My research focuses on robotics, large language models, and 3D reconstruction.
I build reproducible research tools, explore native software protection, and contribute focused upstream fixes.
Python · TypeScript · C/C++ · Reproducible experiments · Upstream engineering
161 verified merged author PRs across 32 upstream repositories, spanning robotics, machine learning, geometry and developer tools. Snapshot: 8 November 2026 · 19:41 CST (UTC+8).
Homepage contribution lists show projects with at least 1,000 stars. The totals above include all verified merged author PRs, regardless of repository stars.
Six projects, one row each, highlighting complementary work in program analysis, build-state management, numerical correctness and data handling. Each PR is verified as authored by Afloat16 and merged upstream. Rows follow their latest selected merge; dates use Asia/Shanghai. Technical details and scope.
| Latest selected merge | Upstream project · ★ | Representative engineering | PR / merged commit |
|---|---|---|---|
| 2026-11-06 | REA 442,230 ★ |
Complete partial ZIP reads and detect premature EOF; preserve UTF-8 code-point boundaries in byte-bounded diagnostic output. | #4414 · 82e4e03#8907 · 3eff806 |
| 2026-11-04 | Craft Anything 21,669 ★ |
Persist rebuild progress across runs; correct bounded binary parsing and damaged-file recovery; recover minified esbuild dependencies through semantic bindings. | #557 · 48759fb#766 · eab6a0f#438 · 89bcd06 |
| 2026-11-02 | COLMAP 13,177 ★ |
Make benchmark translation-angle errors invariant to reconstruction scale through numerically robust vector normalization. | #4932 · 27ffad4 |
| 2026-11-02 | Sentence Transformers 19,267 ★ |
Preserve ranking-loss gradients with weighted log-sigmoid, stabilize FP16 scalar quantization, and keep padded LSTM outputs aligned with token features. | #4116 · abd266f#4113 · 847abf6#4301 · 26a0f49 |
| 2026-11-01 | DeepFace 23,659 ★ |
Align Milvus scores with DeepFace distance units, fetch complete galleries beyond the single-query limit, and preserve empty, singleton and multi-image batch structure. | #1634 · bf5ed73#1649 · 5696e33#1675 · 8e565c0 |
| 2026-10-22 | LeRobot 28,745 ★ |
Apply the existing V-JEPA 2 pairwise RoPE correction to VLA-JEPA's training-only world predictor. | #4835 · f9e9d73 |
13 displayed upstream projects have verified top-30 positions in GitHub's current Contributors graphs. Positions were checked on 8 November 2026 using All / Commits / default branch / excluding merge commits. Groups are sorted by the latest recorded stars.
| Project | Upstream ★ | Position · checked¹ | Merged PRs | Representative work |
|---|---|---|---|---|
| DeepFace | 23,659 | #4 2026-11-08 |
25 | Clip detected face boxes before NumPy slicing and preserve false boolean options in HTTP form requests. #1655 · #1684 |
| Craft Anything | 21,669 | #2 2026-11-08 |
34 | Export six Unity floating-point texture layouts as 8-bit PNG; count rejected pcapng packets against the scan budget. #1088 · #1091 |
| Sentence Transformers | 19,267 | #28 2026-11-08 |
6 | Ranking gradients, FP16 quantization and padding-safe CNN/LSTM encoding. #4323 · #4116 |
| Denoising Diffusion | 10,724 | #9 2026-11-08 |
1 | Preserve external conditioning and self-conditioning in 1D diffusion. #373 |
| ThinkRail | 7,932 | #17 2026-11-08 |
3 | Identify SVG by its XML root, and keep UTF-16 surrogate pairs intact when truncating terminal output. #1184 · #1186 |
| PyTorch Metric Learning | 6,342 | #5 2026-11-08 |
8 | Accumulate class-weighted losses in FP32 before returning the input dtype; keep center-regularization losses in FP32 for half-precision inputs. #775 · #776 |
| Atomic Agents | 6,320 | #23 2026-11-08 |
1 | Keep existing chat history intact when loading fails. #292 |
| Robotics Toolbox | 3,567 | #7 2026-11-08 |
11 | Kinematics, dynamics, inverse kinematics and URDF correctness. #801 |
| RSL-RL | 3,123 | #4 2026-11-08 |
3 | Resume RND schedules, preserve reward history and retain rollout remainders. #240 · #244 |
| PyPose | 1,621 | #16 2026-11-08 |
4 | Least-squares rigid alignment, robust-kernel stability and camera broadcasting. #437 |
| RL Games | 1,411 | #7 2026-11-08 |
4 | Retain the newest transitions in oversized replay batches. #384 |
| skrl | 1,105 | #3 2026-11-08 |
4 | Align mean reversion in JAX and Warp exploration noise; propagate failed JAX workers’ exit status to the launcher. #475 · #496 |
| Geoopt | 1,104 | #2 2026-11-08 |
13 | Correct canonical Stiefel tangent projection, Cayley initial velocity and line-search derivatives; preserve stable manifold optimization. #280 · #267 |
| Project | Upstream ★ | Position · checked¹ | Merged PRs | Representative work |
|---|---|---|---|---|
| REA | 442,230 | #66 2026-11-08 |
6 | Complete partial ZIP reads and detect premature EOF; preserve UTF-8 code-point boundaries in byte-bounded diagnostic output. #4414 · #8907 |
