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A batch-wise extension of Point-LIO featuring within-window motion undistortion, batched EKF updates, and parallel computation for high-bandwidth LiDAR-inertial odometry.
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An end-to-end RL control deployment stack for FPGA and MCU, with bit-exact fixed-point verification across five implementations and a measured 14.4× FPGA pure-inference speedup over Cortex-M7.
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Robotics Engineering undergraduate at Beijing Institute of Technology.
I work across algorithms, software, and hardware to turn robotics research into reliable systems, with an emphasis on real-robot deployment and reproducible results.
34 merged upstream PRs in total. Selected below: 15 projects · 18 PRs.
| Project · merged PRs | Contribution |
|---|---|
| vLLM · #48153 | Mistral Large 3 weight loading |
| DeepSpeed · #8154 · #8144 | Pipeline gradient scaling & ZeRO-3 hooks |
| LangChain · #38765 | Anthropic thinking-stream replay |
| Hugging Face TRL · #6439 · #6348 | GRPO loss normalization & DPO/KTO reference caching |
| OpenRLHF · #1261 | Qwen3.5 frozen weights under ZeRO-3 |
| NVIDIA CCCL · #9785 | Compiler builtin for CUDA byteswap |
| NVIDIA OSMO · #1211 | S3 validation endpoint handling |
| Rust Cargo · #17203 | Compiler-test race fix |
| Project · merged PRs | Contribution |
|---|---|
| ros2_control · #3454 | Controller update-rate safety |
| CycloneDDS · #2425 | Signal-mask recovery on thread creation failure |
| iceoryx2 · #1818 | C++ node ID access |
| ROS 2 · ros2cli · #1257 | Interface comment filtering |
| ROS 2 · rmw_cyclonedds · #591 · #590 | Log severity & receive-buffer diagnostics |
| OpenCV · #29487 | Calibration & projection documentation corrections |
| Gymnasium · #1618 | Camera configuration in rendering |
View all 34 merged PRs · 29 repositories
| Project | Merged PRs & contributions |
|---|---|
| Biome | #10915 — noNegationInEqualityCheck lint rule |
| Sliver | #2286 — prevent UA leak on proxy CONNECT |
| CCXT | #29192 — Backpack ticker percentage normalization |
| Comfy-Org / comfy-angle | #6 — build headless Linux ANGLE wheels without X11, Wayland, or GBM dependencies |
| Conda | #16391 — type hints and docstrings |
| DeepSpeed | #8154 — repeated gradient scaling across pipeline stages #8144 — ZeRO-3 hooks for attribute-delegating modules |
| DuckDB | #23773 — VARCHAR→DECIMAL scientific-notation rounding |
| CycloneDDS | #2425 — restore signal mask when pthread_create fails |
| iceoryx2 | #1818 — add node_id() getter to C++ NodeState |
| Gymnasium | #1618 — default_camera_config render fix |
| PatchWing | #3 — portable refactor with bilingual docs #1 — P0 audit fixes (DB paths, NameError crash) |
| Hugging Face TRL | #6439 — GRPO truncated-completion loss normalization #6348 — DPO/KTO ref-log-prob FileNotFoundError |
| LangChain | #38765 — preserve empty Anthropic thinking blocks during streamed signature replay |
| NautilusTrader | #4443 — consolidation data loss with single-file windows |
| NVIDIA CCCL | #9785 — cuda::std::byteswap via __builtin_bswapg |
| NVIDIA OSMO | #1211 — use default or IRSA S3 endpoints when validating ambient credentials |
| OpenCV | #29487 — calibration docs, decomposeProjectionMatrix, convertMaps claims |
| OpenRLHF | #1261 — Qwen3.5 ZeRO-3 frozen-weight detection |
| NetExec | #1311 — add get_keys fallback to prevent export keys crash |
| ros2_control | #3454 — guard update_rate against modulo-by-zero UB |
| ROS 2 / rmw_cyclonedds | #591 — downgrade noisy type-hash parse log to DEBUG #590 — warn when net.core.rmem_max is below CycloneDDS minimum |
| ROS 2 / ros2cli | #1257 — interface show --no-comments stops leaking comments |
| pandas_market_calendars | #469 — CME Energy/Metals early closes 2026 |
| Rust Cargo | #17203 — race in cargo_compile_with_invalid_code_in_deps |
| poc-lab | #21 — BUILD.md for Januscape PoC kernel module #20 — standard .gitignore patterns |
| Velociraptor | #4921 — missing columns in stateful shell ack rows |
| vLLM | #48153 — migrate Mistral Large 3 to AutoWeightsLoader |
| Vyper | #5185 — reject bare await keyword |
| ARIS | #360 — default to provenance-checked native cross-model review |
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