Nelson Tian

End-to-end interactive perception framework for unseen objects without CAD models. Users click to select objects; the system builds a Gaussian-based model in real time and tracks 6D pose robustly. Achieves 97% RSR at 19 FPS on standard benchmarks.

Deployed Qwen-7B VLM locally under 9 GB VRAM via quantization and KV-cache tuning. Integrated real-time YOLO-Seg + SORT pipeline for target detection and tracking. Code merged to the official Dobot GitHub repository.

Full autonomous navigation stack on a physical Limo robot: GMapping SLAM for environment mapping, AMCL localization, Pure Pursuit path following, and real-time YOLO-based traffic light detection — all integrated in ROS.

Engineered Fractal ArUco marker detection from scratch for the OpenCV objdetect module. Optimized the core algorithm structure and patched existing vulnerabilities, boosting keypoint matching capability by 28%. Contributed via PR #27934.

Evaluated 1,200+ samples to systematically benchmark ArUco3 detection performance. Optimized default parameters of the ArUco3 detector, improving robustness across lighting and scale conditions. Contributed via PR #28645, merged into OpenCV mainline.

Novel action-perturbation saliency method using output probability distribution gradients (measured by Euclidean distance) to explain agent decisions in Procedural Content Generation. Accelerated saliency computation by 10× compared to naive baselines.