataset Data repository

@inproceedings{zhu2026investigatingb,
  author    = {Zhu, T. and Yao, H.},
  title     = {Investigating the Car Following Behavior of Electric Vehicles with One-Pedal Driving Through Field Experiments},
  booktitle = {105th TRB Annual Meeting},
  year      = {2026},
  address   = {Washington, DC},
  note      = {Conference presentation}
}

2026Conference presentationVehicle behavior

Modeling Autonomous Driving Systems-Equipped Vehicle Interactions with Traffic Signs.

X. Wang, Q. Li, H. Yao^*, J. Hourdos, G. McHale.

105th TRB Annual Meeting, Washington, DC

Poster (PDF) FHWA record

@inproceedings{wang2026modeling,
  author    = {Wang, X. and Li, Q. and Yao, H. and Hourdos, J. and McHale, G.},
  title     = {Modeling Autonomous Driving Systems-Equipped Vehicle Interactions with Traffic Signs},
  booktitle = {105th TRB Annual Meeting},
  year      = {2026},
  address   = {Washington, DC},
  note      = {Conference presentation}
}

2025PublishedVehicle behavior

Interaction dataset of autonomous vehicles with traffic lights and signs.

Li, Z., Bao, Z., Meng, H., Shi, H., Li, Q., Yao, H., & Li, X.

Communications in Transportation Research, 5, 100201

Journal article arXiv PDF Correction

@article{li2025interaction,
  author        = {Li, Z. and Bao, Z. and Meng, H. and Shi, H. and Li, Q. and Yao, H. and Li, X.},
  title         = {Interaction dataset of autonomous vehicles with traffic lights and signs},
  journal       = {Communications in Transportation Research},
  year          = {2025},
  volume        = {5},
  pages         = {100201},
  doi           = {10.1016/j.commtr.2025.100201},
  eprint        = {2501.12536},
  archivePrefix = {arXiv}
}

2025PublishedVehicle behavior

Edge-computing-based operations for automated vehicles with different cooperation classes at stop-controlled intersections.

Soleimaniamiri, S., Yao, H., Ghiasi, A., Li, X., Bujanović, P., Vadakpat, G., Lochrane, T.W.P.

IET Intelligent Transport Systems, 19, e12577

Paper

@article{soleimaniamiri2025edgecomputingbased,
  author  = {Soleimaniamiri, S. and Yao, H. and Ghiasi, A. and Li, X. and Bujanović, P. and Vadakpat, G. and Lochrane, T.W.P.},
  title   = {Edge-computing-based operations for automated vehicles with different cooperation classes at stop-controlled intersections},
  journal = {IET Intelligent Transport Systems},
  year    = {2025},
  volume  = {19},
  pages   = {e12577},
  doi     = {10.1049/itr2.12577}
}

Ideas, experiments,and evidence.

Ideas, experiments,
and evidence.