Ruca Milda (ルカ・ミルダ Ruka Miruda?) is the main protagonist of Tales of Innocence. He is the reincarnation of the Sensus general Asura. Ruca is the son of a merchant and lives in Regnum's capital city that shares its name. He is a shy honors student who is constantly picked on by his classmates. On his way back from a shop, he meets a hungry Illia Animi, and later, he and Illia encounter a couple of Avatar hunters who attempt to capture the two.