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电子科技大学（UESTC）在读学生，聚焦移动机器人导航、路径规划与系统工程。通过固定对照实验、边界测试和上游代码审阅持续验证工作。
Student at UESTC, working on mobile robotics, motion planning, and reliable software systems.
- 3YD / ROS 2 navigation workspace — 本地 r11 A+B 静态规划基线在固定集保持 30/30 严格成功，查询峰值 RSS 降低 35.2%，总体查询耗时中位数降低 17.0%。同环境对照；计时不含一次性准备及栈启动。公开仓库为较早快照。实验摘要与边界。
- Autolabor Robot Navigation — ROS Noetic 双机导航、FAST-LIO、覆盖规划、异步 Hybrid A* 与 TEB；195 项工作区测试 + 10 项隔离生命周期测试通过。完成 ARM64 构建与部署检查，该优化批次未进行实车运动性能验收。
- EGO-Planner on Ground — 地面车二维规划、B 样条轨迹、MPC 控制与点云预处理的适配实践。
7 pull requests merged into 6 external upstream projects, verified on 2026-09-22. Merges into my own repositories are not included.
| Project | Merged contribution |
|---|---|
| Sparse #963 | Preserve zero-dimensional arrays in COO / DOK construction and conversion |
| Sparse #957 | Avoid dense column-selector allocation in GCXS basic slicing |
| Robotics Toolbox #669 | Preserve joint types and limits in numerical inverse kinematics |
| pytransform3d #373 | Fix batch axis-angle conversion and output allocation |
| Trimesh #2600 | Correct the principal angle returned by vector alignment |
| Gymnasium #1694 | Require matching Tuple lengths in space compatibility checks |
| PettingZoo #1457 | Avoid overflow when rescaling wide finite float64 observation bounds |
In review: Sparse #962 adds sparse boolean masks to COO / GCXS indexing. Updated following review; 243 targeted tests and the GitHub Numba Array API check pass. Not merged as of the date above.
C++ / Python · ROS 1 / ROS 2 · Nav2 · FAST-LIO / ICP · Hybrid A* / TEB · B-spline / MPC · Linux · automated testing and performance analysis.
- FOSSASIA — public GitHub organization member. Membership
- Your First Open Source Project (YFOSP) — public GitHub organization member. Membership
Some implementation, tests, and documentation used AI assistance. Results are based on recorded experiments, executed validation, and upstream merge records; local tests, review approval, and merging are distinct outcomes.