Short Bio
👋I am currently a Ph.D. student, supervised by Prof. Zhenning Li and Prof. Chengzhong Xu (IEEE Fellow).
I am affiliated with the State Key Laboratory of Internet of Things for Smart City and the Department of Computer Science at the University of Macau.
Before joining UM, I earned my B.E. from the University of Electronic Science and Technology of China (UESTC) in 2022.
💡Passionate about Intelligent Transportation Systems, I focus on Autonomous Driving and Transportation Safety. My research encompasses areas such as trajectory prediction, accident anticipation, and visual grounding for AVs.
On these topics, I have published more than twenty papers as the first/co-first author in prestigious journals such as Transportation Science, IEEE (T-PAMI, T-ITS, T-IV), COMMTR,
Information Fusion, and AAP, and at leading AI conferences like AAAI (Oral), ACM MM (Oral), IJCAI, ECAI, and ICRA.
⭐We are looking for self-motivated RAs (with Funding) to join HUMAN LAB! If interested, please don't hesitate to email me!
Over the years, we have had the honor of mentoring over ten outstanding students, many of whom have advanced to top-tier institutions like Tsinghua University (THU), Peking University (PKU), University of Maryland (UMD), Purdue University (PU), Zhejiang University (ZJU), Shanghai Jiao Tong University (SJTU), University of Science and Technology of China (USTC), and Tongji University (TJU).
👉If you are interested in collaborating with me or want to have a chat, always feel free to contact me through email.🚗
News
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[08/2025]🎉🎉One paper was accepted by the IEEE T-ITS (CCF-B)
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[08/2025]🎉🎉One paper was accepted by the IEEE T-RO (CCF-B)
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[07/2025]🎉🎉One paper received COTA International Conference of Transportation Professionals (CICTP 2025) Best Paper Award!
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[07/2025]🎉🎉One paper got accepted by ACM'MM (CCF-A)
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[06/2025]🎉🎉One paper got accepted by ICCV (CCF-A)
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[06/2025]🎉🎉One paper got accepted by Communications Engineering
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[05/2025]🎉🎉One paper got accepted by IJCAI (CCF-A)
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[04/2025]🎉🎉One paper got accepted by IEEE T-AI
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[03/2025]🎉🎉One paper got accepted by Transportation Science!! (Top Transportation Journal)
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[02/2025]🎉🎉One paper was accepted by the IEEE T-ITS (SCI Q1 Top, CCF-B, IF=7.9)
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[02/2025]🎉🎉One paper was presented at the IEEE ICRA in Atlanta, USA! (CCF-B)
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[01/2025]🎉🎉One paper got accepted by IEEE TPAMI (CCF-A, SCI Q1 Top, IF:23.6)!
Main Publications
*: I am the co-first author, †: corresponding author
Main Conference Papers
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[AAAI'24] BAT: Behavior-Aware Human-Like Trajectory Prediction for Autonomous Driving.
Haicheng Liao, Zhenning Li†, Huanming Shen, Wenxuan Zeng, Dongping Liao, Guofa Li, Shengbo Eben Li, Chengzhong Xu†
The 38th Annual AAAI Conference on Artificial Intelligence (AAAI) (AI Conf., CCF-A)
[Paper]
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[MM'24] When, Where, and What? A Novel Benchmark for Accident Anticipation and Localization with Large Language Models.
Haicheng Liao, Yongkang Li, Chengyue Wang, Yanchen Guan, KaHou Tam, Chunlin Tian, Li Li, Chengzhong Xu, Zhenning Li†
The 32nd ACM International Conference on Multimedia (ACM MM) (AI Conf., CCF-A, Oral, AR: 174/4385 ≈ 3.9%)
[Paper]
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[MM'24] CRASH: Crash Recognition and Anticipation System Harnessing with Context-Aware and Temporal Focus Attentions.
Haicheng Liao, Haoyu Sun, HuanmingShen, Chengyue Wang, KaHou Tam, Chunlin Tian, Li Li, Chengzhong Xu, Zhenning Li†
The 32nd ACM International Conference on Multimedia (ACM MM) (AI Conf., CCF-A)
[Paper]
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[IJCAI'24] A Cognitive-Driven Trajectory Prediction Model for Autonomous Driving in Mixed Autonomy Environments.
