学术

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Academic Profile (EN)

Basic Information

Yiqian Gong (CodeAlan)
M.Eng. student in Electronic Information, SUSTech National Graduate College for Engineers (NGCE),
Southern University of Science and Technology (SUSTech), China.

My current research interests lie in Embodied AI and Vision-Language Navigation (VLN), with a focus on how agents perceive, understand, and act in complex environments under multi-modal guidance.

At this stage I am mainly consolidating foundations in Embodied AI, VLN and RL; this page will be updated with preprints, publications and open-source projects once they become available.

Research Interests

• Embodied AI and Vision-Language Navigation (VLN)
• Reinforcement Learning (RL) and Imitation Learning (IL)
• Large Language Models for Robotics & Navigation
• Multi-modal Perception and Representation Learning

Preprints & Publications

• No peer-reviewed publications yet. I am currently focusing on literature review, reproduction of classic works, and building experimental infrastructure for future research.

Education

• 2025.09–present · M.Eng. in Electronic Information
  SUSTech National Graduate College for Engineers (NGCE), Southern University of Science and Technology
• 2021.09–2025.06 · B.Eng. in Communication Engineering
  South China Normal University (SCNU), China
  · Vice Captain & Vision Group Leader, RoboMaster Team VANGUARD

Projects & Experience (Selected)

• Provincial key Innovation & Entrepreneurship Project (undergraduate)
  Multi-sensor fusion SLAM for UAV systems (2022.12–2024.05)

  • Studied SLAM methods that fuse camera, LiDAR, IMU and other sensors for robust UAV localization.
  • Responsible for overall UAV system design, PX4+MAVROS+Gazebo+QGC simulation, physical platform integration, and host-side software (odometry, navigation, decision).

• RoboMaster University Series (RMU), VANGUARD Team (2021.10–present)

  • Co-founded and served as Vice Captain & vision/navigation lead.
  • Worked on auto-aiming, ballistic trajectory computation, and sentinel robot navigation/decision-making.
  • The open-sourced ballistic solver project on GitHub ( https://github.com/CodeAlanqian/SolveTrajectory ) has received dozens of stars and is referenced by multiple university teams.

• National Undergraduate Intelligent Car Competition – Outdoor ROS Vehicle Race

  • 2022–2023: participated in two consecutive editions; in the 18th competition, the team achieved National First Prize (5th place).
  • Contributions include cone detection via OpenCV, 2D LiDAR mapping and navigation, fusion of vision and LiDAR for robust path following, and switching to TEB-based trajectory planning.

• Additional engineering practice

  • Familiar with UAV systems and industrial-grade UAV development (e.g., hybrid gasoline-electric UAVs), ArduPilot/PX4 ecosystem, and UAV command-and-control platform development.
  • Notes and small experiments around Embodied AI and VLN courses / papers (some being cleaned up into blog posts).
  • Containerized and cloud-based environments (Nextcloud, ROS, LLM services) using Docker.

Ongoing Directions

• Systematic review of core papers and benchmark datasets in VLN and Embodied AI.
• Exploring how to integrate large language models into navigation pipelines, e.g., instruction understanding and interpretable planning.
• Building more engineering-oriented experimental environments (simulation + deployment) for embodied agents.

Contact

• Email: codealan@qq.com
• GitHub: https://github.com/CodeAlanqian
• Bilibili: https://space.bilibili.com/352156963

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Honors & Awards (Selected)

• 2022 · Third-class Outstanding Student Scholarship, South China Normal University (SCNU)
• 2023 · Second-class Outstanding Student Scholarship, SCNU
• 2022 & 2023 · First Prize, Student Innovation Award, SCNU
• Outstanding Communist Youth League Member & Outstanding Youth League Cadre, School of Engineering

Competitions (Selected)

• National Undergraduate Intelligent Car Competition – Outdoor ROS Vehicle Race · National First Prize (5th nationwide)
• National Undergraduate Intelligent Car Competition · National Second Prize (ROS vehicle race)
• China Robotics and Artificial Intelligence Competition · National Second Prize
• RoboMaster University League · National Second Prize

Experience

• 2021.09–2022.06 · Vision group member, PIONEER RoboMaster Team, SCNU
• 2022.09–2024.06 · Co-founder & Vice Captain, VANGUARD RoboMaster Team

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学术简介（中文）

基本信息

龚易乾（Yiqian Gong, CodeAlan）
南方科技大学（SUSTech）国家卓越工程师学院（NGCE）
电子信息专业硕士研究生（在读）。

目前主要关注具身智能（Embodied AI）与视觉语言导航（Vision-Language Navigation, VLN），侧重研究智能体在多模态信息引导下，在复杂环境中的感知、理解与决策问题。

