My research focuses on robotics, large language models, and 3D reconstruction.

I build reproducible research tools, explore native software protection, and contribute focused upstream fixes.

Python · TypeScript · C/C++ · Reproducible experiments · Upstream engineering

My projects · Upstream contributions · 简体中文

Open-source contributions

I contribute fixes in robotics, machine learning, geometry and developer tools. 66 merged PRs across 21 upstream repositories — verified on 19 October 2026.

Verified top-30 contributor-list positions come first; projects within each group are ordered by upstream stars. Every count links to my merged PRs in that repository.

Top-30 contributor-list positions

Project	Upstream ★	Position¹	Merged PRs	Representative work
DeepFace	23,571	#10	17 merged	Face-box clipping, normalization and vector-search correctness. #1655
Denoising Diffusion	10,704	#9	1 merged	Preserve external conditioning and self-conditioning in 1D diffusion. #373
Atomic Agents	6,287	#28	1 merged	Keep existing chat history intact when loading fails. #292
Robotics Toolbox	3,546	#6	11 merged	Kinematics, dynamics, inverse kinematics and URDF correctness. #801
RSL-RL	3,074	#6	2 merged	Resume RND schedules and preserve reward-history ownership. #240
PyPose	1,616	#16	3 merged	Robust-kernel numerical stability and camera-axis broadcasting. #417
skrl	1,101	#3	3 merged	Gaussian policy math and cross-backend exploration consistency. #475
Geoopt	1,100	#3	4 merged	Manifold constraints, gradient projection and stable geometry. #267
pytransform3d	707	#15	2 merged	Stable Lie-group Jacobians and screw-axis translation handling. #389
RoMa	645	#2	4 merged	Quaternion broadcasting, affine shapes and reproducible sampling. #33
Rectified Flow	488	#3	1 merged	Keep NanoFlow inversion in normalized flow coordinates. #50
KinPy	182	#2	3 merged	World-frame Jacobians with consistent axes and link offsets. #29
Elements	73	#3	2 merged	Preserve hidden filenames and correct local-path operations. #19
qpmpc	55	#2	1 merged	Preserve absent state constraints in receding-horizon updates. #15

More merged upstream work

Project	Upstream ★	Merged PRs	Representative work
REA	331,627	1 merged	Deduplicate selected clients before generating setup plans. #3919
Haystack	26,773	1 merged	Keep pipeline snapshots reusable after a resumed run. #13076
Recommenders	21,957	2 merged	Preserve custom columns and reject invalid top-k values. #2389
Sentence Transformers	19,192	3 merged	Ranking gradients, encoder masks and float16 quantization. #4127
Kornia	11,435	2 merged	Finite geometry gradients and stable small-root quartics. #5517
MLxtend	5,187	1 merged	Separate extracted emoticons from the preceding final word. #1207
Geomstats	1,525	1 merged	Propagate product-metric parallel transport to each factor. #2131

¹ Positions follow GitHub’s commit-sorted contributor list, not PR counts or maintainer status. Equal commit counts follow GitHub’s returned order. Stars and positions are dated snapshots. The second table includes repositories without a verified top-30 placement. All 66 PRs, commit counts and verification method.

Projects I build

Anti-REA Forge — MIT · v0.4. Native release hardening with CMake-ready build integration, PE/ELF checks, guarded C++ memory and one-use request authorization. Explore runnable examples, cross-platform CI and research-guided design. Project story · Join the community.

Robotics	Large language models	3D reconstruction
Bag Timeline Audit Read-only ROS 2 SQLite/MCAP timestamp diagnostics.	LLM Handshake Bounded OpenAI-compatible endpoint probes and report comparisons.	ReconTrail CPU photogrammetry, sparse geometry and offline reports.
TF Route Audit Exported TF and native URDF topology/time-window checks.	SSE Toolcall Audit and Tooltrace Audit Saved stream and tool-execution diagnostics.	Pose Convention Bridge and COLMAP Model Audit Explicit pose conversion and text-model preflight.

Research and engineering workflow: Research to Fix · Debate Direction · StewardCheck · Agent Action Notifier.

How I work: isolate the symptom, understand the boundary, write a regression, and make the result inspectable. The six domain utilities have 67 local tests and 36 passing OS/Python CI combinations at the recorded release. These are experimental diagnostics and conversion tools; each repository documents its limits.

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Project guide · Demand research · Contribution record