Ruofei Bai (白若飞)

Ruofei Bai (白若飞)

PhD candidate @ Nanyang Technological University

Publications

Preprints

  1. Ruofei Bai, J Chen, Y Cai, J Li, WY Yau, L Xie. “Robots as Tokens: Unified Diffusion Transformer for Coordinated Multi-Robot Trajectory Generation”, Submitted to CoRL 2026. [Paper] [Project]
  2. Y Cai, Z Li, M Wang, M Bao, H Zhu, Ruofei Bai, D Zhao, Z Li, W Wang, WY Yau, J Zhang, C Lv. “IntentNav: Learning Spatial-Visual Object Navigation from Human Demonstrations”, Submitted to CoRL 2026. [Paper] [Project]
  3. Ruofei Bai, S Yuan, X Xu, X Ji, X Li, H Guo, WY Yau, L Xie. “Line-of-Sight-Constrained Multi-Robot Mapless Navigation via Polygonal Visible Regions”, Submitted to RA-L. [Paper] [Code]
  4. P Yin, S Yuan, H Cao, X Ji, Ruofei Bai, S Chen, L Xie. “Gaussian Semantic Field for One-shot LiDAR Global Localization”, Submitted to RA-L. [Paper]
  5. S Zhu, Y Xu, Ruofei Bai, L Li, J Chen, L Xie, J Xu. “Learning Generalizable Policies with Multi-Task Pre-Training for Multi-Robot Exploration”, Submitted to IJRR.

Published Articles

  1. J Chen, Y Cai, Y Wang, Ruofei Bai, Y Cao, J Li, YW Yun, G Sartoretti. “ImagiNav: Scalable Embodied Navigation via Generative Visual Prediction and Inverse Dynamics”, 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). [Paper]
  2. J Sheng*, Ruofei Bai*, K Xu, R Liu, J Chen, S Yuan, WY Yau, L Xie. “Beyond Imitation: Reinforcement Learning Fine-Tuning for Adaptive Diffusion Navigation Policies”, 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). [Paper]
  3. Y Sun, H Wang, Ruofei Bai, Z Li, J Li, M Yee, WY Yau. “TIDAL: Temporally Interleaved Diffusion and Action Loop for High-Frequency VLA Control”, 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). [Paper]
  4. Ruofei Bai, S Yuan, K Li, H Guo, WY Yau, L Xie. “Realm: Real-Time Line-of-Sight Maintenance in Multi-Robot Navigation with Unknown Obstacles”, 2025 IEEE International Conference on Robotics and Automation (ICRA). Best Conference Paper Award Finalist. [Paper] [Code]
  5. T Hu, S Yuan, Ruofei Bai, X Xu, Y Liao, F Liu, L Xie. “Swept Volume-Aware Trajectory Planning and MPC Tracking for Multi-Axle Swerve-Drive AMRs”, 2025 IEEE International Conference on Robotics and Automation (ICRA). [Paper]
  6. X Li, K Xu, F Liu, Ruofei Bai, S Yuan, L Xie. “AirSwarm: Enabling Cost-Effective Multi-UAV Research with COTS drones”, 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). [Paper] [Code]
  7. Y Liao, X Xu, Ruofei Bai, Y Yang, M Cao, S Yuan, L Xie. “Following Is All You Need: Robot Crowd Navigation Using People As Planners”, IEEE Robotics and Automation Letters (RA-L), 2025. [Paper] [Code]
  8. Ruofei Bai, H Guo, WY Yau, L Xie. “Graph-based SLAM-Aware Exploration with Prior Topo-Metric Information”, IEEE Robotics and Automation Letters (RA-L), 2024. [Paper] [Code]
  9. Ruofei Bai, S Yuan, H Guo, P Yin, WY Yau, L Xie. “Multi-Robot Active Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization”, 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). [Paper] [Code]
  10. Ruofei Bai, R Zheng, M Liu, S Zhang. “Hierarchical Multi-Robot Strategies Synthesis and Optimization under Individual and Collaborative Temporal Logic Specifications”, Robotics and Autonomous Systems (RAS), 2022. [Paper]
  11. Ruofei Bai, R Zheng, M Liu, S Zhang. “Multi-Robot Task Planning under Individual and Collaborative Temporal Logic Specifications”, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). [Paper] [Code]