Haicheng Liao, Zhenning Li, Chengyue Wang, Bonan Wang, Hanlin Kong, Yanchen Guan, Zhiyong Cui, Chengzhong Xu†
The 33rd International Joint Conference on Artificial Intelligence (IJCAI) (AI Conf., CCF-A)
[Paper] [News]
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[IJCAI'24] MFTraj: Map-Free, Behavior-Driven Trajectory Prediction for Autonomous Driving.
Haicheng Liao, Zhenning Li, Chengyue Wang, Bonan Wang, Huanming Shen, Bonan Wang, Guofa Li, Chengzhong Xu†
The 33rd International Joint Conference on Artificial Intelligence (IJCAI) (AI Conf., CCF-A)
[Paper]
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[IJCAI'24] Physics-Informed Trajectory Prediction for Autonomous Driving under Missing Observation.
Haicheng Liao, Chengyue Wang, Zhenning Li, Yongkang Li, Bonan Wang, Guofa Li, Chengzhong Xu†
The 33rd International Joint Conference on Artificial Intelligence (IJCAI) (AI Conf., CCF-A)
[Paper]
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[IJCAI'24] Characterized Diffusion and Spatial-Temporal Interaction Network for Trajectory Prediction in Autonomous Driving.
Haicheng Liao, Xuelin Li, Yongkang Li, Hanlin Kong, Chengyue Wang, Bonan Wang, Yanchen Guan, KaHou Tam, Zhenning Li†
The 33rd International Joint Conference on Artificial Intelligence (IJCAI) (AI Conf., CCF-A)
[Paper]
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[AAAI'25] NEST: A Neuromodulated Small-world Hypergraph Trajectory Prediction Model for Autonomous Driving.
Chengyue Wang*, Haicheng Liao*, Bonan Wang, Yanchen Guan, Bin Rao, Ziyuan Pu, Chengzhong Xu, Zhenning Li†
The 39th Annual AAAI Conference on Artificial Intelligence (AAAI) (AI Conf., CCF-A, Oral, AR: 600/12957 ≈ 4.6%)
[Paper]
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[ICCV'25] AMD: Adaptive Momentum and Decoupled Contrastive Learning Framework for Robust Long-Tail Trajectory Prediction.
Bin Rao*, Haicheng Liao*, Yanchen Guan, Chengyue Wang, Yanchen Guan, Bonan Wang, Jiaxun Zhang, Zhenning Li†
The 20th International Conference on Computer Vision (ICCV) (AI Conf., CCF-A )
[Paper]
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[IJCAI'25] Beyond Patterns: Harnessing Causal Logic for Autonomous Driving Trajectory Prediction.
Bonan Wang*, Haicheng Liao*, Chengyue Wang, Yanchen Guan, Bin Rao, Yuyang Gu, Jiaxun Zhang, Songning Lai, Chengzhong Xu, Zhenning Li†
The 34th International Joint Conference on Artificial Intelligence (IJCAI) (AI Conf., CCF-A )
[Paper]
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[MM'25] Eyes on the Road, Mind Beyond Vision: Context-Aware Multi-modal Enhanced Risk Anticipation.
Jiaxun Zhang, Haicheng Liao, Yumu Xie, Chengyue Wang, Yanchen Guan, Bin Rao, Zhenning Li†
The 33th ACM International Conference on Multimedia (ACM MM) (AI Conf., CCF-A )
[Paper]
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[ECAI'24] Less is More: Efficient Brain-Inspired Learning for Autonomous Driving Trajectory Prediction.
Haicheng Liao, Yongkang Li, Zhenning Li†, Chengyue Wang, Guofa Li, Chunlin Tian, Zilin Bian, Kaiqun Zhu, Zhiyong Cui, Jia Hu, Chengzhong Xu
The 27th European Conference on Artificial Intelligence (ECAI) (AI Conf., CCF-B)
[Paper]
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[ICRA'24] Human Observation-Inspired Trajectory Prediction for Autonomous Driving in Mixed-Autonomy Traffic Environments.
