CV
Education, research experience, selected projects, and technical skills.
Shantou, Guangdong, China · lin24872@gtiit.edu.cn
Updated Oct. 1, 2026
Education
Guangdong Technion – Israel Institute of Technology
B.Eng. in Mechanical Engineering (Robotics)
Selected coursework Introduction to Robotics, Advanced Robotics Lab, Linear Systems, Control Theory, Dynamics, Probability & Statistics, Sensor-Integrated Systems, Digital Image & Signal Processing
Current coursework Control System Design, Computational Methods in Mechanical Engineering, Kinematics of Mechanisms
Manuscripts under review
Activation-Aligned Asynchronous Residual MPC for Position-Controlled Manipulators with Learned Dynamics
Xinlei Lin, Chenyu Lin, Yue Zhang · IEEE ROBIO 2026 · Under Review
Stability-Gated Closed-Loop Eye-in-Hand Tracking and Grasping of a Manually Moved Target
Yue Zhang and Xinlei Lin · IEEE EPIC 2026 · Under Review
Research experience
Research Assistant – Energy-Efficient Bipedal Locomotion
Prof. Mingyi Liu
Trained PPO locomotion policies for the LIMX TRON 1A in Isaac Gym and analyzed gait cycles, mechanical cost of transport, and cross-simulator behavior.
Research Assistant – Guidewire Dynamics & Vascular Contact Modeling
Prof. Zhujiang Wang
Co-developed a three-dimensional discrete elastic rod simulator with implicit Euler and Newton solves, analytic and mesh contact, and a C++/Eigen backend.
Research Assistant – Mobile Robot Navigation & Control
Prof. Mingyi Liu
Built a ROS 2/Gazebo navigation testbed integrating kinodynamic local guidance, predictive occupancy, reproducible simulation evaluation, and embedded motion-control firmware.
Selected projects
Activation-Aligned Residual MPC for Robot Manipulators
Lead Developer
An actuator-aware residual MPC system evaluated in ABB and UR5e MuJoCo simulations and, under a separate hardware protocol, on SO-ARM101.
Closed-Loop Visual Tracking and Robotic Grasping
Lead Software & Systems Developer
A Piper eye-in-hand RGB-D manipulation system that connects semantic perception to planning and grasp execution, with a controlled study of target-pose commitment.
STOL UAV Design & Flight Testing – National First Prize, CUADC
Airframe Design & Flight Testing
A 770 mm-span, 905 g aircraft that carried a 2.845 kg competition payload and completed a 2.4 m short takeoff.
RoboMaster Wheel-Legged Robot – Dynamics & Control
RoboMaster KongFu Team, GTIIT · Electrical Control Group
Electrical Control Group Member – Control & Algorithm Development
Electrical-control and control-algorithm development in KongFu Team, with selected work on wheel-legged dynamics, five-bar VMC, gain-scheduled LQR, and nonlinear MATLAB/C validation.
Technical skills
Programming Python, C/C++, MATLAB
Robotics Software ROS 2, Nav2, MoveIt 2; custom controller and costmap plugins, rosbag-based evaluation
Control & Planning CEM-based MPC, MPPI integration, gain-scheduled LQR, virtual model control, kinodynamic A*, inverse kinematics
Robot Learning PyTorch; PPO locomotion training, reward design, GRU-based dynamics modeling
Modeling & Simulation MuJoCo, Isaac Gym, Gazebo; robot kinematics and dynamics, discrete elastic rods, contact and friction modeling
Numerical Computing NumPy, Eigen; implicit integration, Newton–Raphson solvers, analytic Jacobians and Hessians, numerical validation
Embedded Control STM32, FreeRTOS; wheel-speed PI control, anti-windup, motion-command arbitration, timeout braking
Design & Development SolidWorks; Linux, Git, CMake; regression testing
Mentoring
Peer Mentor – Reinforcement Learning
Guangdong Technion – Israel Institute of Technology · Bipedal Locomotion Research Group
Developed structured onboarding materials from value-based and policy-gradient methods to actor–critic and PPO, with annotated PyTorch and pendulum-control examples covering advantage estimation and reward design.
Honors
- National First Prize, UAV Short Takeoff; Second Prize, Design Report – China Universities Aircraft Design Competition (CUADC), 2025
- GTIIT Vice Chancellor’s List (Top 5%), 2023–2024; 2024–2025