• 2001—2005，香港大学电子工程专业，博士学位（全日制）
• 1999—2001，香港科技大学电子工程专业，硕士学位（全日制）
• 1998—1999，燕山大学电气自动化专业，硕士学习（全日制）
• 1994—1998，燕山大学电气自动化专业，学士学位（全日制）

工作经历：

• 2025—至今，深圳河套学院，教授
• 2019—至今，中山大学计算机学院，教授，博导
• 2011—2019，中山大学计算机学院，副教授，博导（2017年起）
• 2008—2011，中山大学信息科学与技术学院，讲师（中山大学“百人计划”引进）
• 2006—2007，香港中文大学信息工程系，博士后

成慧，博士，中山大学计算机学院教授、博导。毕业于香港大学电子工程专业，曾在香港中文大学信息工程系从事博士后研究。主要研究方向为机器人的单机自主与多机协同、具身智能、群体智能，主持国家重点研发项目课题、国家自然科学基金、广东省重大科技专项等项目。在TR-O、RSS、NeurIPS、ICML、CVPR、ICLR、ICRA、CoRL、IROS等顶级期刊/会议发表论文70余篇。欢迎具身智能领域的科研合作与优秀学生报考。

个人官网：成慧 | 中山大学计算机学院

实验室官网：中山大学 RAPID实验室

1. Hao Ren, Zetong Bi, Yiming Zeng, Le Zheng, Zhi Li, Zhaoliang Wan, Lu Qi, Hui Cheng*. Fisher-Preserving Guidance: Training-Free Manifold Constraints for Safe Diffusion Control, ICML, 2026

2. Hao Ren, Zetong Bi, Yiming Zeng, Zhaoliang Wan, Lu Qi*, Hui Cheng*. STRNet: Visual Navigation with Spatio-Temporal Representation through Dynamic Graph Aggregation, CVPR, 2026 (Highlight)

3. Jiahui Liang, Botao Zhang, Ying Wu, Zhi Li, jieying zhou, Hui Cheng*. CAMFlow: Learning Coordination-Aware Aerial Manipulation via Consistency Flow Matching, IROS, 2026

4. Yiqing Yuan, Zhi Li, Jiahui Liang, Peiming Duan, Xiaoxun Zhang, Jihe Guo, Hui Cheng*. DST-Planner: Diffusion-Augmented Sequential Topological Planning for Robotic Exploration in Complex Environments, IEEE Robotics and Automation Letters, 2026

5. Kairao Zheng, Zhi Li, Yiqing Yuan, Hui Cheng*. GPTS-Nav: End-to-End Robot Navigation in Dynamic Environments with Graph-Privileged Teacher-Student Reinforcement Learning, IEEE Robotics and Automation Letters, 2026

6. Yihan Tu, Ruidong Mei, Hui Cheng*. OmniVIL-Calib: Target-Free Joint Calibration for Omnidirectional Camera, IMU, and LiDAR, IEEE Robotics and Automation Letters, 2026

7. Haomin Rong, Yuying Chen, Zhiyong Xu, Lijie Xie, Qingyu Yan, Hui Cheng*. Mixture-Of-Experts Policy for Smooth and Stable Multi-Posture Fall Recovery in Bipedal Robot, ICRA, 2026

8. Yiqing Yuan, Zhi Li, Hao Ren, Kairao Zheng, Hui Cheng*. Active Scene Reconstruction with Topological Reasoning and Semantic-Augmented Reinforcement Learning, ICRA, 2026

9. Renming Liu, Hao Ren, Lanxiang Zheng, Yiming Zeng, Ying Wu, Hui Cheng*. VLION: Vision-Language Guided Interactive Object Navigation with Mobile Manipulation, ICRA, 2026

10. Shuhang Wang, Le Zheng, Yiming Zeng, Hui Cheng*. SR-Planner: Sampling-Based Path Planning with Feasibility-Aware Focus Regions and Robust Trajectory Optimization for Mobile Manipulator, IEEE Robotics and Automation Letters, 2025

11. Zhi Li, Kairao Zheng, Yiqing Yuan, Junlong Huang, Xiaoxun Zhang, Jinze Wu, Hui Cheng*. Learning to Explore Efficiently: Heterogeneous Topological Graphs and Lightweight Global Reasoning for Robotic Exploration,  IEEE Robotics and Automation Letters, 2025

12. Zhaoliang Wan, Zetong Bi, Zida Zhou, Hao Ren, Yiming Zeng, Yihan Li, Lu Qi, Xu Yang, Ming-Hsuan Yang and Hui Cheng*. RAPID Hand: Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Embodied Intelligence, NeurIPS, 2025

13. Mingxin Wei, Lanxiang Zheng, Ying Wu, Ruidong Mei, Hui Cheng*. Meta-Learning Enhanced Model Predictive Contouring Control for Agile and Precise Quadrotor Flight, IEEE Trans. on Robotics (T-RO), 2025