Haicheng Liao, Shangqian Liu, Yongkang Li, Zhenning Li†, Chengyue Wang, Bonan Wang, Yanchen Guan, Chengzhong Xu†
The 2024 IEEE International Conference on Robotics & Automation (ICRA) (ICRA) (Robotics Conf., CCF-B)
[Paper] [News]
Main Journal Papers
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[TS'25] Towards Human-Like Trajectory Prediction: A Behavior-Centric Approach.
Haicheng Liao, Zhenning Li†, Keqaing Li, Chengzhong Xu
Transportation Science (TS) (Top Transpor. Journal)
[Paper]
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[TRO'25] SA-TP^2: A Safety-Aware Trajectory Prediction and Planning Model for Autonomous Driving.
Haicheng Liao, Zhenning Li†, Kaiqun Zhu, Keqiang Li, Chengzhong Xu
IEEE Transactions on Robotics (TRO) ( Top Robotic Journal, SCI Q1 Top, CCF-B, IF = 10.7)
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[TPAMI'25] WAKE: Towards Robust and Physically Feasible Trajectory Prediction for Autonomous Vehicles with WAvelet and KinEmatics Synergy.
Chengyue Wang*, Haicheng Liao*, Zhenning Li†, Chengzhong Xu
IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) ( AI Journal, SCI Q1 Top, CCF-A, IF = 20.8)
[Paper]
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[TITS'25] Minds on the Move: Decoding Trajectory Prediction in Autonomous Driving with Cognitive Insights.
Haicheng Liao, Chengyue Wang, Kaiqun Zhu, Yilong Ren, Bolin Gao, Shengbo Eben Li, Chengzhong Xu, Zhenning Li†
IEEE Transactions on Intelligent Transportation Systems (TTIS) (Top Transpor. Journal, SCI Q1 Top, CCF-B, IF = 7.9)
[Paper]
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[TITS'25] Chain-of-Thought Guided Multimodal Large Language Models for Scene-Aware Accident Anticipation in Autonomous Driving.
Haicheng Liao, Bin Rao, Haoyu Sun, Chengyue Wang, Qing Chang, Shengbo Eben Li, Chengzhong Xu, Zhenning Li†
IEEE Transactions on Intelligent Transportation Systems (TTIS) (Top Transpor. Journal, SCI Q1 Top, CCF-B, IF = 7.9)
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[TAI'25] CoT-Drive: Efficient Motion Forecasting for Autonomous Driving with LLMs and Chain-of-Thought Prompting.
Haicheng Liao, Hanlin Kong, Bonan Wang, Chengyue Wang, Ye Wang, Zhengbing He, Chengzhong Xu, Zhenning Li†
IEEE Transactions on Artificial Intelligence (TAI) (Top AI Journal)
[Paper]
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[CE'25] Enhancing Traffic Accident Anticipation with World Model-Driven Data Augmentation and Dynamic Graph Modeling.
Yanchen Guan, Haicheng Liao, Chengyue Wang, Xingchen Liu, Jiaxun Zhang, Zhenning Li†
Communications Engineering (CE)
[Paper]
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[AAP'24] Real-time accident anticipation for autonomous driving through monocular depth-enhanced 3D modeling.
Haicheng Liao, Yongkang Li, Zhenning Li†, Zilin Bian, Jaeyoung Lee, Zhiyong Cui, Guohui Zhang, Chengzhong Xu
Accident Analysis & Prevention (AAP) (Top Transpor. Journal, SCI Q1 Top, IF = 5.7)
[Paper]
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[TIV'24] A Cognitive-Based Trajectory Prediction Approach for Autonomous Driving.
Haicheng Liao, Yongkang Li, Zhenning Li, Chengyue Wang, Zhiyong Cui, Shengbo Eben Li, Chengzhong Xu†
IEEE Transactions on Intelligent Vehicles (TIV) (Transpor. Journal, SCI Q1, IF = 14.0)
[Paper] [News] [Codes]
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[COMMTR'24] GPT-4 enhanced multimodal grounding for autonomous driving: Leveraging cross-modal attention with large language models.
