3D Rotation Converter and Visualizer

Calendar and Tasks

Design · Robotics Software Abstraction

January Collection

LLM Mini Arena

2D Layout Sketcher

Weather Forecast

December Collection

Residential Electricity Memo

November Collection

Frontend Tests

October Collection

Mind and Body

September Collection

Frameworks · Embodied AI Robotics

August Collection

System · Ubuntu Setup Notes, Secondary

Yangzhou, Jiangsu

Elements of Embodied AI Robotics

G217, Duku Highway

High-Order Butterworth Filters, Time and Frequency Analysis

Qinhuai River, Fuzi Temple

Impedance Change of Basis, Generalization

Random Weekend Trips

Nullspace Concepts, Robotics Applications, Implementation

The Pamir Plateau and Tianshan Canyons

Least Squares, Minimum Norm, Pseudo-Inverse Solutions

Deep Into the Mountains

Rotation Dynamics, Magnus Series, and Implementation

Tropical Weekend

Eigen · Rotation Logarithm and Exponential

Nanjing, Jiangsu

Eigen 101 · Aliasing, Function Arguments and Reference

Early Spring Road Trip

Python · Poetry Project Notes

Mid-March Heavy Snow in Beijing

ROS-2 · Foxglove Visualization

Tianshan Mountains in Winter

ByteDance 1st Anniversary, 2024-2025

System · Debian Package Creation

Point-to-Point Trajectory Interpolation in SO(3)

Chongqing, the Fog City

First-Order Low-Pass Filters in Rn and SE(3)

C++ · Robot Interface Abstraction

System · Ubuntu Setup Notes

C++ · A Simple CSV Logger

C++ · Finite State Machine Abstraction

Bytedance, Spot Bonus H2 2024

ROS-2 · Rviz and Gazebo

C++ · Remote Controller With Logitech F710

Pieces of Beijing

Toolbox · RBDL Wrapper

Harbin Trip and a Friend's Wedding

C++ · Angle Conversion, Normalization, Error Via Closer Path

Datong, Shanxi

Eigen · SE(3) Data Structure

Weekend Breakaway

Model Predictive Control Via Quadratic Programming

Qingdao Visit

Numerical Integration Via Runge-Kutta

South Xinjiang

Bytedance, Spot Bonus Q3 2024

Eigen · Rn and Spatial Motion Vector Saturation

Qinhuang Island, Hebei

C++ · Printf Usage Examples

Toolbox · Yaml Reader

Eigen 101 · Mapping, Printing, Unary Operations

System · CMake Flags, Expressions, Debug Tricks

Yibin, Sichuan

Toolbox · QpOASES Wrapper

Debug · Google Logging Library 101

Eigen · Orientation Difference and SO(3) Matrices

C++ · Join and Transform STL Containers

The Eastern Peak of Mountain Spirit

C++ · Dependent Scope Syntax

The Pearl Lake

ROS-2 · Tracing Information in Launch, Xacro, ROS2_Control

Mt. Miao Feng

Math Concepts in Robotics and Controls

Basketball and Friends

System · Handy Tools

C++ · Inheritance Topics, CRTP Singleton Base

Spatial Dynamics and Transformations

Eigen 101 · Comparison, Reductions, Cwise Operations

The City of Sanya

C++ · Unix Timing, Timer, Periodic Thread

Eigen 101 · Init, Blocks, Info, Access, Resize, Cast

Impedance Controller Design and Robustness Analysis

System · Tmux Via Bash

2023 Year in Running

Reactive Mobile Manipulation Via Quadratic Programming

Two Beautiful Little Piano Pieces

Zelda Breath of the Wild, Piano Cover

C++ · Sgn, UnitSat, Random Real

Texas Trip

Point-to-Point Trajectory Interpolation Concepts and Implementation

North Dome Hetch Hetchy

Eigen 101 · Evaluation and Type Traits

Orientation Difference and Cartesian Motion Control Tasks

Spatial Kinematics and Transformations

Hybrid Motion-Force Manipulation for Generic Peg-in-Hole

Exponential and Logarithm in SO(3), SE(3), Quaternion Space

Image-Based Visual Servo, Motion-Force, Cartesian Impedance Control

Yosemite Hetch Hetchy Wawoma

Analytical Whole Body Control, Prioritized Recursive Nullspace

Mendocino and Mackerricher

System · Bash Script With Options

Debug · C++ With GDB and Core Dump Files

Bodega Bay

Design · Rule-Based Behavior Graph Abstraction

Yosemite Grand Tour

Flexiv 3rd Anniversary, 2020-2023

Design · Variable Data Structure

Painters Point

Control Framework for Heterogeneous Robots and Control Modes

Point Reyes

Design · Rule-Based Robot Control Software Architecture

U.S. Route 1

Robot Semi-Repetitive Behavior Generation Toolbox

City of Ten Thousand Buddhas

Operational Space Framework, Hybrid Motion-Force Control

Mount Shasta

Running Stats Page Design

Yosemite Falls

Codas of Chopin Ballade #1, #4

Physics-Based Simulator for Robotics Research and Development

Tibet

Rigid Body Motion, Concepts and Terminologies

Shanghai

Fundamentals of Dynamics and Control of Flexible Joint Robots

Chengdu

Wrench Sensor and Tool Dynamics Calibration

Small Cities in Sichuan

Image-Based Visual Servo Control

Ancient Towns in Sichuan

Constrained Optimization, Lagrange Multiplier

Sichuan Natural Splendors

Robot Singularity Avoidance, Analysis and Comparison

Sanya and Xisha

Learning a New Programming Language for Production

Working From Shanghai

Flexiv, Year-End Performance Review 2022

Flexiv, Robot Gripper and Wire Harness Assembly

Chopin Sonata No.2, Op.35 in Bb Minor

Flexiv, Year-End Performance Review 2021

Piano Recordings and Texas A&M Memories

From Texas to California

Texas A&M University

Ph.D. Research on Shared Control of Construction Robots

Churches and Friends

TAMU, Outstanding Student Achievement

Dallas and San Antonio

CAST, Manned Mars Spacecraft Exterior Design

CAST, Manned Mars Spacecraft System Design

TAMU, Teaching Excellence Award

Los Angeles

Python 101 · Modules and Runtime

Python 101 · Exceptions, Logging, Unittest

Python 101 · Object Oriented Programming

Python 101 · Functions

Python 101 · Unpacking, Structural Matching, Packing

Python 101 · Iterators, Generators, Comprehensions, Iterable, Hashable

Python 101 · Membership, Logic, Walrus, Identity, Comparison Operators

Python 101 · Conditions, Loops, Context Managers

Python 101 · Shallow and Deep Copy

Python 101 · Data Types and Behaviors

CAST, Spacecraft Docking System

HEU, Province Outstanding Undergraduate Student

HEU, National Undergraduate Student Fellowship