14. Ying Wu, Zida Zhou, RenmingLiu, Lanxiang Zheng, Hui Cheng*. A Generic Continuous Multi-Joint Spinal Robotic System for Agile and Accurate Behaviors with GNN-MPC method, Robotics: Science and Systems (RSS), 2025

15. Ying Wu, Zida Zhou, Mingxin Wei, Lijie Xie, Renming Liu, Hui Cheng*. Learning Variable Whole-body Control for Agile Aerial Manipulation in Strong Winds, IEEE Robotics and Automation Letters, 2025

16. Hao Ren, Yiming Zeng, Zetong Bi, Zhaoliang Wan, Junlong Huang, Hui Cheng*. Prior Does Matter: Visual Navigation via Denoising Diffusion Bridge Models, CVPR, 2025

17. Lanxiang Zheng, Mingxin Wei, Ruidong Mei, Kai Xu, Junlong Huang, Hui Cheng*. AAGE: Air-Assisted Ground Robotic Autonomous Exploration in Large-Scale Unknown Environments, IEEE Trans. on Robotics (T-RO), 2025

18. Rui Mao, Hui Cheng*. Effective Heterogeneous Point Cloud-Based Place Recognition and Relative Localization for Ground and Aerial Vehicles, ICRA, 2025

19. Zixuan Zhuang, Le Zheng, Wanyue Li, Renming Liu, Peng Lu, Hui Cheng*. RM-Planner: Integrating Reinforcement Learning with Whole-Body Model Predictive Control for Mobile Manipulation, ICRA, 2025

20. Yiming Zeng, Hao Ren, Shuhang Wang, Junlong Huang, Hui Cheng*. NaviDiffusor: Cost-Guided Diffusion Model for Visual Navigation, ICRA, 2025

21. Hanwen Zhang, Yujie Zheng, Zhewen Yan, Hui Cheng*. Rapid-Mapping: LiDAR-Visual Implicit Neural Representations for Real-Time Dense Mapping, IEEE Robotics and Automation Letters, 2024

22. Zhi Li, Yanjie Yang, Hui Cheng*. Efficient Multi-Agent Cooperation: Scalable Reinforcement Learning with Heterogeneous Graph Networks and Limited Communication, Knowledge-Based Systems, 2024

23. Hao Ding, Yiming Zeng, Zhaoliang Wan, Hui Cheng*. OPG-Policy: Occluded Push-Grasp Policy Learning with Amodal Segmentation, IROS, 2024

24. Yiming Zeng, Mingdong Wu, Long Yang, Jiyao Zhang, Hao Ding, Hui Cheng*, Hao Dong*. LVDiffusor: Distilling Functional Rearrangement Priors from Large Models into Diffusor, IEEE Robotics and Automation Letters, 2024

25. Zhaoliang Wan, Yonggen Ling, Senlin Yi, Lu Qi, Wangwei Lee, Minglei Lu, Sicheng Yang, Peng Lu, Xu Yang, Ming-Hsuan Yang, Hui Cheng*. VinT-6D: A Large-Scale Object-in-hand Dataset from Vision, Touch and Proprioception, ICML, 2024

26. Huajian Huang, Longwei Li, Hui Cheng, Sai-Kit Yeung. Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras, CVPR, 2024

27. Mingxin Wei, Lanxiang Zheng, Hongli Li, Hui Cheng*. Adaptive Neural Network-based Model Path-Following Contouring Control for Quadrotor Under Diversely Uncertain Disturbances, IEEE Robotics and Automation Letters, Feb. 2024

28. Ying Wu, Zida Zhou, Mingxin Wei, Hui Cheng*. Robust and Energy-Efficient Control for Multi-Task Aerial Manipulation with Automatic Arm-Switching, ICRA, 2024

科研项目：

主持的项目：

1. 2022-2025：基于组件化 PNT 平台的协同导航与智能控制及应用验证，国家重点研发计划项目课题（项目：组件化弹性集成导航与控制关键技术及应用验证），No.2022YFB3903804，课题负责人
2. 2023-2026：博弈问题智能分类、规范化描述和体系化标准研究，科技创新2030“新一代人工智能”重大项目课题（项目：对抗条件下自主无人艇集群博弈智能场景应用），No. 2022ZD0119602，子课题负责人
3. 2017-2021：集群无人机分布式自主协同作业关键技术研究与应用，广东省重大科技专项项目，No. 2017B010116003，项目负责人

参与的项目：

1. 2023-2026：空地一体协同监控下多源视频图像融合与处理研究，国家自然科学基金联合基金项目，No. U22A2095，核心参与人
2. 2017-2020：面向服务机器人的情感认知、表达及管理关键技术，国家基金委-深圳市机器人基础研究中心项目，No. U1613211，核心参与人