Tianhao Peng

Tianhao Peng

Research Fellow

Nanyang Technological University, Singapore

I am a Research Fellow in the College of Computing and Data Science (CCDS) at Nanyang Technological University, Singapore. My postdoctoral supervisor is Professor Dacheng Tao. I received my bachelor’s degree in Computer Science and Technology in 2020 and my PhD in January 2026 from Beihang University, where Professor Wenjun Wu was my doctoral advisor.

My current research focuses on reasoning dynamics in foundation models and embodied multi-agent systems. My earlier work includes graph data mining and intelligent education.

Research

I study how reasoning changes as information becomes available, from intermediate states in foundation models to joint plans in robot teams.

Theoretical foundation

Reasoning Dynamics

Denoising in a diffusion language model gives me a sequence of intermediate states to examine. I want to understand when the model has enough information to answer, where errors arise, and when another step can help.

A prompt passes through three denoising steps. The changing dot patterns illustrate how the model’s intermediate states evolve before it produces an answer.

Embodied Multi-Agent Systems

I study collective reasoning in teams of heterogeneous robots, such as a wheeled unmanned ground vehicle, a quadruped, a drone, and a robotic arm. I ask how they should share observations, divide the work, and revise their joint plan.

Joint plan

A wheeled unmanned ground vehicle, a quadruped, a drone, and a robotic arm share local observations and receive assignments from their joint plan.
Wheeled UGVQuadrupedDroneRobotic arm

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Selected Work

* Equal contribution.