ZHIWEI ZHANG / 张志威
Making robots
smarter.¶
Exploring embodied AI, robotics, artificial intelligence, and world models—toward robots that perceive their surroundings, understand tasks, learn skills, and act in the real world.
A place for learning, building, and reflection. About me →
BUILD & LEARN
GitHub activity¶
Recent work, collaboration, and coding habits. Charts are refreshed on a monthly schedule.
Contribution history & community
Recently starred projects
EXPLORE
From curiosity to practice¶
Following a path through robotics and AI, grounded in programming and engineering.
01 / ROBOTICS
Robotics & ROS2¶
Building an understanding of robotic systems through modeling, transforms, simulation, and motion planning.
02 / LEARNING
Reinforcement learning¶
From states, actions, and rewards to value learning, policy learning, and Actor-Critic methods.
03 / ENGINEERING
Programming & engineering¶
Notes on C/C++, Python, Java, and the engineering problems worth revisiting.
04 / WORLD MODELS
Embodied AI & world models¶
Exploring how robots represent their surroundings, anticipate change, and learn through interaction.
NOTES
A few notes to start with¶
Selected writing on robotics, learning, and everyday engineering.
REINFORCEMENT LEARNING · FUNDAMENTALS
How an agent learns¶
A starting point for understanding reinforcement learning: states, actions, policies, and rewards.
ROBOTICS · MOTION PLANNING
DWA local path planning¶
Understanding trajectory selection through differential-drive motion and velocity sampling.
ROS2 · ROBOT MODELING
Describing robots with URDF¶
Links, joints, and robot models: the foundations of visualization and simulation.
DEVELOPMENT · TOOLS
SSH port forwarding¶
Practical notes on tunneling network traffic through SSH and configuring development proxies.
Turn ideas into code. Keep a record of the journey.
Stay curious. Keep moving.