Kenghou Hoi

I am a master's student in Control Science and Engineering at Zhejiang University, advised by Prof. Fei Gao at FAST Lab. My research focuses on manipulation, tactile sensing, robot perception and control, motion planning, and reinforcement learning. I received my B.Eng. in Communication Engineering from Beijing University of Posts and Telecommunications. I am from Macao SAR, China.

Research Interests

My research interests include manipulation, tactile sensing, robot perception and control, motion planning, reinforcement learning, and autonomous robotic systems. I am particularly interested in robust systems that combine visual and force feedback for contact-rich interaction in real-world environments.

Publications & Projects

^* Equal contribution.

Learning Robust Aerial Grasping from Monocular RGB Vision via Reinforcement Learning

Kenghou Hoi, Xinqi Liu, Hongliang Huang, Junjie Wang, Anke Zhao, Jiarui Zhang, Si Liu, Juncai Long, Xin Zhou, Jialiang Hou, Yuze Wu, and Fei Gao

IEEE Transactions on Robotics (T-RO), under review

A Precise Real-Time Force-Aware Grasping System for Robust Aerial Manipulation

Kenghou Hoi^*, Yuze Wu^*, Annan Ding^*, Junjie Wang, Anke Zhao, Jialiang Hou, Chengqian Zhang, and Fei Gao

ICRA 2026

| Paper | Video |

A Fully Onboard Integrated Aerial Grasping System for Moving Targets in Cluttered Environments

Junjie Wang^*, Kenghou Hoi^*, Yuze Wu^*, Tianyu Zhao, Jialiang Hou, and Fei Gao

IEEE/ASME Transactions on Mechatronics (T-MECH), under review

FlyHand-WAM: Learning Generalizable Aerial Manipulation with World Action Models

Chengyong Lei^*, Kenghou Hoi^*, Jialiang Hou, and Fei Gao

IEEE Robotics and Automation Letters (RA-L), under review

Agile Fall Recovery for Quadrotors with Bidirectional Thrust via Reinforcement Learning

Anke Zhao, Yuhang Zhong, Kenghou Hoi, Junyu Mou, Junjie Wang, Lijie Wang, Jialiang Hou, and Fei Gao

IEEE Robotics and Automation Letters (RA-L)

| Paper |

Learning LiDAR-Based Dynamic Obstacle Avoidance via Time-to-Collision Supervision

Yuhang Zhong^*, Anke Zhao^*, Kenghou Hoi, Mingli Zhu, Long Xu, Jialiang Hou, and Fei Gao

IEEE Transactions on Automation Science and Engineering (T-ASE), under review

Video coming soon

DPNet: Efficient Dead-End Prediction and Avoidance for Vision-Based UAV Navigation

Ruibin Zhang, Lun Pan, Kenghou Hoi, Zelong Xia, Jialiang Hou, and Fei Gao

IEEE Robotics and Automation Letters (RA-L), under review

| Paper |

High-Speed Vision-Based Flight in Clutter with Safety-Shielded Reinforcement Learning

Jiarui Zhang, Chengyong Lei, Chengjiang Dai, Kenghou Hoi, Lijie Wang, Zhichao Han, and Fei Gao

IEEE Robotics and Automation Letters (RA-L), 2026

| Paper | IEEE |

Fixed-Camera Aerial Filming of Aggressively Maneuvering Ground Vehicles via Reinforcement Learning

Junyu Mou, Anke Zhao, Kenghou Hoi, Jialiang Hou, and Fei Gao

IEEE Robotics and Automation Letters (RA-L), under review

Acting in Meters: Learning Metric Interactions for Precise Robotic Manipulation

Lijie Wang^*, Zheng Lu^*, Yiming Wang^*, Heyang Yu, Kenghou Hoi, Bowen Hu, Di Cui, Tianyu Xin, Haoran Liao, Wanqi Zhong, Xingjie Fan, Yizhao Xu, Ziliang Wang, Fei Gao, and Yiming Li

International Conference on Learning Representations (ICLR), 2027, under review

| Paper |

Benchmarking Interaction-Oriented Aerial Mobility across Heterogeneous Environments

Zhibo Duan^*, Hanlin Kong^*, Tianran Ma, Yuze Wu, Yuxuan Xu, Kenghou Hoi, Changheng Xie, Xin Zhou, Jianzhe Gao, Fei Gao, and Wenguan Wang

International Conference on Learning Representations (ICLR), 2027, under review

| Paper |