Haofei Ma马浩飞
The Hong Kong Polytechnic University, Hong Kong
Education
Harbin Institute of Technology
Sep. 2022 – Jun. 2024Hebei University of Technology
Sep. 2018 – Jun. 2022Research Experience
Intelligent Industrial Embodied Multimodal Data Acquisition Terminal
Dec. 2025 – NowGlovity / TeleX wearable teleoperation, CobotAI
- Leading product development of Glovity, a low-cost wearable teleoperation system for dexterous manipulation and embodied-AI data collection, covering haptic gloves, spatial force feedback devices, and the open-sourced TeleX-SDK software stack.
- Applied the platform as a framework for industrial embodied-intelligence data acquisition and human-to-robot skill transfer, covering multi-modal demonstration collection and policy deployment.
Visuo-Haptic Learning for Contact-Rich Manipulation
Sep. 2024 – NowHapticDP; mixed-reality teleoperation and field deployments
- Developed HapticDP, an asynchronous visuo-haptic planning framework that decouples diffusion policy inference into a vision-guided global planning loop and a force–tactile-guided local refinement loop, enabling receding-horizon 50 Hz control within a unified U-Net architecture for contact-rich tasks such as wiping, polishing, insertion, and screwdriving.
- Built a bilateral teleoperation system integrating Apple Vision Pro mixed-reality tracking with wearable haptic gloves to collect synchronized multi-modal demonstrations; validated on a dual-arm platform with dexterous hands.
- Field work includes AR-assisted aircraft drilling on large structures (Wuxi, 2025), HKPC courier-parcel unpacking, and bimanual teleoperated sorting as human-in-the-loop layers for later visuo-haptic policies.
Sampling Robots in Complex Environments
Mar. 2023 – May 2024NSFC General Program
- Built a model-free 6D pose estimation network from perspective matching, with accurate estimates for seen objects and a coarse estimate plus refinement path for untrained objects when a sparse point cloud is available.
- Proposed pose-guided point-cloud fusion and filtering to fill single-view gaps at object edges and remove noise before grasp generation.
- Used the completed cloud with a grasp-angle network and a fast search strategy to raise grasp success and robustness, and validated the stack in simulation and on a 6-DoF arm with a RealSense camera under ROS/Ubuntu 20.04.
Autonomous Suture Operation Robot System for Endoscopic Surgery
Feb. 2023 – Jul. 2023National Key R&D Program of China
- Segmented surgical instruments and lesion tissue with YOLOv8 and recovered the spatial pose of the instrument tip.
- Fused camera and arm kinematics through hand–eye calibration and executed basic visually servoed motions.
Rock Core Box Handling Robot
Aug. 2022 – Feb. 2023State Key Laboratory contract project
- Combined infrared obstacle sensing with an area laser for stack height and alignment, and Mask R-CNN plus depth for corner coordinates during visual servoing.
- Used a monocular camera and ArUco markers for in-place 2D pose correction from marker offset and yaw.
Medical Multi-DoF Pan–Tilt Control System Based on Binocular Vision
Jan. 2022 – Jun. 2022Bachelor’s thesis
- Designed a compact multi-DoF pan–tilt with an internal-gear slew bearing, protective sensor housings, and STM32 / A4988 hardware control talking to a ROS host.
- Implemented short-term single-target tracking from HOG and SIFT matching, and validated the system with 3D-printed structure, a RealSense camera, and NEMA-17 steppers.
Spherical Metamorphic Robot for Wide-Area Environmental Sensing
Jun. 2020 – Oct. 2020Undergraduate research
- Laid out the spherical chassis, internal controller and sensors, and leg-motor geometry, and implemented STM32 gait control.
- Integrated Bluetooth, IMU, temperature/humidity and gas sensors so the robot could be driven remotely while streaming environmental readings.