当前仍处于系统打基础阶段，本页将随着研究进展逐步补充预印本、正式论文与开源项目等信息。

研究兴趣

• 具身智能（Embodied AI）、视觉语言导航（VLN）
• 强化学习（RL）、模仿学习（IL）
• 大模型在机器人 / 导航中的应用（LLM for Robotics & Navigation）
• 多模态感知与表示学习

预印本与论文

• 暂无正式发表的期刊 / 会议论文，当前主要精力集中在阅读与复现经典工作、搭建实验环境与整理笔记。

教育经历

• 2025.09–至今：南方科技大学（SUSTech），国家卓越工程师学院（NGCE），电子信息硕士
  • 研究方向：具身智能 / 视觉语言导航（VLN）
• 2021.09–2025.06：华南师范大学（SCNU），通信工程本科
  • RoboMaster 战队 VANGUARD 副队长 / 视觉组长

项目与实践（选摘）

• 大学生创新创业训练项目（省级重点支持领域）
  基于多传感器融合 SLAM 技术的无人机系统（2022.12–2024.05）

  • 项目背景：单一传感器（相机 / 激光雷达 / IMU 等）在定位建图中各有局限，多传感器融合成为研究热点。
  • 负责工作：
    • 无人机整体系统框架设计；
    • PX4 + MAVROS + Gazebo + QGC 无人机仿真环境搭建；
    • 无人机平台搭建与集成；
    • 上位机里程计、导航与决策模块开发。

• RoboMaster 机甲大师高校系列赛（RMU）（2021.10–至今）

  • 负责共创并担任 VANGUARD 战队副队长，负责视觉与导航组工作。
  • 主要工作：自动瞄准系统、弹道解算、哨兵机器人导航与决策等。
  • 弹道解算项目已开源至 GitHub（ https://github.com/CodeAlanqian/SolveTrajectory ），获得数十个 Star，被多所高校队伍引用。

• 全国大学生智能汽车竞赛——室外 ROS 无人车竞速赛（2022.09–2023.12）

  • 第十八届：全国一等奖（全国第五名）。
  • 第十七届主要负责：OpenCV 锥桶识别、二维激光雷达建图与导航。
  • 第十八届主要负责：项目进度推进，融合视觉与雷达实现稳定寻路，将路径规划算法改为 TEB，并调试高速运动下 GMapping 建图稳定性。

• 其他工程实践经验：

  • 对无人机系统与行业级无人机研制较为熟悉（含油电混动无人机），熟悉 ArduPilot / PX4 生态，并主持无人机管控平台的设计与开发。
  • 具身智能与 VLN 相关课程、论文的阅读笔记与小规模实验（部分会整理为博客文章）。
  • 围绕 Nextcloud、ROS、LLM 等服务的 Docker 部署与调试实践，侧重工程环境搭建与自动化。

更多偏工程实践和配置相关的内容，可以在博客的文章列表中找到，对应标签如 VLN、ROS_NOTE、Docker、LLM 等。

正在进行的方向

• 系统性梳理 VLN 与具身智能领域的基础论文和经典数据集；
• 探索如何将大语言模型融入导航策略（指令理解、可解释路径规划等环节）；
• 打磨更工程化的具身智能实验环境（仿真 + 部署），方便复现、对比与扩展实验。

联系方式

• Email： codealan@qq.com
• GitHub： https://github.com/CodeAlanqian
• B 站主页： https://space.bilibili.com/352156963

若对上述研究方向有兴趣，或有潜在合作与交流的想法，欢迎通过邮件联系。

证书与奖励（部分）

• 2022 年华南师范大学优秀学生三等奖学金
• 2023 年华南师范大学优秀学生二等奖学金
• 2022 与 2023 年学生创新奖一等奖
• 工学部优秀共青团员与优秀共青团干部

科研竞赛（部分）

• 全国大学生智能汽车竞赛室外 ROS 无人车竞速赛全国一等奖（全国第五）
• 全国大学生智能汽车竞赛全国二等奖（ROS 无人车竞速）
• 中国机器人及人工智能大赛全国二等奖
• RoboMaster 机甲大师高校联盟赛全国二等奖

实践经历

• 2021.09–2022.06：华南师范大学 PIONEER 战队视觉组成员
• 2022.09–2024.06：创立 VANGUARD 战队并任副队长

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