| Claude-Mem | 114,672 | #54 2026-11-08 |
4 | Preserve SSE framing across chunks and keep code examples intact during README link rewriting. #5367 · #5458 |
| LeRobot | 28,745 | — 2026-11-08 |
1 | Correct pairwise RoPE frequencies in VLA-JEPA's training-only predictor. #4835 |
| Haystack | 26,942 | — 2026-11-08 |
1 | Keep pipeline snapshots reusable after a resumed run. #13076 |
| Recommenders | 21,982 | #46 2026-11-08 |
3 | Preserve custom columns in k-core filtering and stratified splitters; #2419 merged into staging. #2389 · #2419 |
| COLMAP | 13,177 | #49 2026-11-08 |
2 | Scale-invariant translation-angle evaluation and benchmark path resolution. #4932 · #4931 |
| Kornia | 12,355 | #85 2026-11-08 |
6 | Accumulate weighted FP16/BF16 meter updates in FP32; export BF16 images to NumPy without changing channel layout. #6580 · #6582 |
| TileLang | 8,928 | — 2026-11-08 |
1 | Honor the current CUDA device in profiling. #3357 |
| openMVG | 6,592 | #96 2026-11-08 |
1 | Use depth along each observed bearing for DLT triangulation, preserving valid rear-hemisphere observations from spherical cameras. #2445 |
| MLxtend | 5,191 | #60 2026-11-08 |
1 | Separate extracted emoticons from the preceding final word. #1207 |
| Trimesh | 3,719 | — 2026-11-08 |
1 | Correct nonuniform weighted Procrustes rotation while preserving equal-weight fits; merged into release/angles. #2618 |
| Manifold | 2,398 | #76 2026-11-08 |
1 | Keep static convex-hull construction independent of input execution contexts while preserving cached operand errors. #1905 |
| Geomstats | 1,529 | #83 2026-11-08 |
1 | Propagate product-metric parallel transport to each factor. #2131 |
¹ Positions are the explicit ranks displayed by GitHub's official Contributors graph, read on 8 November 2026. Current comparisons with the previous snapshot use the same graph settings. Earlier REST observations remain in the full record and are not directly comparable. — means Afloat16 was absent from the complete displayed top 100; it is not an exact rank or a claim of zero contribution. GitHub may cache graph calculations. Graph counts, default-branch author commits and merged PRs are separate metrics. Full record, methodology and data.
Robotics Toolbox also incorporated the circular particle-heading work from #735 into #883, and the trajectory work from #736 into #805, retaining co-authorship. These adoptions are recorded separately from the 161 merged author PRs. Details.
Craft Anything incorporated work from 94 of my original PRs in 10 maintainer integrations. The latest two replayed 32 parser fixes (#986) and two proposals for atomic writes and HTTP replay (#995). The latter squash omitted my co-author trailer; the maintainer restored credit in #1012, a separate documentation commit. All 10 integrations and their sources.
Claude-Mem adopted the invalid-input regression cases from #5339 into #5336, retaining my co-authorship. My adopted contribution covers the rejection tests; the production numeric-string conversion was implemented by the other PR's author. This adoption is separate from my four directly merged PRs. Evidence.
Anti-REA Forge · MIT · 0.6.0 Alpha
Native release hardening with CMake-ready build integration, PE/ELF checks, guarded C++ memory and one-use request authorization. Explore runnable examples, cross-platform CI and research-guided design. Project story · Join the community.
ModelDock · v0.2.0
Local 3D/CAD preview with bounded 5+ GiB binary PLY/STL sampling, multi-model alignment and reference comparison. Validation record.
| 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. |
Jev MCP · v0.5.0: a TypeScript MCP server for bounded probabilistic advice, routing and risk signals, with cross-client installers.
Research and engineering workflow: Research to Fix · Debate Direction · StewardCheck · Agent Action Notifier.
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.
All 15 projects: stars and default-branch commits
Snapshot: 8 November 2026 · 19:41 CST (UTC+8). Sorted by stars, then repository commit count. Commits count reachable default-branch history, including merge commits; they are not personal authored-commit counts. Sources and versions.
| Project | ★ | Default-branch commits | Main language |
|---|---|---|---|
| Anti-REA Forge | 4 | 19 | Python |
| Jev MCP | 1 | 49 | TypeScript |
| StewardCheck | 1 | 11 | Python |
| Debate Direction | 1 | 8 | Python |
| Research to Fix | 1 | 7 | Python |
| LLM Handshake | 1 | 6 | Python |
| ModelDock | 1 | 6 | TypeScript |
| Bag Timeline Audit | 1 | 5 | Python |
| ReconTrail | 1 | 5 | Python |
| SSE Toolcall Audit | 1 | 5 | Python |
| TF Route Audit | 1 | 5 | Python |
| Tooltrace Audit | 1 | 5 | Python |
| Agent Action Notifier | 0 | 6 | Python |
| COLMAP Model Audit | 0 | 4 | Python |
| Pose Convention Bridge | 0 | 4 | Python |
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