Haicheng Liao, Huanming Shen, Zhenning Li, Chengyue Wang, Guofa Li, Yiming Bie, Chengzhong Xu†
Communications in Transportation Research (COMMTR) (Top Transport. Journal, JCR Q1 Top, IF = 12.5)
[Paper] [News] [Codes]
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[Fusion'25] DEMO: A Dynamics-Enhanced Learning Model for Multi-Horizon Trajectory Prediction in Autonomous Vehicles.
Chengyue Wang*, Haicheng Liao*, Kaiqun Zhu, Guohui Zhang, Zhenning Li†
Information Fusion (Information Fusion) (Top AI Journal, SCI Q1 Top, IF = 14.8)
[Paper]
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[TIV'24] World Models for Autonomous Driving: An Initial Survey.
Yanchen Guan*, Haicheng Liao*, Zhenning Li†, Jia Hu, Runze Yuan, Yunjian Li, Guohui Zhang, Chengzhong Xu†
IEEE Transactions on Intelligent Vehicles (TIV) (Top Transportation Journal, SCI/JCR Q1, IF = 14.0)
[Paper] [News]
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[AAP'23] Mitigating the impact of outliers in traffic crash analysis: A robust Bayesian regression approach with application to tunnel crash data.
Zhenning Li*, Haicheng Liao*, Ruru Tang, Guofa Li, Yunjian Li, Chengzhong Xu†
Accident Analysis & Prevention (AAP) (Top Transportation Journal, SCI/JCR Q1 Top, IF = 5.7)
[Paper]
Other Publications
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[TRC-30] Towards Human-like Trajectory Prediction for Autonomous Driving: A Cognitive-inspired Lightweight Model.
Haicheng Liao, Yongkang Li, Yanchen Guan, Zhenning Li, Chengyue Wang, Zilin Bian, Ziyuan Pu, Jia Hu, Zhiyong Cui
The 30th Anniversary of Transportation Research Part C (TRC-30) (Transportation Conf., Oral Presentation)
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[CICTP'23] An Efficient Bayesian Robit Model for Traffic Safety Modeling.
COTA International Conference of Transportation Professionals (Transportation Conf.)
Haicheng Liao, Huanming Shen, Bonan Wang, Chengyue Wang, Bin Rao, Hao Yu, Chengzhong Xu, Zhenning Li
[Paper]
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[CICTP'25] Improving Visual Grounding for Autonomous Driving with Large Language Models.
COTA International Conference of Transportation Professionals (CICTP) (Best Paper)
Haicheng Liao, Huanming Shen, Bonan Wang, Chengyue Wang, Bin Rao, Hao Yu, Chengzhong Xu, Zhenning Li
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[TRB'24] Achieving Human-Like Trajectory Prediction for Autonomous Vehicles: A Behavior-Aware Approach.
Haicheng Liao, Hanlin Kong, Huanming Shen, Zhenning Li, Ruru Tang, Ziyuan Pu, Shengbo Li, Chengzhong Xu
The 103th Transportation Research Board Annual Meeting (TRB) (Top Transport. Conf., Oral Presentation, AR ≈ 3.6%)
[Paper]
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[TRB'24] Lightweight Human Observation-inspired Trajectory Prediction for Autonomous Driving.
Yongkang Li*, Haicheng Liao*, Shangqian Liu, Zhenning Li, Wenyu Li, Kai Zhang, Shengbo Li, Chengzhong Xu
The 103th Transportation Research Board Annual Meeting (TRB) (Top Transportation Conf.)
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[AAP'24] Efficient and robust estimation of single-vehicle crash severity: A mixed logit model with heterogeneity in means and variances.
Accident Analysis & Prevention (AAP) (Transport. Journal, SCI/JCR Q1 Top, IF = 5.7)
Zhenning Li, Chengyue Wan, Haicheng Liao, Guofa Li, Chengzhong Xu
[Paper]
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[Chain'24] Steering the Future: Redefining Intelligent Transportation Systems with Foundation Models.
