GDN-Memory: Constant-Footprint Embodied Memory for World Models
Gated DeltaNet hierarchical memory integrated into Genie Envisioner's Slow-Fast VLA pipeline. 256KB constant footprint, <1ms update latency, targeting ICRA/CoRL 2026.
Selected Projects
I enjoy making things. Here are a selection of projects that I have worked on over the years.
Endovascular Surgical Robot Platform (stEVE)
End-to-end platform for vascular intervention — CTA segmentation → 3D vessel reconstruction → SOFA FEM simulation → RL catheter navigation → biplane DSA intraoperative guidance.
MacroHard Maker — CCF 3D Printing Path Planner
Stress-driven toolpath planning for multi-axis continuous carbon fiber 3D printing. FEA + topology optimization + geodesic path planning, with a desktop app and FastAPI backend.
Open-Source Robotics Collaboration with 子豪兄
Joint robotics projects with Zihao (同济大学 B站 UP主) — OpenDuckMini bipedal robot, quadruped platforms, and community hardware documentation co-authored at Tongji University.
LeRobot & Embodied AI Hackathon Projects
Hands-on study and deployment of Hugging Face LeRobot (HuggingFace-officially featured docs), plus tri.me — a home-care robot platform that won 3rd place at the 小红书巅峰赛 hackathon.
Medical AI Consultation Platform
Multimodal medical LLM platform with CT/MRI image-text alignment, domain-expert routing, medication assistance, and visual report OCR — built end-to-end from model training to …
AGV Reception & Inspection Robot — Tongji Deployment
Participated in R&D of an AGV-based smart reception and inspection robot deployed at Tongji University. Responsible for voice module localization for Middle East clients (Arabic …
Robotic Arm Simulation Engine — Tongji × Siemens Industry 4.0 Lab
DQN-based reinforcement learning replacing particle swarm optimization for robotic arm trajectory control, with Three.js 3D visualization. Joint project with Siemens.
Smart Car Design — Provincial Competition Silver Award (Team Lead)
Led a team to design and build a cam-steered smart car from scratch — SolidWorks mechanical design, MATLAB trajectory simulation, and custom charging circuit. Won silver award at …