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jashshah999/README.md

Hi, I'm Jash.

ML Research Engineer at Nissan. Reviewer at HuggingFace LeRobot. I like building things that people actually need.

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Projects

Project Description
lerobot-doctor Diagnostic tool for LeRobot datasets. Live on the official HF dataset visualizer.
vggt-factor-refinement Factor graph refinement of VGGT for long video pose estimation. 70% ATE improvement over naive stitching. Listed on awesome-3D-gaussian-splatting.
recon3d One-command 3D reconstruction from video. No COLMAP needed.
gtsam-splatfactors Gaussian Splatting meets Factor Graph SLAM. iSAM2 pose optimization with differentiable rendering factors. Featured on the GTSAM blog.
robohacks26 Pharmacy robot that builds semantic maps from video walkthroughs for autonomous navigation and manipulation.

Open Source Contributions

36 PRs merged across 12 repos.

GTSAM | GTSAM Blog | wrap | LeRobot | JAX | PyTorch RL | Rerun | RSL_RL | Transformers | Accelerate | LeRobot Visualizer | awesome-3DGS

GTSAM: 11 merged
PR Description
#2456 Fix enforceConsistency_ in BatchFixedLagSmoother
#2463 Fix incorrect key in cheirality error message for PPP/PPPC factors
#2464 Fix tMin_ reset when an iteration has zero duration
#2465 Reject negative sigma values in noise model constructors
#2467 Fix LinearContainerFactor::rekey() segfault without linearization point
#2471 Rename Python reserved keywords in wrapper interface files
#2509 Adaptive variable reordering in iSAM2 triggered by fill-in growth
#2510 Compute JacobianFactor::gradient() directly, skip HessianFactor conversion
#2511 Implement Cayley chart retract/local Jacobians for Rot3
#2520 Return references from optimizer wrappers to avoid deep-copying Values
#2597 Fix PartialPriorFactor instantiation for vector-space types like Point3
GTSAM Blog: 2 merged
PR Description
#85 Wrote the guest post 3D Gaussian Splatting meets Factor Graph SLAM
#92 Corrections and reproducibility pass on the post
wrap (GTSAM bindings generator): 1 merged
PR Description
#182 Add reference_internal return policy for const-ref returns
HuggingFace LeRobot: 9 merged
PR Description
#2486 Enable torch.compile for DiffusionPolicy inference
#3016 Replace assertions with proper exceptions in video frame decoding
#3017 Fix missing config file in pip installs causing AttributeError crash
#3063 Ensure queue and process cleanup on abnormal exit
#3145 Fix policy.path not working in YAML config files
#3485 Fix LoRA resume from Hub (PosixPath cast + double wrap prevention)
#3542 Close file handle on VideoDecoder init failure in cache
#4022 Keep checkpoint processor stats on training resume
#4023 Accept pretrained_model dir for --config_path on resume
JAX: 1 merged
PR Description
#37358 Add stable two-pass variance algorithm to nn.standardize
PyTorch RL: 3 merged
PR Description
#3530 Fix missing raise, incorrect __torch_function__ return, and off-by-one in RayCollector
#3589 Fix MultiOneHot.to_numpy() returning scalar instead of per-space array
#3590 Add set_at_, set_, update_ in-place write methods to ReplayBuffer
Rerun: 3 merged
PR Description
#12672 Fix incorrect byte unit conversion values in render benchmark
#12673 Reuse precomputed timelines dict in send_columns instead of re-iterating
#12674 Fix wrong variable in error message for extra args in log()
RSL_RL: 2 merged
PR Description
#180 Fix missing raise, wrong RND broadcast index, and variable typo
#181 Fix mutable default arguments and replace assertions with proper exceptions
HuggingFace Transformers: 1 merged
PR Description
#44287 Fix mutable default arguments and resource leaks
HuggingFace Accelerate: 1 merged
PR Description
#3944 Fix mutable default in Megatron init and IndexError on empty ModuleList
LeRobot Dataset Visualizer: 1 merged
PR Description
#57 Add Doctor tab integrating lerobot-doctor diagnostics into the visualizer
awesome-3D-gaussian-splatting: 1 merged
PR Description
#410 Add vggt-factor-refinement (COLMAP-free pipeline for 3DGS)

Pinned Loading

  1. huggingface/lerobot huggingface/lerobot Public

    🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

    Python 27.8k 5.7k

  2. leggedrobotics/rsl_rl leggedrobotics/rsl_rl Public

    A fast and simple implementation of learning algorithms for robotics.

    Python 3k 682

  3. pytorch/rl pytorch/rl Public

    A modular, primitive-first, python-first PyTorch library for Reinforcement Learning.

    Python 3.6k 490

  4. borglab/gtsam borglab/gtsam Public

    GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse m…

    Jupyter Notebook 3.7k 995

  5. huggingface/transformers huggingface/transformers Public

    🤗 Transformers: the model-definition framework for state-of-the-art machine learning models in text, vision, audio, and multimodal models, for both inference and training.

    Python 167k 34.7k