Chain (Transport.Journal)
Zhenning Li, Zhiyong Cui, Haicheng Liao, John Ash, Guohui Zhang, Chengzhong Xu, Yinhai Wang
[Paper]
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[ICRA'25] DRIVE: Dependable Robust Interpretable Visionary Ensemble Framework in Autonomous Driving.
The 2025 IEEE International Conference on Robotics & Automation (ICRA) (Robotics Conf., CCF-B)
Songning Lai, Tianlang Xue, Hongru Xiao, Lijie Hu, Jiemin Wu, Ninghui Feng, Runwei Guan, Haicheng Liao, Haicheng Liao, Zhenning Li, Yutao Yue
[Paper]
Mentored Students
Wenxuan Zeng: UESTC (B.S.) --> Peking University (Ph.D)
Yongkang Li: UESTC (B.S.) --> Purdue University (Ph.D)
Hanlin Kong: UESTC (B.S.) --> Zhejiang University (Ph.D)
Haoyu Sun: UESTC (B.S.) --> Tongji University (Ph.D)
Xinpeng Qin: UESTC (B.S.) ---> Tsing Hua University (M.S.)
Kewei Xu: UESTC (B.S.) --> Nanjing University (M.S.)
Yuxuan He: UESTC (B.S.) --> Shanghai Jiao Tong University (M.S.)
Xuelin Li: UESTC (B.S.) --> Shanghai Jiao Tong University (M.S.)
Junxian Yang: UESTC (B.S.) --> University of Science and Technology of China (M.S.)
Shengzhe Lin: HFUT (B.S.) --> Southeast University (M.S.)
Shangqian Liu: HZAU (B.S.), UM (M.S.)
Bonan Wang: SUST (B.S.), UM (M.S.)
Huanming Shen: UESTC (B.S.)
✨If you are passionate about research and innovation, I warmly invite you to join us on this exciting academic journey!
Selected Awards and Honors
- Guangdong-Hong Kong-Macao Greater Bay Area Taihu Scholarship (only 6 places for UM), 2024
- The 10th China Graduate Contest on Smart-City Technology and Creative Design, National Second Prize, 2024
- The 6th China Graduate Artificial Intelligence Innovation Competition, National Second Prize, (≈7.5% of 2,618 teams) 2024
- The Macao Symposium on Cloud Computing and Intelligent Driving (CCID 2024), Outstanding Poster Presentation, 2024
- The 4th Macao International Conference On Smart City Technologies, Outstanding Poster, 2024
- Huiding Science and Technology Scholarship of UESTC (only 6 places for UESTC), 2022
- University of Electronic Science and Technology of China Scholarship for Outstanding Students, First Prize, 2022
- University of Electronic Science and Technology of China Scholarship for Outstanding Students, First Prize, 2021
- University of Electronic Science and Technology of China Scholarship for Outstanding Students, First Prize, 2020
- China University Computer Competition, National First Prize, Rank 1st in the undergraduate division, (1/6,500+ teams), 2021
- Sichuan Province Computer Works Competition, Highest Prize (Special Prize), 2021
- Zhong Gong Cup Sichuan Collegiate Computer Competition, Provincial Special Prize, 2021
- Pan-Pearl River Delta Collegiate Computer Competition, National Third Prize, Only Finalist in Southwest China , 2021
- 13th National University Student Information Security Competition, National Second Prize (≈0.8% of 4,500 teams) , 2020
Academic Service
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Referee for Conferences:
ICLR, ICML, NeurIPS, CVPR, ICCV, AAAI, IJCAI, ACM MM, ICRA, ECCV, IROS, CICTP, ...
Referee for Journal:
IEEE-(TPAMI, TNNLS, TITS, TCSVT, TIV, RAL, TASE), TR-Part C, OJ-ITS, Travel Behaviour and Society, Scientific Reports, Knowledge-Based Systems...
Last update: 08/2025 by Haicheng Liao.