Robotics and AI. I build open-source systems for geometric registration, certified planning, diffusion acceleration, robot action interfaces, and machine-checkable mathematics.
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Sources: Pepy / PyPI lifetime downloads · Hugging Face · Comfy Registry · Zenodo · Official MCP Registry · Glama · mcp.so
Research that ends as something you can
pip install, cite by DOI, and reproduce. Every badge below is live: version, lifetime downloads, and stars update from PyPI/Pepy and the GitHub API.
NEW — StepBack: git time-travel for AI coding agents. Checkpoint every edit from Claude Code, Codex, aider, or any command; rewind the files and best-effort conversation state without touching
HEAD, staging, or your branch.pip install stepback
| 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. |
🫧 AURA     |
Calibrated per-splat confidence and a certified (split-conformal) pruning bound for 3D Gaussian-splat assets: cut ECE ~300-900x on four real scenes, prune and stream with a coverage guarantee, carry it through glTF/OpenUSD/SPZ. |
🦷 ToothPrint    |
Certified dental biometric identity, change, and surface from a 3D intraoral scan or radiograph: conformal accept/abstain with a false-match guarantee. Full-coverage identity Rank-1 0.995; partial overlap recovered from 0.23 to 0.867. Validated on synthetic re-scans. |
⚙️ 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
portfolio · splatreg docs · mathlas on Glama · linkedin
I build the system, then I make it prove it works.