I am a robotics engineer building practical systems for teleoperation, motion retargeting, trajectory planning, whole-body control, and deployable robot software.
My work focuses on turning robotics algorithms and ideas into usable software systems — from device integration and control abstractions to backend execution, motion generation, visualization, and engineering tools.
- 🎮 Teleoperation runtime for embodied robots
- 🕺 Human-to-robot motion retargeting
- 📐 Trajectory generation and motion profile planning
- 🦾 Whole-body control and trajectory projection
- 🖥️ Visualization, monitoring, and debugging tools for robot operation
- 🛠️ Engineering-friendly robot software architecture
🎭 PUPPET
Primitive-based Unified Platform for Pluggable Embodied Teleoperation
A unified teleoperation framework for embodied robots, with support for control primitives, orchestration, retargeting, and backend execution.
A customized motion retargeting pipeline for mapping human motion to humanoid robots in real time, with C++ implementation and demo tests.
An interactive robot kinematics debugger built with OpenGL and ImGui — IK solving, trajectory replay, collision monitoring, built-in trajectory planning, and video export.
🖥️ teleop_gui
A teleoperation visualization and monitoring tool for robot operation, sensor inspection, WBC status tracking, and debugging.
A C++17 trajectory planning library for engineering-oriented motion generation, covering velocity profile planning, geometric trajectories, multi-point trajectory composition, and unified integration interfaces.
Experiments and implementations related to SE(3) interpolation and geometric motion representation.
Languages
C++, Python
Robotics / Tools
ROS1, ROS2, MuJoCo, Pinocchio, TSID, OMPL, ImGui
Interests
Teleoperation, Retargeting, Trajectory Planning, Whole-Body Control, Motion Planning, Embodied Intelligence
I like building robotic systems that are not only algorithmically meaningful, but also clean, extensible, and deployable in real products.
我是一名机器人软件/运控工程师，主要关注 遥操作、动作重定向、轨迹规划、全身控制 以及 可工程落地的机器人软件系统。
我更关心把算法能力真正做成可用的软件系统：从设备接入、控制抽象、后端执行，到轨迹生成、可视化监控和工程化工具链。
- 🎮 面向具身机器人的遥操作运行框架
- 🕺 人体动作到机器人的动作重定向
- 📐 轨迹生成与速度规划
- 🦾 全身控制与轨迹投影
- 🖥️ 面向机器人操作的可视化、监控与调试工具
- 🛠️ 面向工程落地的机器人软件架构
🎭 PUPPET
Primitive-based Unified Platform for Pluggable Embodied Teleoperation
一个面向具身机器人的通用遥操作框架，支持 primitive 抽象、调度编排、retargeting 和后端执行。
一个定制化的人体动作重定向流程，用于将人体运动实时映射到人形机器人，包含 C++ 实现与 demo 测试。
基于 OpenGL + ImGui 的交互式机器人运动学调试器，支持 IK 求解、轨迹回放、碰撞监控、内置轨迹规划与视频导出。
🖥️ teleop_gui
一个面向遥操作场景的可视化监控与调试工具，支持机器人状态显示、传感器监控、WBC 信息跟踪和操作调试。
一个面向工程落地的 C++17 轨迹规划库，覆盖速度规划、几何轨迹、多点轨迹拼接以及统一化集成接口。
与 SE(3) 插值、位姿几何表示和运动表达相关的实验与实现。
语言
C++, Python
机器人相关工具
ROS1, ROS2, MuJoCo, Pinocchio, TSID, OMPL, ImGui
关注方向
遥操作、动作重定向、轨迹规划、全身控制、运动规划、具身智能
我喜欢做既有算法意义、又有工程可落地性的机器人系统，而不是只停留在概念验证阶段。
- GitHub: @xyodfish