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Quchaosheng/README.md

RISC-V64 QEMU system demonstration Embodied Agent Runtime on a real X5 camera input

你好，我是渠超胜 | Quchaosheng

Robot Systems Developer

Deterministic task runtimes · Cross-layer observability · RISC-V systems

Embodied Agent Runtime RoboTraceOpt Technical notes

能力重点 · 核心项目 · 其他公开项目 · 工具与技术 · 工程记录

我做机器人系统软件，关注三件最不应该模糊的事：任务如何确定地执行、异常如何被证据定位、系统边界如何被验证。

能力重点

  • 确定性任务运行时： 用固定工作流、截止时间、取消/恢复语义和设备确认约束任务执行。
  • 跨层可观测性： 关联 ROS 2、Linux/eBPF 与 CAN 证据；证据不足时拒绝给出诊断结论。
  • 系统边界验证： 从 RISC-V 多 hart 隔离到故障探针，区分配置声明、软件证据与硬件证据。
  • 工程栈： C、C++、ROS 2、Linux、SocketCAN、eBPF、RISC-V；Python 主要用于编排、验证与工程工具。重视可复现测试和明确的验证边界。

核心项目

Embodied Agent Runtime

面向 ROS 2 的确定性任务运行时：使用固定工作流、嵌套 Action、截止时间、取消与恢复语义承接 AI 和感知输入，并提供设备桥接、任务历史与受限模型适配。
ROS 2 Jazzy · C++17 · BehaviorTree.CPP · SocketCAN · gRPC · SQLite

RoboTraceOpt

关联 RuntimeEvent、ROS 2 tracing 与 Linux 运行时证据，构建可审计的跨层诊断和受约束配置优化流程。
ROS 2 · Linux tracing · eBPF · evidence graph · Python

quard-star-riscv64-net

个人项目：面向 QEMU quard-star 的 RISC-V64 系统，包含 7-hart SMP 内核、独立 FreeRTOS trusted hart、Sv39、VirtIO、文件系统与自研 TCP/IP 链路；我编写 OpenSBI domain DTS 声明资源边界，并用自建 fault probe 验证 PMP 双向访问拒绝。
C · RISC-V · OpenSBI · FreeRTOS · QEMU

workbench-desk-robot

面向桌面机器人任务验证的可复现工程：将语言请求约束为 TaskGraph，以追加式事件存储、确定性重放与三值验证区分“动作已发送”和“任务已完成”；证据不足时拒绝报告成功。当前提供脚本化运行时、SocketCAN 内核模块与 RISC-V 安全 MCU 脚手架，Gazebo / MoveIt 集成仍在推进。
ROS 2 Jazzy · C · SocketCAN · RISC-V · JSON Schema · Python 3.12

其他公开项目

以下列表由 GitHub Actions 自动同步；新建的原创公开仓库会自动加入，并展示项目级技术栈或主要语言。

Quchaosheng.github.io
Technical notes and project documentation on Linux kernel, ROS 2, embedded systems, and robotics.
HTML · CSS · JavaScript · GitHub Pages
ros2-control-vcan-motor-demo
ros2_control hardware interface over SocketCAN with 7 deterministic fault injectors; launch tests assert the safe-stop frame count upper bound at the CAN byte level.
C++17 · ROS 2 Humble · ros2_control · SocketCAN · launch_testing
ros2-apriltag-docking-demo
AprilTag docking with 6 admission guards (including pose-jump with angle wrapping); Guard is re-evaluated during the active task, not just at start.
ROS 2 Jazzy · Nav2 Docking · AprilTag · Gazebo Harmonic · Python 3

工具与技术

C systems programming C++17 ROS 2 Jazzy and Humble Linux systems CMake SocketCAN eBPF observability RISC-V systems Python tooling

工程记录

Build the boundary. Trace the failure. Keep the evidence.

Pinned Loading

  1. workbench-desk-robot workbench-desk-robot Public

    Evidence-first scripted tabletop robot runtime with deterministic WorldState verification, replay, and fail-closed contracts. ROS 2, Gazebo, and MoveIt integration is staged; no physical-hardware v…

    Python 6

  2. embodied-agent-runtime embodied-agent-runtime Public

    ROS 2 task runtime where cancel and device-ACK are non-bypassable: CAN send success and device confirmation are separate states. 11 packages, 40% test coverage.

    C++ 1

  3. quard-star-riscv64-net quard-star-riscv64-net Public

    RISC-V64 SMP OS in C (reimplemented from rCore's Rust design). 7+1 hart split with OpenSBI domains; bidirectional PMP denial verified by fault probes, not assumed.

    C

  4. RoboTraceOpt RoboTraceOpt Public

    Cross-layer evidence admission for ROS 2 latency: refuses to emit a root cause when evidence is incomplete, and blocks unreliable diagnoses from reaching config changes.

    Python

  5. ros2-apriltag-docking-demo ros2-apriltag-docking-demo Public

    AprilTag docking with 6 admission guards (including pose-jump with angle wrapping); Guard is re-evaluated during the active task, not just at start.

    Python 1

  6. ros2-control-vcan-motor-demo ros2-control-vcan-motor-demo Public

    ros2_control hardware interface over SocketCAN with 7 deterministic fault injectors; launch tests assert the safe-stop frame count upper bound at the CAN byte level.

    C++