Weiqiao Han

I received a Ph.D. in EECS from MIT, where I was a member of CSAIL, focusing on robotics, machine learning, and optimization. I defended my thesis on Nov. 17, 2022, and interned at Google X (2020) and Waymo (2021). Before MIT, I completed bachelor's and master's degrees at UC Berkeley and worked at the Berkeley Artificial Intelligence Research (BAIR) Lab.

Contact

Email: weiqiaoh@mit.edu

Preprints

DistillKac: Few-Step Image Generation via Damped Wave Equations,
Weiqiao Han, Chenlin Meng, Christopher D. Manning, Stefano Ermon.
arXiv preprint arXiv:2509.21513, 2025. (pdf)

Vector Quantized Feature Fields for Fast 3D Semantic Lifting,
George Tang, Aditya Agarwal, Weiqiao Han, Trevor Darrell, Yutong Bai.
arXiv preprint arXiv:2503.06469, 2025. (pdf)

Publications

* denotes equal contribution.

Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives,
Weiqiao Han*, Ashkan Jasour*, Brian Williams.
International Conference on Intelligent Robots and Systems (IROS), 2023. (pdf)

Non-Gaussian Uncertainty Minimization Based Control of Stochastic Nonlinear Robotic Systems,
Weiqiao Han*, Ashkan Jasour*, Brian Williams.
International Conference on Intelligent Robots and Systems (IROS), 2023. (pdf)

Convex Risk Bounded Continuous-Time Trajectory Planning and Tube Design in Uncertain Nonconvex Environments,
Ashkan Jasour*, Weiqiao Han*, Brian Williams.
International Journal of Robotics Research (IJRR), 2023. (pdf)

KEMP: Keyframe-Based Hierarchical End-to-End Deep Model for Long-Term Trajectory Prediction,
Qiujing Lu*, Weiqiao Han*, Jeffrey Ling, Minfa Wang, Haoyu Chen, Balakrishnan Varadarajan, Paul Covington.
International Conference on Robotics and Automation (ICRA), 2022. (pdf)
Ranked 1st on Waymo Open Dataset Motion Prediction Leaderboard (as of September 1, 2021).

Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments,
Weiqiao Han*, Ashkan Jasour*, Brian Williams.
International Conference on Robotics and Automation (ICRA), 2022. (pdf, MIT News)
Outstanding Planning Paper Award

Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments,
Ashkan Jasour*, Weiqiao Han*, Brian Williams.
Robotics: Science and Systems (RSS), 2021. (pdf)

Real-Time Continuous Risk-Aware Nonlinear Safety Verification in Stochastic Environments,
Ashkan Jasour*, Weiqiao Han*, Brian Williams.
Conference on Decision and Control (CDC), 2021. (pdf)

Singularities and genus of the k-ellipse,
Yuhan Jiang, Weiqiao Han.
Journal of Symbolic Computation, 2021. (pdf)

Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations,
Weiqiao Han, Russ Tedrake.
International Conference on Robotics and Automation (ICRA), 2020. (pdf, video, presentation video)

Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures,
Weiqiao Han, Russ Tedrake.
International Conference on Robotics and Automation (ICRA), 2019. (pdf)

Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures,
Weiqiao Han, Russ Tedrake.
International Conference on Intelligent Robots and Systems (IROS), 2018. (pdf)

Feedback Design for Multi-contact Push Recovery via LMI Approximation of the Piecewise-Affine Quadratic Regulator,
Weiqiao Han, Russ Tedrake.
International Conference on Humanoid Robots (Humanoids), 2017. (pdf)

Learning Compound Multi-Step Controllers under Unknown Dynamics,
Weiqiao Han, Sergey Levine, Pieter Abbeel.
International Conference on Intelligent Robots and Systems (IROS), 2015. (pdf, video)

Education