My research focuses on robotics, large language models, and 3D reconstruction.
I build reproducible tools and contribute focused fixes to the libraries behind them.
Python · TypeScript · Reproducible experiments · Upstream engineering
| 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 · Jev MCP.
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.
Public upstream work: 41 merged PRs across 17 repositories, checked on 14 October 2026. The examples below are code fixes with accompanying regression coverage.
| Upstream project | What I contributed | Evidence |
|---|---|---|
| DeepFace · 23,549 ★ | Clip face boxes before array slicing; add crop-bound regressions. | #1655 · merged |
| Sentence Transformers · 19,171 ★ | Preserve ranking-loss gradients with weighted log-sigmoid. | #4116 · merged |
| Kornia · 11,424 ★ | Normalize small-root quartics to restore numerical threshold behavior. | #5474 · merged |
| Denoising Diffusion · 10,706 ★ | Route external and self-conditioning consistently in 1D diffusion. | #373 · merged |
| Atomic Agents · 6,283 ★ | Keep prior chat history intact when loading fails. | #292 · merged |
| Robotics Toolbox · 3,536 ★ | Preserve Unicycle angular turn-rate units and limit semantics. | #719 · merged |
| RSL-RL · 3,065 ★ | Resume the RND exploration schedule from PPO checkpoints. | #240 · merged |
| PyPose · 1,614 ★ | Keep Cauchy objective values accurate for small residuals. | #416 · merged |
Stars belong to the upstream projects and are a dated snapshot. PR links show the exact changes, reviews and validation limits. Contribution details.
The repository owner approved the current PR revisions. Both are awaiting merge and are separate from the merged contributions above.
| Contribution | Change | Review milestone |
|---|---|---|
| Robotics Toolbox #735 | Use circular heading moments in particle filters. | Owner approval · awaiting merge |
| Robotics Toolbox #736 | Normalize quintic trajectory time to preserve boundary constraints. | Owner approval · awaiting merge |