I am a final-year Ph.D. student in Computer Science at the University of Texas at Austin. I am fortunate to be advised by Professor Yuke Zhu, and I am a member of the Robot Perception and Learning Lab.
I build embodied agents that can continually learn from human interactions in open-world environments. I develop algorithms that facilitate robot learning on the job via human-AI partnership, and build scalable, trustworthy agentic systems for long-term deployment.
I previously did my undergraduate in Computer Science at UC Berkeley, affiliated with BAIR, working with Sergey Levine and Costas Spanos.
@article{liu2026continualvla, title={Pretrained Vision-Language-Action Models are Surprisingly Resistant to Forgetting in Continual Learning}, author={Liu, Huihan and Kim, Changyeon and Liu, Bo and Liu, Minghuan and Zhu, Yuke}, journal={arXiv preprint}, year={2026} } 
@misc{zhang2025scizorselfsupervisedapproachdata, title={SCIZOR: A Self-Supervised Approach to Data Curation for Large-Scale Imitation Learning}, author={Yu Zhang and Yuqi Xie and Huihan Liu and Rutav Shah and Michael Wan and Linxi Fan and Yuke Zhu}, year={2025}, eprint={2505.22626}, archivePrefix={arXiv}, primaryClass={cs.RO}, url={https://arxiv.org/abs/2505.22626}, } 
@misc{liu2025casperinferringdiverseintents, title={Casper: Inferring Diverse Intents for Assistive Teleoperation with Vision Language Models}, author={Huihan Liu and Rutav Shah and Shuijing Liu and Jack Pittenger and Mingyo Seo and Yuchen Cui and Yonatan Bisk and Roberto Martín-Martín and Yuke Zhu}, year={2025}, eprint={2506.14727}, archivePrefix={arXiv}, primaryClass={cs.RO}, url={https://arxiv.org/abs/2506.14727}, } 
@inproceedings{liumulti, title={Multi-Task Interactive Robot Fleet Learning with Visual World Models}, author={Liu, Huihan and Zhang, Yu and Betala, Vaarij and Zhang, Evan and Liu, James and Ding, Crystal and Zhu, Yuke}, booktitle={8th Annual Conference on Robot Learning} } 
@article{liu2024robot, title={Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment}, author={Huihan Liu and Soroush Nasiriany and Lance Zhang and Zhiyao Bao and Yuke Zhu}, journal={The International Journal of Robotics Research}, year={2024} } 
@misc{gao2024prime, title={PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for Data-Efficient Imitation Learning}, author={Tian Gao and Soroush Nasiriany and Huihan Liu and Quantao Yang and Yuke Zhu}, year={2024}, eprint={2403.00929}, archivePrefix={arXiv}, primaryClass={cs.RO} } 
@misc{liu2023modelbased, title={Model-Based Runtime Monitoring with Interactive Imitation Learning}, author={Huihan Liu and Shivin Dass and Roberto Martín-Martín and Yuke Zhu}, year={2023}, eprint={2310.17552}, archivePrefix={arXiv}, primaryClass={cs.RO} } 
@misc{liu2023interactive, title={Interactive Robot Learning from Verbal Correction}, author={Huihan Liu and Alice Chen and Yuke Zhu and Adith Swaminathan and Andrey Kolobov and Ching-An Cheng}, year={2023}, eprint={2310.17555}, archivePrefix={arXiv}, primaryClass={cs.RO} } @inproceedings{liu2022robot, title={Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment}, author={Huihan Liu and Soroush Nasiriany and Lance Zhang and Zhiyao Bao and Yuke Zhu}, booktitle={Robotics: Science and Systems (RSS)}, year={2023} } 
@misc{nasiriany2021augmenting, title={Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks}, author={Soroush Nasiriany and Huihan Liu and Yuke Zhu}, year={2021}, eprint={2110.03655}, archivePrefix={arXiv}, primaryClass={cs.LG} } 
