Ph.D. candidate in robotics · Humanoid locomotion · Reinforcement learning · Sim-to-real

I am a Ph.D. candidate in Mechanical Engineering at Beijing Institute of Technology and a research intern at the Hong Kong University of Science and Technology (Guangzhou). I work on motion planning and control for humanoid and legged robots.

My research combines model-based optimization with learning-based control to produce reliable robot motion in simulation and on physical systems.

If you are interested in my work or would like to explore a collaboration, please contact me via email.

• Humanoid and wheel-biped multimodal locomotion planning and control
• Whole-body control, MPC, NMPC, trajectory optimization, and rigid-body dynamics
• Reinforcement learning, imitation learning, motion retargeting, and state estimation
• Robot simulation, system integration, and sim-to-real deployment
• Embodied intelligence and cerebrum-cerebellum coordinated control

C	C++	Python	MATLAB	PyTorch
ROS	CMake	Linux	Docker	Hugo
Git	GitHub	VS Code	Bash	CapCut

Core tools include C++, Python, MATLAB, PyTorch, ONNX Runtime, Pinocchio, CasADi, Crocoddyl, OCS2, Isaac Gym/Sim, MuJoCo, ROS, EtherCAT, and RTOS-based robot software.

I maintain robotics software and reusable engineering tools through BitRoboticsLab. The projects focus on robot motion, simulation, control, and deployment workflows. Selected research, industry, and open-source work is documented on my personal website.

_{Repository cards combine projects where Mr-tooth is an owner, organization member (including BitRoboticsLab), or collaborator. The streak card uses GitHub's contribution calendar. Language share reflects repository code, not overall technical proficiency.}