Publications
- Peng Zhou, Jun Hu, Sihan Chen, Zeqing Zhang, Haofei Ma, Zhenyu Lu, Sichao Liu, Xueqian Wang, Pai Zheng, Xiang Li, Shan Luo, Jia Pan, David Navarro-Alarcon, Chenguang Yang, and Michael Yu Wang. Vision-Based Tactile Intelligence for Robotics: Sensing, Learning, and Embodied Manipulation. arXiv preprint arXiv:2608.15490, 2026. Link
- Tian Wang, Benhua Gao, Haofei Ma, Guoquan Zhang, Duidi Wu, and Pai Zheng. A vision-language conditioned physics-aware imitation learning approach for bimanual robotic dexterous assembly. CIRP Annals, 2026. DOI
- Yuyang Gao, Haofei Ma, and Pai Zheng. Glovity: Learning Dexterous Contact-Rich Manipulation via Spatial Wrench Feedback Teleoperation System. arXiv preprint arXiv:2510.09229, 2025. Link
- Wenda Xu, Zhihang Tan, Zexin Cao, Haofei Ma, Gongcheng Wang, Han Wang, Weidong Wang, and Zhijiang Du. DP4AuSu: Autonomous Surgical Framework for Suturing Manipulation Using Diffusion Policy with Dynamic Time Wrapping-based Locally Weighted Regression. The International Journal of Medical Robotics and Computer Assisted Surgery, 2025. DOI
- Haofei Ma, Gongcheng Wang, Hua Bai, Zhiyu Xia, Weidong Wang, and Zhijiang Du. Robotic Grasping Method with 6D Pose Estimation and Point Cloud Fusion. The International Journal of Advanced Manufacturing Technology, 2024. DOI
- Zhiyu Xia, Han Wang, Yulong Men, Haofei Ma, Zexin Cao, Weidong Wang, and Zhijiang Du. Kalman Filter-based EM-optical Sensor Fusion for Bone Needle Position Tracking. IEEE Sensors Journal, 2024. DOI
- Gongcheng Wang, Haofei Ma, Han Wang, Pengchao Ding, Hua Bai, Wenda Xu, Weidong Wang, and Zhijiang Du. Reactive mobile manipulation based on dynamic dual-trajectory tracking. Robotics and Autonomous Systems, 2024. DOI
- Hua Bai, Wenrui Gao, Haofei Ma, Pengchao Ding, Gongcheng Wang, Wenda Xu, Weidong Wang, and Zhijiang Du. A study of robotic search strategy for multi-radiation sources in unknown environments. Robotics and Autonomous Systems, 2023. DOI
Patents
- Haofei Ma, Pai Zheng. A Haptic-Guided Asynchronous Diffusion Policy Method for Robot Contact-Rich Manipulation. Invention Patent (Submitted).
- Weidong Wang, Hengbin Liang, Haofei Ma, Gongcheng Wang. A Rock Core Box Handling Robot. Invention Patent CN202310547284.5 (Pending). Link
- Yuhan Rao, Manhong Li, Haofei Ma, Yuchong Gao, Nuo Zhang, Xinyu Liu. A Spherical Metamorphic Robot and An Environmental Information Monitoring System. Utility Model Patent CN202120212154.2 (Granted). Link
- Bao Li, Manhong Li, Shuofan Li, Haofei Ma, Jidong Guo, Yuchong Gao, Yingxin Dong. A Rope Driven Cleaning Robot. Utility Model Patent CN202120545507.0 (Granted). Link
- Yihan Gao, Haofei Ma, Shaoan Chen, Haoran Sun, Chenxi Song. Small Ocean Vehicles Using Wave Energy to Generate Electricity. Utility Model Patent CN202020078465.X (Granted). Link
- Haofei Ma. Identity Recognition and Infrared Temperature Measurement Control System. Software Copyright 2021SR1391064 (Granted). Link
Technical Skills
- Programming: Python, C/C++, MATLAB, LaTeX
- AI & Deep Learning: PyTorch, Diffusion Policy / Imitation Learning, Reinforcement Learning, Computer Vision, 6D Pose Estimation, Point Cloud Processing
- Robotics: ROS/ROS2, Robot Learning, Teleoperation (Vision Pro MR / Haptic Devices), Mobile Manipulation
- Hardware: Dual-arm Robot, Dexterous Hands, Apple Vision Pro, Force/Tactile Sensors
- CAD & Embedded: SolidWorks, AutoCAD, STM32, Raspberry Pi
Honors and Awards
- Hegao Scholarship · Harbin Institute of TechnologyJun. 2024
- LEAD Intelligent · Wang Yanqing Scholarship · Graduate scholarshipDec. 2023
- Top Grade Scholarship · Harbin Institute of TechnologySep. 2023
- Provincial Outstanding Graduates · Top 1%Jun. 2022
- Provincial Merit Student · Top 1%May 2021
- National Scholarship · Top 0.3% (2/702)Dec. 2020
Competitions
- “Internet +” Innovation and Entrepreneurship Competition, Hebei Silver AwardSep. 2021
- National College Mechanical Innovative Design Competition, Hebei Second Prize2021
- Electronic Design Competition (TI Cup), Tianjin Second PrizeOct. 2020
- Hebei College Student Robotics Competition, Second Prize2020
- Hebei Mathematics Competition, First Prize; Tianjin Mathematics Competition, Second PrizeDec. 2019
- Zhou Peiyuan Mechanics Competition, Hebei Second Prize2019
Activities and Societies
- School Office Assistant, Harbin Institute of TechnologyFeb. 2023 – Jul. 2023
- Class Leader and Academic Committee Member, Hebei University of TechnologyFeb. 2022 – Jun. 2022
- Director of Haier Key Maker-Lab, Hebei University of TechnologySep. 2020 – Aug. 2021
- Volunteer for COVID-19 prevention and HIT graduate-admission interviews2020 – 2023