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 foundation model architecture at LEAP Lab. I also served as the Decision Team Leader of the THMOS humanoid robotics team. My research interests include foundation model architecture and Test-Time Training.

News

• [07/2025] 🎉 THMOS won 2nd place in KidSize and 4th place in AdultSize in the Humanoid Soccer League at RoboCup 2025!
• [05/2025] 🎉 THMOS won 1st place in the Humanoid Soccer League at RoboCup China Open 2025!
• [07/2024] 🎉 THMOS placed in the Top 8 in KidSize and 5th in AdultSize in the Humanoid Soccer League at RoboCup 2024!
• [06/2024] 🎉 THMOS won 1st place in the Humanoid Soccer League at 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 - present
  B.E., Vehicle Engineering, Tsinghua University

Internships

• 2026.07 - present
  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 of Scientific Research in the Lab, Teaching Assistant, Fall 2024

Professional Service

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