Jixiang Zhang (matheecs)

Jixiang Zhang (matheecs)

Big Picture, Big Idea

a robot behavior coordination engineer

email: <matheecs[at]qq[dot]com>
resume/cv(Chinese)
education
- master, control science and engineering, XJTU
- student exchange program, UWM
- B.S., electrical engineering, CQU
research interests: animation and robotics with
- Pinocchio3 ≈ RigidBodyDynamics.jl
- CasADi ≈ JuMP.jl + ForwardDiff.jl
- MeshCat(Python) + PyQt + VTK
- Drake/Choreonoid
- Isaac Gym(=PhysX) + Warp(=CUDA+AD)
- Arch Linux(x86_64) + CMake + clang/clangd + Ninja + ccache + miniconda + VSCode + Chrome
blogspot
eHomeLib

Favorite Lectures

Researchers

Algorithm Tree

State Estimation & Calibration
- MSF
- Cerberus
- Cerberus 2.0
  - MATLAB Version: Multi-IMU-Proprioceptive-Odometry MD = sqrt(seg_mes'*inv(seg_S)*seg_mes);
- VINS-Fusion
- Pronto
- MVStudio
  - Lectures🏫
- OpenMVG
- OpenMVS
- Multi-View Environment
- COLMAP
- whole-body-estimators
- Optimized Kalman Filter
- OpenVINS
- MSCKF_VIO
- FAST-LIVO
- SVO Pro
- legged_state_estimator
Perception
Modeling
- URDF
- MeshLab
- V-HACD
- CoACD
- libigl
  - libigl python bindings
- bvh-python
PnC = Formulation(Pinocchio,CppAD&CppADCodeGen) + Optimization(DDP/SQP,OSQP/ALM/IPM) + Visualization
Dynamics & Simulation or Animation
Visualization
- Vis
- MeshCat
- viser
- vedo
- PyVista
  - PyVistaQt
- Easy3D
- ImGui
  - Dear PyGui
- Matplot++
- meshcat-viz-python
- Polyscope
- Three.js
Numerics & Optimization
Machine learning
- legged_gym
- ModelBasedFootstepPlanning
- Berkeley Humanoid
- Diffusion Policy
- Isaac Gym Environments for Legged Robots
- extreme-parkour
- parkour
- Dobb·E
- MLX: An array framework for Apple silicon
- ml-engineering
- Humanoid-Gym
- Motion: from animation to robotics
- WarpDrive
- Reinforcement Learning Meets Visual Odometry
- SkillMimic
Tools
- NumPy
- Eigen
- ROS
  - Tracing tools for ROS
  - RossROS
  - 📖Gently Down the Stream: A Gentle Introduction to Apache Kafka
  - LCM
    - LCM to ROS
  - catkin
  - PySHMXtreme
- OSC
- mc_rtc
  - mc_mujoco
- cactus-rt
- The Super Tiny Compiler
- PlotJuggler
- matplotlive
- DataTamer
- C++
  - clang
  - clangd
  - ccache
  - Ninja
  - Bazel
  - mold
  - musl (Implementation of the C standard library built on top of the Linux system call API)
  - Loguru
  - Valgrind(Memcheck)
  - AddressSanitizer
  - VTune
  - Build systems à la carte
  - binvis.io
    - bin-graph
- Python
  - Poetry
  - pytest
  - mypy
  - pdir2
  - Jupyter Notebook 7
  - pybind11
    
    彭于斌: Python 调用 C++/CUDA 的 kernel 才是今后不论科学计算还是神经学习的主流
  - PyTorch
    - harmonic-oscillator-pinn
  - gnuplot for numpy import gnuplotlib as gp
- Julia
  - StaticArrays(Statically sized arrays): the size can be determined from the type, and “static” does not necessarily imply immutable.
- Node.js(JavaScript runtime environment)
  - nvm
  - reveal.js
- Markdown
  - Marp
  - reveal-md
- Typst
- LaTeX
  - Mathpix
  - pix2tex(free!)
  - Overleaf
- PDF
  - OCRmyPDF
  - Nougat
  - Tesseract OCR
  - Marker
- Inkscape
  - TexText
- Linux
  - rsync-time-backup
  - Arch Linux
  - Modern Unix
  - 命令行的艺术
  - Cosmopolitan
  - McFly - fly through your shell history
  - btop
  - Bash-Oneliner
- CMake
  - CPM.cmake
- Git
  - A Fast Intro to Git Internals
  - What is in that .git directory?
- GitHub/CI
- Timer
  - realtime_tools
  - loop-rate-limiters
- ThreadPool
- Sourcetrail
- macOS Cross toolchain
- TVM
- SIMD
  - SIMD Everywhere
  - xsimd
  - sse2neon
  - SIMDe
- Arduino
  - SimpleFOClibrary
  - freeRTOS
- STM32
  - motorcontrol & STM32CubeIDE
  - ODrive
  - moteus brushless servo
  - SPIne
- machine emulator and virtualizer
  - QEMU
  - UTM: Virtual machines for iOS and macOS
- SteamOS
  - steamos-teardown
  - SteamOS 3.x source code
  - Steam Deck Optimization Guide

Library of Juggling