Ruize He 「何睿泽」

Undergraduate Student, School of Vehicle and Mobility, Tsinghua University

herz23@mails.tsinghua.edu.cn

GitHub: Horizonll

Google Scholar

I am an undergraduate student at Tsinghua University. I have conducted research on network architecture for foundation models at LEAP Lab. Additionally, I served as the Decision Team Leader of the THMOS humanoid robotics team. My research interests are foundation model architecture and Test-Time Training.

News

• [07/2025] 🎉 THMOS won the 2nd place in the Humanoid League KidSize and 4th place in the AdultSize at RoboCup 2025!
• [05/2025] 🎉 THMOS won the 1st place in the Humanoid League of the RoboCup China Open 2025!
• [07/2024] 🎉 THMOS won the TOP 8 in the Humanoid League KidSize and 5th place in the AdultSize at RoboCup 2024!
• [06/2024] 🎉 THMOS won the 1st place in the Humanoid League of the RoboCup China Open 2024!

Publications

Google Scholar

1. Linear-Time Global Visual Modeling without Explicit Attention

   Ruize He*, Dongchen Han*, Gao Huang

   arXiv preprint, 2026

   arXiv·code

Education

• 2023 - now B.E., School of Vehicle and Mobility, Tsinghua University

Internships

• 2026.07 - now Huawei 2012 Lab

Awards and Honors

2025

• RoboCup 2025 Humanoid League KidSize, 2nd Place
• RoboCup 2025 Humanoid League AdultSize, 4th Place
• RoboCup China Open 2025 Humanoid League, Champion
• Toyota × Future Mobility Innovation Challenge, 1st Prize
• Challenge Cup, 2nd Prize
• Friends of Tsinghua — Tsingyan Huake Scholarship

2024

• RoboCup 2024 Humanoid League KidSize, Top 8
• RoboCup China Open 2024 Humanoid League, Champion
• Global Campus AI Algorithm Elite Competition, China, 1st Prize
• Global Campus AI Algorithm Elite Competition, Beijing, 1st Place
• Intelligent Vehicle Competition, 1st Prize
• Intelligent Vehicle Competition, Excellence Award
• Hardware Design Competition People’s Livelihood Track, 1st Prize
• Hardware Design Competition, 3rd Prize
• Chen Xiaoyue Scholarship

Talks

• “Perception and Decision Making in Humanoid Soccer Robots”, Spark Day, 2025.
• “Text-Guided Visual Understanding in Multimodal Large Models”, 2025.

Teaching

• Humanoid Soccer Robot, Teaching Assistant, Fall 2025.
• Intelligent Car, Teaching Assistant, Spring 2025.
• Humanoid Soccer Robot, Teaching Assistant, Fall 2024.
• Exploration to Scientific Research of Lab, Teaching Assistant, Fall 2024.

Professional Service

• Decision Group Leader, THMOS
• The World Humanoid Robot Games Referee