Haicheng Liao (廖海成)


PhD Student


State Key Laboratory of Internet of Things for Smart City

University of Macau

Email: yc27979 [AT] um.edu.mo

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Short Bio

👋I am currently a fourth-year Ph.D. candidate in Computer Science at University of Macau (UM), supervised by Prof. Zhenning Li and Prof. Chengzhong Xu (IEEE Fellow, Dean of the Faculty of Science and Technology). I am also affiliated with the State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC) and HUMAN LAB. Before joining UM, I earned the B.E. (2022) from the University of Electronic Science and Technology of China (UESTC).

💡Passionate about Intelligent Transportation Systems, I bring AI&ML techniques to Human-Like Autonomous Driving, broadly including four key research themes: (1) Trajectory Prediction & Planning, (2) Multimodal Grounding, (3) Accident Anticipation, (4) End-to-end Autonomous Driving. I have published 20+ papers as the first/co-first author in prestigious journals such as Transportation Science, IEEE (T-PAMI, T-RO, T-ITS, T-AI, T-IV), COMMTR, Information Fusion, and AAP, and at leading AI conferences like ICCV, AAAI (Oral), ACM MM (Oral), IJCAI, ECAI, and ICRA.

⭐We are looking for self-motivated RAs to join HUMAN LAB! If interested, please don't hesitate to email me! Over the years, we've mentored 10+ outstanding students, many of whom have advanced to top-tier institutions like Tsinghua University (THU), Peking University (PKU), 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 or sharing thoughts, please feel free to reach out via Email or WeChat.🚗

Main Publications
(*): I am the co-first author; (†): Corresponding author

Towards Human-Like Trajectory Prediction: A Behavior-Centric Approach
Haicheng Liao, Zhenning Li†, Keqiang Li, Chengzhong Xu
Transportation Science (TS), 2025


SA‑TP2: 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 (IEEE TRO), 2025


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†
AAAI Conference on Artificial Intelligence (AAAI), 2024


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), 2025


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 (TITS), 2025


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†
ACM International Conference on Multimedia (MM), 2024 Oral (174/4385 = 3.9%)


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 (TITS), 2025


World Model-Based End-to-End Scene Generation for Accident Anticipation in Autonomous Driving
Yanchen Guan, Haicheng Liao, Chengyue Wang, Xingchen Liu, Jiaxun Zhang, Zhenning Li†
Communications Engineering (COMMSENG), 2025
[Nature Portfolio]


Real-time accident anticipation for autonomous driving through monocular depth-enhanced 3D modeling
Haicheng Liao, Yongkang Li, Zhenning Li, Jaeyoung Lee, Zhiyong Cui, Guohui Zhang, Chengzhong Xu†
Accident Analysis & Prevention (AAP), 2024


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†
ACM International Conference on Multimedia (MM), 2024


Physics-Informed Trajectory Prediction for Autonomous Driving under Missing Observation
Haicheng Liao, Chengyue Wang, Zhenning Li†, Yongkang Li, Bonan Wang, Guofa Li, Chengzhong Xu
International Joint Conference on Artificial Intelligence (IJCAI), 2024
Ranked #1 SSRN's Top Downloads Papers (60 Days) in Robotics


MFTraj: Map-Free, Behavior-Driven Trajectory Prediction for Autonomous Driving
Haicheng Liao, Zhenning Li†, Chengyue Wang, Huanming Shen, Bonan Wang, Dongping Liao, Guofa Li, Chengzhong Xu†
International Joint Conference on Artificial Intelligence (IJCAI), 2024


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†
International Joint Conference on Artificial Intelligence (IJCAI), 2024


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†
International Joint Conference on Artificial Intelligence (IJCAI), 2024


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), 2024
Most Cited and Downloads Paper in COMMTR, 2024


Human Observation-Inspired Trajectory Prediction for Autonomous Driving in Mixed-Autonomy Traffic Environments
Haicheng Liao, Yongkang Li, Zhenning Li†, Chengyue Wang, Guofa Li, Chunlin Tian, Zilin Bian, Kaiqun Zhu, Zhiyong Cui, Jia Hu, Chengzhong Xu
IEEE International Conference on Robotics & Automation (ICRA), 2024


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
European Conference on Artificial Intelligence (ECAI), 2024


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), 2024


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), 2025


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†
International Conference on Computer Vision (ICCV), 2025


NEST: A Neuromodulated Small-world Hypergraph Trajectory Prediction Model for Autonomous Driving
Chengyue Wang*, Haicheng Liao*, Bonan Wang, Yanchen Guan, Bin Rao, Ziyuan Pu, Zhiyong Cui, Chengzhong Xu, Zhenning Li†
AAAI Conference on Artificial Intelligence (AAAI), 2025 Oral (600/12957 = 4.6%)


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†
International Joint Conference on Artificial Intelligence (IJCAI), 2025
Ranked #1 SSRN's Top Downloads Papers (60 Days) in Robotics


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, 2025


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), 2023


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 (IEEE TIV), 2024


Last update: 09/2025 by Haicheng Liao.