@misc{singh2020parrot, title={Parrot: Data-Driven Behavioral Priors for Reinforcement Learning}, author={Avi Singh and Huihan Liu and Gaoyue Zhou and Albert Yu and Nicholas Rhinehart and Sergey Levine}, year={2020}, eprint={2011.10024}, archivePrefix={arXiv}, primaryClass={cs.LG} } @article{liu2026continualvla, title={Pretrained Vision-Language-Action Models are Surprisingly Resistant to Forgetting in Continual Learning}, author={Liu, Huihan and Kim, Changyeon and Liu, Bo and Liu, Minghuan and Zhu, Yuke}, journal={arXiv preprint}, year={2026} } @misc{zhang2025scizorselfsupervisedapproachdata, title={SCIZOR: A Self-Supervised Approach to Data Curation for Large-Scale Imitation Learning}, author={Yu Zhang and Yuqi Xie and Huihan Liu and Rutav Shah and Michael Wan and Linxi Fan and Yuke Zhu}, year={2025}, eprint={2505.22626}, archivePrefix={arXiv}, primaryClass={cs.RO}, url={https://arxiv.org/abs/2505.22626}, } @misc{liu2025casperinferringdiverseintents, title={Casper: Inferring Diverse Intents for Assistive Teleoperation with Vision Language Models}, author={Huihan Liu and Rutav Shah and Shuijing Liu and Jack Pittenger and Mingyo Seo and Yuchen Cui and Yonatan Bisk and Roberto Martín-Martín and Yuke Zhu}, year={2025}, eprint={2506.14727}, archivePrefix={arXiv}, primaryClass={cs.RO}, url={https://arxiv.org/abs/2506.14727}, } @inproceedings{liumulti, title={Multi-Task Interactive Robot Fleet Learning with Visual World Models}, author={Liu, Huihan and Zhang, Yu and Betala, Vaarij and Zhang, Evan and Liu, James and Ding, Crystal and Zhu, Yuke}, booktitle={8th Annual Conference on Robot Learning} } @article{liu2024robot, title={Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment}, author={Huihan Liu and Soroush Nasiriany and Lance Zhang and Zhiyao Bao and Yuke Zhu}, journal={The International Journal of Robotics Research}, year={2024} } @misc{gao2024prime, title={PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for Data-Efficient Imitation Learning}, author={Tian Gao and Soroush Nasiriany and Huihan Liu and Quantao Yang and Yuke Zhu}, year={2024}, eprint={2403.00929}, archivePrefix={arXiv}, primaryClass={cs.RO} } @misc{liu2023modelbased, title={Model-Based Runtime Monitoring with Interactive Imitation Learning}, author={Huihan Liu and Shivin Dass and Roberto Martín-Martín and Yuke Zhu}, year={2023}, eprint={2310.17552}, archivePrefix={arXiv}, primaryClass={cs.RO} } @misc{liu2023interactive, title={Interactive Robot Learning from Verbal Correction}, author={Huihan Liu and Alice Chen and Yuke Zhu and Adith Swaminathan and Andrey Kolobov and Ching-An Cheng}, year={2023}, eprint={2310.17555}, archivePrefix={arXiv}, primaryClass={cs.RO} } @inproceedings{liu2022robot, title={Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment}, author={Huihan Liu and Soroush Nasiriany and Lance Zhang and Zhiyao Bao and Yuke Zhu}, booktitle={Robotics: Science and Systems (RSS)}, year={2023} } @misc{nasiriany2021augmenting, title={Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks}, author={Soroush Nasiriany and Huihan Liu and Yuke Zhu}, year={2021}, eprint={2110.03655}, archivePrefix={arXiv}, primaryClass={cs.LG} } @misc{singh2020parrot, title={Parrot: Data-Driven Behavioral Priors for Reinforcement Learning}, author={Avi Singh and Huihan Liu and Gaoyue Zhou and Albert Yu and Nicholas Rhinehart and Sergey Levine}, year={2020}, eprint={2011.10024}, archivePrefix={arXiv}, primaryClass={cs.LG} } 
@inproceedings{Zou2019ConsensusAD, title={Consensus Adversarial Domain Adaptation}, author={Han Zou and Yuxun Zhou and Jianfei Yang and Huihan Liu and H. Das and C. Spanos}, booktitle={AAAI}, year={2019} } 
@InProceedings{Zou_2019_CVPR_Workshops, author={Zou, Han and Yang, Jianfei and Prasanna Das, Hari and Liu, Huihan and Zhou, Yuxun and Spanos, Costas J.}, title={WiFi and Vision Multimodal Learning for Accurate and Robust Device-Free Human Activity Recognition}, booktitle={The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops}, month={June}, year={2019} } 
@misc{konstantakopoulos2018deep, title={A Deep Learning and Gamification Approach to Energy Conservation at Nanyang Technological University}, author={Ioannis C. Konstantakopoulos and Andrew R. Barkan and Shiying He and Tanya Veeravalli and Huihan Liu and Costas Spanos}, year={2018}, eprint={1809.05142}, archivePrefix={arXiv}, primaryClass={cs.LG} }