Robotics and AI. I build research systems that ship as real, installable libraries: visuo-tactile perception, 3D Gaussian splatting, and tooling that makes AI verifiable instead of plausible.
Pulled live from the GitHub API on every visit: stars, commits, PRs, contributions, streak, languages, plus each package's version and downloads below. Nothing here is hand-edited.
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Research that ends as something you can
pip install, cite by DOI, and reproduce. Every badge below is live: version, downloads/month, and stars update straight from PyPI and the GitHub API.
| project | what it does |
|---|---|
🧩 splatreg      |
Register Gaussian splats: align and merge two 3DGS scans into one SE(3)/Sim(3) frame, recover scale, dedupe the overlap. CLI plus a pure-PyTorch API. Docs. |
📐 mathlas     |
Airtight math an AI uses over MCP: theorem search, PSLQ constant ID, OEIS, real Lean kernel checks, applicability checklists. No LLM inside, no API key. claude mcp add mathlas -- uvx mathlas-mcp |
⚡ HiCache++    |
Training-free diffusion acceleration by exponential (Dynamic-Mode-Decomposition / Prony) feature forecasting: a drop-in basis upgrade to TaylorSeer/HiCache, plus a holdout auto mode that cannot make things worse. |
🛣️ CERT-FLOW    |
Certified route planning under drifting costs: every replanning round emits a conformal certificate LB ≤ OPT ≤ UB on the optimal route, directs paid sensing at the edges that shrink the certified gap fastest, and proof-gates the fast preprocessing. |
⚙️ The acceleration adapter family : HiCache / HiCache++ on real 3D generators
| model | Hermite (HiCache) | DMD (HiCache++) |
|---|---|---|
| TRELLIS v1 | faster-trellis | faster-trellis-plus-plus |
| TRELLIS.2-4B | hermit-trellis2 · fast-trellis2 | hermit-trellis2-plus-plus |
| Hunyuan3D-2 mini | hunyuan2-plus | hunyuan2-plus-plus |
| Hunyuan3D-2.1 | hunyuan2.1-plus | hunyuan2.1-plus-plus |
| SAM 3D Objects | sam3d-plus | sam3d-plus-plus |
| Fast-SAM3D | fastsam3d-plus | fastsam3d-plus-plus |
ComfyUI nodes: ComfyUI-HiCache · ComfyUI-TRELLIS-HiCache · ComfyUI-TRELLIS2-HiCache
🫳 GaussianFeels : real-time visuo-tactile 3D-Gaussian SLAM for in-hand manipulation. One object-centric Gaussian map serves tracking, reconstruction, rendering, and manipulation-facing geometry at once, fast enough to close the loop and holding up from simulation onto real hardware. M.S. thesis at the SNU Soft Robotics and Bionics Lab, release upcoming.
portfolio · splatreg docs · mathlas on Glama · linkedin
I build the system, then I make it prove it works.